TeamAAS-2.5/TeamAAS.Core/TeamAAS.Motion/UI/MotionDebugView.xaml.cs

using System;
using System.Globalization;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Controls.Primitives;
using System.Windows.Input;
using System.Windows.Media;
using TeamAAS.Global.Devices;
using TeamAAS.Motion.Models;
using TeamAAS.Motion.Motions;

namespace TeamAAS.Motion
{
    /// <summary>
    /// 运动卡通用调试页：轴选择 + 使能/回零/点动/定位/急停 + 本地/EtherCAT IO。
    /// </summary>
    public partial class MotionDebugView : UserControl
    {
        private IMotionCard _motion;
        private IMotionSafetyHost _safety;
        private IMotionIoHost _io;
        private IAxis _selectedAxis;
        private bool _jogActive;
        private bool _updatingIo;
        private int _ioLayoutKey = int.MinValue;
        private readonly System.Windows.Threading.DispatcherTimer _refreshTimer;

        public MotionDebugView()
        {
            InitializeComponent();
            _refreshTimer = new System.Windows.Threading.DispatcherTimer
            {
                Interval = TimeSpan.FromMilliseconds(200)
            };
            _refreshTimer.Tick += (_, __) => RefreshStatus();
            Unloaded += (_, __) =>
            {
                _refreshTimer.Stop();
                UnhookSafety();
            };
        }

        public void Bind(object motion)
        {
            UnhookSafety();
            _motion = motion as IMotionCard;
            _safety = _motion as IMotionSafetyHost;
            _io = _motion as IMotionIoHost;
            _selectedAxis = null;
            _jogActive = false;
            _ioLayoutKey = int.MinValue;
            CmbAxis.ItemsSource = null;

            if (_motion == null)
            {
                OpsRoot.IsEnabled = false;
                IoRoot.IsEnabled = false;
                _refreshTimer.Stop();
                TxtStatus.Text = "---";
                TxtMessage.Text = "未绑定运动卡";
                ClearAxisMetrics();
                SetConnDot(false);
                ApplySafetyBanner();
                RebuildIoPanels();
                return;
            }

            if (_safety != null)
                _safety.SafetyChanged += OnSafetyChanged;

            var axes = _motion.GetAxes();
            CmbAxis.ItemsSource = axes;
            if (axes != null && axes.Count > 0)
                CmbAxis.SelectedIndex = 0;

            OpsRoot.IsEnabled = _motion.IsConnected;
            IoRoot.IsEnabled = _motion.IsConnected;
            _refreshTimer.Start();
            RefreshStatus();
        }

        private void UnhookSafety()
        {
            if (_safety != null)
                _safety.SafetyChanged -= OnSafetyChanged;
            _safety = null;
        }

        private void OnSafetyChanged(object sender, EventArgs e)
        {
            Dispatcher.BeginInvoke(new Action(RefreshStatus));
        }

        private IAxis CurrentAxis
        {
            get
            {
                if (_selectedAxis != null) return _selectedAxis;
                return CmbAxis.SelectedItem as IAxis;
            }
        }

        private void CmbAxis_SelectionChanged(object sender, SelectionChangedEventArgs e)
        {
            _selectedAxis = CmbAxis.SelectedItem as IAxis;
            RefreshAxisInfo();
        }

        private double ParseDouble(TextBox box, double fallback)
        {
            return double.TryParse(box.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out var v)
                ? v
                : fallback;
        }

        private void Msg(string message) => TxtMessage.Text = message;

        private bool TryGetReadyAxis(out IAxis axis, string action)
        {
            axis = CurrentAxis;
            if (axis == null)
            {
                Msg("未选择轴");
                return false;
            }
            if (_motion == null || !_motion.IsConnected)
            {
                Msg("运动卡未连接");
                return false;
            }
            if (!axis.IsEnabled)
            {
                Msg($"轴未使能，无法{action}");
                return false;
            }
            if (_safety != null && !_safety.AllowMotion(out var reason))
            {
                Msg(reason);
                return false;
            }
            return true;
        }

        private void RefreshStatus()
        {
            if (_motion == null)
            {
                TxtStatus.Text = "---";
                SetConnDot(false);
                ClearAxisMetrics();
                return;
            }

            try
            {
                var connected = _motion.IsConnected;
                TxtStatus.Text = connected ? "已连接" : "未连接";
                SetConnDot(connected);
                OpsRoot.IsEnabled = connected;
                IoRoot.IsEnabled = connected && _io != null;
                RefreshAxisInfo();
                RebuildIoPanels();
                RefreshIoBits();
            }
            catch { }
        }

        private void RefreshAxisInfo()
        {
            var axis = CurrentAxis;
            if (axis == null)
            {
                ClearAxisMetrics();
                return;
            }

