TeamAAS-2.5/TeamAAS.Core/TeamAAS.Robot/RobotManager.cs

using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using TeamAAS.Robot.Core.Robots;
using TeamAAS.Robot.Interfaces;
using TeamAAS.Robot.Models;
using System.Reflection;
using TeamAAS.Robot.Attributes;
using TeamAAS.Robot.Enums;

namespace TeamAAS.Robot
{
    /// <summary>
    /// 机器人生命周期管理器。懒汉单例：<c>RobotManager.Instance</c>。
    /// 整合：设备创建/连接/运动/配置持久化 + 反射发现品牌类型 + IDisposable。
    /// 管理类按架构规则保留在根命名空间 TeamAAS.Robot。
    /// </summary>
    public class RobotManager : IRobotManager, IDisposable
    {
        #region 单例

        private static readonly Lazy<RobotManager> _instance =
            new Lazy<RobotManager>(() => new RobotManager(), isThreadSafe: true);

        /// <summary>
        /// 懒汉单例入口。首次访问时初始化，线程安全。
        /// </summary>
        public static RobotManager Instance => _instance.Value;

        #endregion

        private readonly Dictionary<Guid, IRobot> _robotCollection;
        private readonly object _sync = new object();
        private List<RobotTypeInfo> _scannedTypes;
        private readonly object _scanLock = new object();

        public RobotManager()
        {
            _robotCollection = new Dictionary<Guid, IRobot>();
        }

        #region 机器人 CRUD

        public bool CreateRobot(Guid id, RobotInfo robotInfo)
        {
            if (robotInfo == null) throw new ArgumentNullException(nameof(robotInfo));

            var robot = CreateRobotInstance(robotInfo);
            robot.Id = id;
            IRobot replaced = null;

            lock (_sync)
            {
                _robotCollection.TryGetValue(id, out replaced);
                _robotCollection[id] = robot;
            }

            if (replaced != null && !ReferenceEquals(replaced, robot))
            {
                try { replaced.Dispose(); } catch { }
            }

            return true;
        }

        public Task<bool> CreateRobotAsync(Guid id, RobotInfo robotInfo)
        {
            return Task.Run(() => CreateRobot(id, robotInfo));
        }

        public IRobot GetRobot(Guid id)
        {
            lock (_sync)
            {
                return _robotCollection.TryGetValue(id, out var robot) ? robot : null;
            }
        }

        public Task<IRobot> GetRobotAsync(Guid id)
        {
            return Task.Run(() => GetRobot(id));
        }

        public void UnRegisterRobot(Guid id)
        {
            IRobot robot = null;
            lock (_sync)
            {
                if (_robotCollection.TryGetValue(id, out robot))
                    _robotCollection.Remove(id);
            }
            if (robot != null)
            {
                try { robot.Dispose(); } catch { }
            }
        }

        public Task UnRegisterRobotAsync(Guid id)
        {
            return Task.Run(() => UnRegisterRobot(id));
        }

        public IReadOnlyCollection<IRobot> GetAllRobots()
        {
            lock (_sync)
            {
                return _robotCollection.Values.ToList().AsReadOnly();
            }
        }

        public Task<IReadOnlyCollection<IRobot>> GetAllRobotsAsync()
        {
            return Task.Run(() => GetAllRobots());
        }

        public bool TryGetRobot(Guid id, out IRobot robot)
        {
            lock (_sync)
            {
                return _robotCollection.TryGetValue(id, out robot);
            }
        }

        public Task<(bool found, IRobot robot)> TryGetRobotAsync(Guid id)
        {
            return Task.Run(() =>
            {
                IRobot robot;
                bool found;
                lock (_sync)
                {
                    found = _robotCollection.TryGetValue(id, out robot);
                }
                return (found, robot);
            });
        }

        public System.Collections.Generic.IReadOnlyList<IRobot> Devices
        {
            get
            {
                lock (_sync)
                {
                    return _robotCollection.Values.ToList().AsReadOnly();
                }
            }
        }

        public bool ContainsRobot(Guid id)
        {
            lock (_sync)
            {
                return _robotCollection.ContainsKey(id);
            }
        }

        public Task<bool> ContainsRobotAsync(Guid id)
        {
            return Task.Run(() => ContainsRobot(id));
        }

        public bool RemoveRobot(Guid id)
        {
            IRobot robot = null;
            lock (_sync)
            {
                if (_robotCollection.TryGetValue(id, out robot))
                    _robotCollection.Remove(id);
            }
            if (robot != null)
            {
                try { robot.Dispose(); } catch { }
                return true;
            }
            return false;
        }

        public Task<bool> RemoveRobotAsync(Guid id)
        {
            return Task.Run(() => RemoveRobot(id));
        }

        public IRobot GetRobotByNumber(int robotNo)
        {
            return TryFindRobotByNumber(robotNo, out _, out var robot) ? robot : null;
        }

        public Task<IRobot> GetRobotByNumberAsync(int robotNo)
        {
            return Task.Run(() => GetRobotByNumber(robotNo));
        }

        public Task UnRegisterRobotByNumberAsync(int robotNo)
        {
            return Task.Run(() => UnRegisterRobotByNumber(robotNo));
        }

        public void UnRegisterRobotByNumber(int robotNo)
        {
            if (TryFindRobotByNumber(robotNo, out var id, out _))
                UnRegisterRobot(id);
        }

        public void RemoveAllRobots()
        {
            List<Guid> robotIds;
            lock (_sync)
            {
                robotIds = _robotCollection.Keys.ToList();
            }
            foreach (var id in robotIds)
            {
                RemoveRobot(id);
            }
        }

        public (bool IsSucceed, string Message) InitializeAllRobots(RobotInfo[] robots)
        {
            RemoveAllRobots();

