TeamAAS-2.5/TeamAAS.Plugins/Plugins.Feeder/FeederPlugin.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using TeamAAS.Core;
using TeamAAS.Feeder.Interfaces;
using TeamAAS.FlowEditor.Models;
using TeamAAS.FlowEditor.Plugins;
using TeamAAS.Feeder.Models;
using Plugins.Feeder.Models;

namespace Plugins.Feeder
{
    [Plugin("供料器送料", PluginCategory.硬件模块, typeof(FeederPluginModel),
        "PackageVariant")]
    [Serializable]
    public class FeederPlugin : BasePlugin<FeederPluginModel>
    {
        public override List<OutputField> DeclareOutputs() => new List<OutputField>
        {
            new OutputField("供料器", typeof(string)),
            new OutputField("流程", typeof(string)),
            new OutputField("执行步数", typeof(int)),
            new OutputField("结果", typeof(bool)),
        };

        public override NodeRunStatus PluginRun(CancellationToken token, out Dictionary<string, object> results)
        {
            var res = new Dictionary<string, object>();
            results = res;

            // 统一失败出口：写 Error + 结果=false + 记 1 级错误日志（任何阈值都落盘）
            NodeRunStatus Fail(string message)
            {
                res["Error"] = message;
                res["结果"] = false;
                Log(1, $"供料器送料失败: {message}", TeamAAS.LogLevel.Error);
                return NodeRunStatus.Failed;
            }

            var mgr = Service<IFeederManager>();
            if (mgr == null)
                return Fail("FeederManager 未初始化");

            Log(3, $"开始送料，供料器={Model.FeederName}, 流程={Model.SequenceKey}");
            var info = mgr.GetAll().FirstOrDefault(f =>
                string.Equals(f.FeederName, Model.FeederName, StringComparison.OrdinalIgnoreCase));
            if (info == null)
                return Fail($"未找到供料器 \"{Model.FeederName}\"");
            res["供料器"] = info.FeederName;

            // SequenceKey 格式: "供料器名/流程名" 或纯 "流程名"
            var seqName = Model.SequenceKey;
            var slashIdx = seqName?.IndexOf('/') ?? -1;
            if (slashIdx >= 0) seqName = seqName.Substring(slashIdx + 1);

            var seq = info.Sequences.FirstOrDefault(s =>
                string.Equals(s.Name, seqName, StringComparison.OrdinalIgnoreCase));
            if (seq == null)
                return Fail($"供料器 \"{info.FeederName}\" 上不存在流程 \"{seqName}\"");
            res["流程"] = seq.Name;

            var enabledSteps = seq.Steps.Where(s => s.Enabled).ToList();
            res["执行步数"] = enabledSteps.Count;
            Log(4, $"流程 \"{seq.Name}\" 启用步骤 {enabledSteps.Count} 个");

            var device = mgr.GetOrCreateDevice(info);
            if (device == null)
                return Fail("创建设备实例失败");

            try
            {
                if (!device.IsConnected && Model.AutoConnect)
                {
                    try { device.ConnectAsync().GetAwaiter().GetResult(); }
                    catch (Exception ex)
                    {
                        return Fail($"连接供料器失败: {ex.Message}");
                    }
                }

                if (!device.IsConnected)
                    return Fail($"供料器 \"{info.FeederName}\" 未连接");

                int stepIdx = 0;
                foreach (var step in enabledSteps)
                {
                    token.ThrowIfCancellationRequested();
                    stepIdx++;

                    if (step.StepType == SequenceStepType.Delay)
                    {
                        Log(4, $"第{stepIdx}步: 延时 {step.TimeMs}ms");
                        Task.Delay(step.TimeMs, token).Wait(token);
                    }
                    else
                    {
                        try
                        {
                            Log(4, $"第{stepIdx}步: 方向={step.Direction}, 时长={step.TimeMs}ms");
                            device.RunDirectionAsync(step.Direction, step.TimeMs)
                                .GetAwaiter().GetResult();
                        }
                        catch (Exception ex)
                        {
                            return Fail($"第{stepIdx}步执行失败: {ex.Message}");
                        }
                    }
                }

                if (Model.StopWhenDone)
                {
                    try { device.StopAsync().GetAwaiter().GetResult(); } catch { }
                }

                res["结果"] = true;
                Log(2, $"送料完成，供料器={info.FeederName}, 流程={seq.Name}, 执行 {enabledSteps.Count} 步");
                return NodeRunStatus.Success;
            }
            catch (OperationCanceledException)
            {
                try { device.StopAsync().GetAwaiter().GetResult(); } catch { }
                return Fail("用户取消");
            }
            catch (Exception ex)
            {
                try { device.StopAsync().GetAwaiter().GetResult(); } catch { }
                return Fail(ex.Message);
            }
        }
    }
}