            TxtAxisTitle.Text = $"{axis.Name}  ·  轴 {axis.AxisNo}";
            TxtPosActual.Text = axis.ActualPosition.ToString("F3");
            TxtPosCommand.Text = axis.CommandPosition.ToString("F3");
            TxtVelocity.Text = axis.ActualVelocity.ToString("F3");

            ApplyBanner(axis);
            ApplySafetyBanner();
            SetTile(TileEnable, TxtEnable, axis.IsEnabled, "已使能", "未使能", "#2E7D32", "#C62828");
            SetTile(TileMoving, TxtMoving, axis.IsMoving, "运动中", "静止", "#EF6C00", "#757575");
            SetTile(TileHomed, TxtHomed, axis.IsHomed, "已回零", "未回零", "#1565C0", "#757575");

            var enabled = axis.IsEnabled;
            bool estop = _safety != null && _safety.IsEstopActive;
            bool stop = _safety != null && _safety.IsStopActive;
            BtnEnable.IsEnabled = !enabled && !estop;
            BtnDisable.IsEnabled = enabled;
            BtnStop.IsEnabled = axis.IsMoving;
            MotionOps.IsEnabled = enabled && !estop && !stop;
            if (estop)
            {
                TxtNeedEnable.Text = "急停有效：禁止使能与运动";
                TxtNeedEnable.Visibility = Visibility.Visible;
            }
            else if (stop)
            {
                TxtNeedEnable.Text = "停止信号有效：禁止运动";
                TxtNeedEnable.Visibility = Visibility.Visible;
            }
            else
            {
                TxtNeedEnable.Text = "当前未使能，请先点击「使能」后再点动或定位";
                TxtNeedEnable.Visibility = enabled ? Visibility.Collapsed : Visibility.Visible;
            }
        }

        private void ApplySafetyBanner()
        {
            if (_safety == null || _motion == null || !_motion.IsConnected)
            {
                BannerSafety.Visibility = Visibility.Collapsed;
                return;
            }

            if (_safety.IsEstopActive)
            {
                BannerSafety.Visibility = Visibility.Visible;
                BannerSafety.Background = BrushOf("#B71C1C");
                TxtSafetyHeadline.Text = "急停有效";
                TxtSafetyHint.Text = "所有轴已下使能。手动调试与流程自动使能/运动均无法成功，请先复位急停按钮。";
                return;
            }

            if (_safety.IsStopActive)
            {
                BannerSafety.Visibility = Visibility.Visible;
                BannerSafety.Background = BrushOf("#E65100");
                TxtSafetyHeadline.Text = "停止信号有效";
                TxtSafetyHint.Text = "所有轴禁止运动。手动调试与流程自动定位/点动/回零均无法成功，请先松开停止按钮。";
                return;
            }

            BannerSafety.Visibility = Visibility.Collapsed;
        }

        private void ApplyBanner(IAxis axis)
        {
            string headline;
            string hint;
            string color;

            if (_motion == null || !_motion.IsConnected)
            {
                headline = "未连接";
                hint = "请先在上方连接控制卡";
                color = "#616161";
            }
            else if (_safety != null && _safety.IsEstopActive)
            {
                headline = "急停有效";
                hint = "禁止使能与运动，请先复位急停";
                color = "#B71C1C";
            }
            else if (_safety != null && _safety.IsStopActive)
            {
                headline = "停止信号有效";
                hint = "禁止运动，请先松开停止按钮";
                color = "#E65100";
            }
            else if (axis.State == AxisState.Error)
            {
                headline = "轴故障";
                hint = "请检查报警后重新使能";
                color = "#B71C1C";
            }
            else if (!axis.IsEnabled || axis.State == AxisState.Off)
            {
                headline = "伺服未使能";
                hint = "当前无法运动，请先点击右侧「使能」";
                color = "#C62828";
            }
            else if (axis.State == AxisState.Homing)
            {
                headline = "正在回零";
                hint = "回零过程中请勿点动或定位";
                color = "#1565C0";
            }
            else if (axis.State == AxisState.ContinuousMotion || (axis.IsMoving && _jogActive))
            {
                headline = "点动中";
                hint = "松开按钮或点击「停止」即可停下";
                color = "#EF6C00";
            }
            else if (axis.State == AxisState.DiscreteMotion || axis.IsMoving)
            {
                headline = "定位运动中";
                hint = "可点击「停止」或「急停」中断";
                color = "#EF6C00";
            }
            else
            {
                headline = axis.IsHomed ? "已使能 · 静止" : "已使能 · 未回零";
                hint = axis.IsHomed ? "可以点动或定位" : "建议先回零，再做定位";
                color = "#2E7D32";
            }