            foreach (var robotInfo in robots)
            {
                var robot = CreateRobotInstance(robotInfo);
                lock (_sync)
                {
                    _robotCollection[robot.Id] = robot;
                }
            }

            bool allConnected = true;
            StringBuilder errorMessages = new StringBuilder();
            var allRobots = GetAllRobots();
            foreach (var robot in allRobots)
            {
                try { robot.Connect(); } catch { }
                if (!robot.IsConnected)
                {
                    allConnected = false;
                    errorMessages.AppendLine($"机器人[{robot.Name}]连接失败。");
                }
            }
            return allConnected ? (true, "所有机器人初始化并连接成功。") : (false, errorMessages.ToString());
        }

        public Task<(bool IsSucceed, string Message)> InitializeAllRobotsAsync(RobotInfo[] robots)
        {
            return Task.Run(() => InitializeAllRobots(robots));
        }

        public void UpdateRobotNumber(Guid id, int newNumber)
        {
            lock (_sync)
            {
                if (_robotCollection.TryGetValue(id, out var robot))
                    robot.RobotNo = newNumber;
            }
        }

        private bool TryFindRobotByNumber(int robotNo, out Guid id, out IRobot robot)
        {
            lock (_sync)
            {
                foreach (var kvp in _robotCollection)
                {
                    if (kvp.Value == null) continue;
                    if (kvp.Value.RobotNo == robotNo)
                    {
                        id = kvp.Key;
                        robot = kvp.Value;
                        return true;
                    }
                }
            }
            id = Guid.Empty;
            robot = null;
            return false;
        }

        #endregion

        #region 配置持久化

        public static string DefaultConfigPath
        {
            get
            {
                return Path.Combine(TeamAAS.PathHelper.ConfigDirectory, "Robots.json");
            }
        }

        public bool SaveConfig(string path = null)
        {
            path = path ?? DefaultConfigPath;

            var infos = new List<RobotInfo>();
            lock (_sync)
            {
                foreach (var robot in _robotCollection.Values)
                {
                    infos.Add(new RobotInfo
                    {
                        Id = robot.Id,
                        RobotNo = robot.RobotNo,
                        RobotName = robot.Name,
                        RobotBrand = robot.Brand,
                        IP = robot.RobotIp,
                        Port = robot.RobotPort,
                        ConnectType = robot.ConnectType,
                        Terminator = robot.Terminator,
                        DataEncoding = robot.DataEncoding,
                    });
                }
            }
            return TeamAAS.JsonFileStore.Save(path, infos);
        }

        public IReadOnlyList<RobotInfo> GetAllRobotInfos()
        {
            var infos = new List<RobotInfo>();
            lock (_sync)
            {
                foreach (var robot in _robotCollection.Values)
                {
                    infos.Add(new RobotInfo
                    {
                        Id = robot.Id,
                        RobotNo = robot.RobotNo,
                        RobotName = robot.Name,
                        RobotBrand = robot.Brand,
                        IP = robot.RobotIp,
                        Port = robot.RobotPort,
                        ConnectType = robot.ConnectType,
                        Terminator = robot.Terminator,
                        DataEncoding = robot.DataEncoding,
                    });
                }
            }
            return infos.AsReadOnly();
        }

        public void LoadConfig(string path = null)
        {
            path = path ?? DefaultConfigPath;
            if (!File.Exists(path)) return;

            var infos = TeamAAS.JsonFileStore.Load<List<RobotInfo>>(path);
            if (infos == null || infos.Count == 0) return;

            InitializeAllRobots(infos.ToArray());
        }

        #endregion

        #region 反射扫描 + 工厂

        public IReadOnlyList<RobotTypeInfo> GetAvailableTypes()
        {
            if (_scannedTypes != null) return _scannedTypes.AsReadOnly();
            lock (_scanLock)
            {
                if (_scannedTypes != null) return _scannedTypes.AsReadOnly();
                _scannedTypes = ScanTypes();
                return _scannedTypes.AsReadOnly();
            }
        }

        private List<RobotTypeInfo> ScanTypes()
        {
            var result = new List<RobotTypeInfo>();

            // 通用模块扫描:收集全部 IRobot 实现(含 Runtime\Plugins 里的插件 DLL)
            foreach (var type in TeamAAS.Modularity.AssemblyScanner.FindImplementations<IRobot>())
            {
                var attrs = type.GetCustomAttributes<RobotAttribute>();
                foreach (var attr in attrs)
                {
                    result.Add(new RobotTypeInfo
                    {
                        TypeKey = type.FullName,
                        DisplayName = attr.DisplayName,
                        Brand = attr.Brand,
                        Description = attr.Description,
                        Type = type
                    });
                }
            }

            return result
                .GroupBy(t => t.TypeKey + "|" + t.Brand)
                .Select(g => g.First())
                .OrderBy(t => t.DisplayName)
                .ToList();
        }

        private IRobot CreateRobotInstance(RobotInfo robotInfo)
        {
            if (robotInfo == null) throw new ArgumentNullException(nameof(robotInfo));

            var types = GetAvailableTypes();
            var match = types.FirstOrDefault(t => t.Brand == robotInfo.RobotBrand);
            if (match == null)
            {
                // fallback 到 EPSON 实现（兼容未注册的品牌占位）
                return new EpsonRobot(robotInfo);
            }
            return (IRobot)Activator.CreateInstance(match.Type, robotInfo);
        }

        #endregion

        #region IDisposable

        public void Dispose()
        {
            List<IRobot> robots;
            lock (_sync)
            {
                robots = _robotCollection.Values.ToList();
                _robotCollection.Clear();
            }

            foreach (var r in robots)
            {
                try { r.Dispose(); } catch { }
            }

            GC.SuppressFinalize(this);
        }

        #endregion
    }
}