            TxtStateHeadline.Text = headline;
            TxtStateHint.Text = hint;
            BannerState.Background = BrushOf(color);
        }

        private void ClearAxisMetrics()
        {
            TxtAxisTitle.Text = "---";
            TxtPosActual.Text = "---";
            TxtPosCommand.Text = "---";
            TxtVelocity.Text = "---";
            TxtStateHeadline.Text = _motion == null ? "未绑定运动卡" : (_motion.IsConnected ? "未选择轴" : "未连接");
            TxtStateHint.Text = "请选择轴并连接控制卡";
            BannerState.Background = BrushOf("#616161");
            SetTile(TileEnable, TxtEnable, false, "已使能", "未使能", "#2E7D32", "#757575");
            SetTile(TileMoving, TxtMoving, false, "运动中", "静止", "#EF6C00", "#757575");
            SetTile(TileHomed, TxtHomed, false, "已回零", "未回零", "#1565C0", "#757575");
            BtnEnable.IsEnabled = false;
            BtnDisable.IsEnabled = false;
            BtnStop.IsEnabled = false;
            MotionOps.IsEnabled = false;
            TxtNeedEnable.Visibility = Visibility.Collapsed;
            ApplySafetyBanner();
        }

        private static void SetTile(Border tile, TextBlock label, bool on, string onText, string offText, string onColor, string offColor)
        {
            label.Text = on ? onText : offText;
            tile.Background = BrushOf(on ? onColor : offColor);
        }

        private static SolidColorBrush BrushOf(string hex)
            => new SolidColorBrush((Color)ColorConverter.ConvertFromString(hex));

        private void SetConnDot(bool connected)
        {
            DotConn.Fill = BrushOf(connected ? "#43A047" : "#9E9E9E");
        }

        private void BtnEnable_Click(object sender, RoutedEventArgs e)
        {
            var axis = CurrentAxis;
            if (axis == null) { Msg("未选择轴"); return; }
            if (_safety != null && !_safety.AllowEnable(out var reason))
            {
                Msg(reason);
                return;
            }
            try
            {
                axis.Enable();
                Msg(axis.IsEnabled ? "已使能" : "使能失败");
                RefreshAxisInfo();
            }
            catch (Exception ex) { Msg("使能失败: " + ex.Message); }
        }

        private void BtnDisable_Click(object sender, RoutedEventArgs e)
        {
            var axis = CurrentAxis;
            if (axis == null) { Msg("未选择轴"); return; }
            try
            {
                StopJogIfActive();
                axis.Disable();
                Msg("已下使能");
                RefreshAxisInfo();
            }
            catch (Exception ex) { Msg("下使能失败: " + ex.Message); }
        }

        private void BtnHome_Click(object sender, RoutedEventArgs e)
        {
            if (!TryGetReadyAxis(out var axis, "回零")) return;
            try
            {
                StopJogIfActive();
                axis.Home();
                Msg("回零完成");
                RefreshAxisInfo();
            }
            catch (Exception ex) { Msg("回零失败: " + ex.Message); }
        }

        private void BtnStop_Click(object sender, RoutedEventArgs e)
        {
            try
            {
                StopJogIfActive();
                CurrentAxis?.Stop();
                Msg("已停止");
                RefreshAxisInfo();
            }
            catch (Exception ex) { Msg("停止失败: " + ex.Message); }
        }

        private void BtnEStop_Click(object sender, RoutedEventArgs e)
        {
            try
            {
                _jogActive = false;
                _motion?.EmergencyStop();
                Msg("急停已触发");
                RefreshAxisInfo();
            }
            catch (Exception ex) { Msg("急停失败: " + ex.Message); }
        }

        private void BtnJog_Down(object sender, MouseButtonEventArgs e)
        {
            if (!TryGetReadyAxis(out var axis, "点动")) return;

            var btn = sender as UIElement;
            var tag = (sender as Button)?.Tag as string;
            double vel = ParseDouble(TxtJogVel, 50);
            if (tag == "-") vel = -vel;

            try
            {
                axis.Jog(vel);
                _jogActive = true;
                btn?.CaptureMouse();
                Msg($"点动 {tag}  速度 {vel:F1}");
            }
            catch (Exception ex) { Msg("点动失败: " + ex.Message); }
        }

        private void BtnJog_Up(object sender, MouseButtonEventArgs e)
        {
            var btn = sender as UIElement;
            if (btn != null && btn.IsMouseCaptured)
                btn.ReleaseMouseCapture();
            else
                StopJogIfActive();
        }

        private void BtnJog_LostCapture(object sender, MouseEventArgs e)
        {
            StopJogIfActive();
        }

        private void StopJogIfActive()
        {
            if (!_jogActive) return;
            _jogActive = false;
            try
            {
                CurrentAxis?.Stop();
                Msg("点动停止");
                RefreshAxisInfo();
            }
            catch (Exception ex) { Msg("停止失败: " + ex.Message); }
        }

        private void BtnMoveAbs_Click(object sender, RoutedEventArgs e)
        {
            if (!TryGetReadyAxis(out var axis, "定位")) return;
            try
            {
                var target = ParseDouble(TxtTargetPos, 0);
                axis.Velocity = ParseDouble(TxtMoveVel, 100);
                axis.MoveTo(target);
                Msg($"绝对定位 → {target:F3}");
            }
            catch (Exception ex) { Msg("绝对定位失败: " + ex.Message); }
        }

        private void BtnMoveRel_Click(object sender, RoutedEventArgs e)
        {
            if (!TryGetReadyAxis(out var axis, "定位")) return;
            try
            {
                var dist = ParseDouble(TxtRelativeDist, 10);
                axis.Velocity = ParseDouble(TxtMoveVel, 100);
                axis.MoveBy(dist);
                Msg($"相对定位 {dist:F3}");
            }
            catch (Exception ex) { Msg("相对定位失败: " + ex.Message); }
        }

        private void BtnSetZero_Click(object sender, RoutedEventArgs e)
        {
            var axis = CurrentAxis;
            if (axis == null) { Msg("未选择轴"); return; }
            try
            {
                axis.SetPosition(0);
                Msg("当前位置已清零");
                RefreshAxisInfo();
            }
            catch (Exception ex) { Msg("清零失败: " + ex.Message); }
        }

        private MotionDeviceConfig CurrentIoConfig
        {
            get
            {
                if (_motion is SimulatedMotionCard sim) return sim.DeviceConfig;
                if (_motion is InovanceMotionCard imc) return imc.DeviceConfig;
                return null;
            }
        }

        private void RebuildIoPanels()
        {
            int diL = _io == null ? 0 : _io.GetDiCount(MotionIoBank.Local);
            int doL = _io == null ? 0 : _io.GetDoCount(MotionIoBank.Local);
            int diE = _io == null ? 0 : _io.GetDiCount(MotionIoBank.EtherCat);
            int doE = _io == null ? 0 : _io.GetDoCount(MotionIoBank.EtherCat);
            int key = diL | (doL << 8) | (diE << 16) | (doE << 24);
            if (_io != null && _io.CanSimulateDi) key ^= 0x40000000;
            if (key == _ioLayoutKey) return;
            _ioLayoutKey = key;

            FillIoPanel(PanelLocalDi, MotionIoBank.Local, false, diL);
            FillIoPanel(PanelLocalDo, MotionIoBank.Local, true, doL);
            FillIoPanel(PanelEcatDi, MotionIoBank.EtherCat, false, diE);
            FillIoPanel(PanelEcatDo, MotionIoBank.EtherCat, true, doE);
        }

        private void FillIoPanel(WrapPanel panel, MotionIoBank bank, bool isDo, int count)
        {
            panel.Children.Clear();
            if (count <= 0)
            {
                panel.Children.Add(new TextBlock
                {
                    Text = "无",
                    FontSize = 12,
                    Foreground = BrushOf("#9E9E9E"),
                    Margin = new Thickness(0, 4, 0, 0)
                });
                return;
            }

            string prefix = isDo ? "DO" : "DI";
            bool canWrite = isDo || (_io != null && _io.CanSimulateDi);
            for (int i = 0; i < count; i++)
            {
                var btn = new ToggleButton
                {
                    Content = prefix + i,
                    Width = 52,
                    Height = 34,
                    Margin = new Thickness(0, 0, 6, 6),
                    FontSize = 11,
                    Tag = new IoBitTag { Bank = bank, IsOutput = isDo, Index = i, CanWrite = canWrite },
                    Cursor = canWrite ? Cursors.Hand : Cursors.Arrow
                };
                btn.Style = (Style)FindResource("IoBitButton");
                btn.Click += IoBit_Click;
                panel.Children.Add(btn);
            }
        }

        private void RefreshIoBits()
        {
            if (_io == null) return;
            _updatingIo = true;
            try
            {
                RefreshIoPanel(PanelLocalDi, MotionIoBank.Local, false);
                RefreshIoPanel(PanelLocalDo, MotionIoBank.Local, true);
                RefreshIoPanel(PanelEcatDi, MotionIoBank.EtherCat, false);
                RefreshIoPanel(PanelEcatDo, MotionIoBank.EtherCat, true);
            }
            finally { _updatingIo = false; }
        }

        private void RefreshIoPanel(WrapPanel panel, MotionIoBank bank, bool isDo)
        {
            foreach (var child in panel.Children)
            {
                var btn = child as ToggleButton;
                if (btn == null) continue;
                var tag = btn.Tag as IoBitTag;
                if (tag == null) continue;
                bool on = isDo ? _io.ReadDO(bank, tag.Index) : _io.ReadDI(bank, tag.Index);
                btn.IsChecked = on;
                string role = SafetyRole(bank, tag.Index, isDo);
                if (role == "estop")
                    btn.Background = BrushOf(on ? "#B71C1C" : "#7F1D1D");
                else if (role == "stop")
                    btn.Background = BrushOf(on ? "#E65100" : "#BF360C");
                else
                    btn.Background = BrushOf(on ? "#2E7D32" : "#757575");
                btn.Foreground = Brushes.White;
                btn.ToolTip = role == "estop" ? "急停 DI" : role == "stop" ? "停止 DI" : (isDo ? "输出" : "输入");
            }
        }

        private string SafetyRole(MotionIoBank bank, int index, bool isDo)
        {
            if (isDo) return null;
            var cfg = CurrentIoConfig;
            if (cfg == null) return null;
            if (cfg.EstopDiIndex == index && cfg.EstopDiBank == bank) return "estop";
            if (cfg.StopDiIndex == index && cfg.StopDiBank == bank) return "stop";
            return null;
        }

        private void IoBit_Click(object sender, RoutedEventArgs e)
        {
            if (_updatingIo) return;
            var btn = sender as ToggleButton;
            var tag = btn == null ? null : btn.Tag as IoBitTag;
            if (tag == null || _io == null || _motion == null || !_motion.IsConnected)
                return;

            bool on = btn.IsChecked == true;
            bool ok;
            if (tag.IsOutput)
            {
                ok = _io.WriteDO(tag.Bank, tag.Index, on);
                Msg(ok ? $"{BankName(tag.Bank)} DO{tag.Index} = {(on ? 1 : 0)}" : "写 DO 失败");
            }
            else if (tag.CanWrite)
            {
                ok = _io.WriteDI(tag.Bank, tag.Index, on);
                Msg(ok ? $"{BankName(tag.Bank)} DI{tag.Index} = {(on ? 1 : 0)}" : "写 DI 失败");
            }
            else
            {
                RefreshIoBits();
                return;
            }
            if (!ok) RefreshIoBits();
        }

        private static string BankName(MotionIoBank bank)
            => bank == MotionIoBank.EtherCat ? "EtherCAT" : "本地";

        private sealed class IoBitTag
        {
            public MotionIoBank Bank;
            public bool IsOutput;
            public int Index;
            public bool CanWrite;
        }
    }

    /// <summary>运动卡通用调试页工厂。</summary>
    public class MotionDebugPageFactory : TeamAAS.Global.Devices.IDeviceDebugPageFactory
    {
        public string DeviceCategory => "运动卡";

        public object CreatePage(object device)
        {
            var view = new MotionDebugView();
            view.Bind(device);
            return view;
        }
    }
}