TeamAAS-2.5/TeamAAS/ViewModels/SettingViewModel.MotionCard.cs

using System;
using System.Collections.ObjectModel;
using System.Linq;
using System.Threading.Tasks;
using System.Windows;
using TeamAAS.Motion;
using TeamAAS.Motion.Models;
using TeamAAS.Motion.Motions;
using TeamAAS.Views;

namespace TeamAAS.ViewModels
{
    /// <summary>
    /// 设置页 - 控制卡管理(列表 / 连接 / 属性)。
    /// 调试操作已下沉到库内 MotionDebugView。
    /// </summary>
    public partial class SettingViewModel
    {
        #region 控制卡管理

        private readonly MotionDebugPageFactory _motionDebugFactory = new MotionDebugPageFactory();

        public ObservableCollection<MotionDeviceConfig> MotionCards { get; }

        private MotionDeviceConfig _selectedMotionCard;
        public MotionDeviceConfig SelectedMotionCard
        {
            get => _selectedMotionCard;
            set
            {
                if (SetProperty(ref _selectedMotionCard, value))
                    RefreshMotionDebugHost();
                RaisePropertyChanged(nameof(HasSelectedMotionCard));
            }
        }

        private object _currentMotionDebugPage;
        public object CurrentMotionDebugPage
        {
            get => _currentMotionDebugPage;
            private set => SetProperty(ref _currentMotionDebugPage, value);
        }

        private void RefreshMotionDebugHost()
        {
            if (_selectedMotionCard == null)
            {
                CurrentMotionDebugPage = null;
                return;
            }

            try
            {
                var motionCard = _motionManager.GetMotion(_selectedMotionCard.Name);
                if (motionCard == null) return;
                CurrentMotionDebugPage = _motionDebugFactory.CreatePage(motionCard);
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"加载控制卡调试页失败: {ex.Message}");
            }
        }

        public bool HasSelectedMotionCard => _selectedMotionCard != null;

        #endregion

        #region 控制卡操作

        private void AddMotionCard()
        {
            var dialog = new AddMotionCardDialog(_motionManager)
            {
                Owner = Application.Current.MainWindow
            };

            if (dialog.ShowDialog() != true || dialog.Result == null)
                return;

            var motionInfo = dialog.Result;
            try
            {
                if (!_motionManager.AddDevice(motionInfo))
                {
                    DialogHelper.ShowError("添加控制卡失败，名称可能重复或适配器不可用");
                    return;
                }

                MotionCards.Add(motionInfo);
                SelectedMotionCard = motionInfo;
                DialogHelper.Success($"已添加 {motionInfo.Name}");
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("添加控制卡失败", ex);
            }
        }

        private void DeleteMotionCard()
        {
            if (SelectedMotionCard == null) return;

            if (!DialogHelper.ConfirmYesNo(
                $"确认删除 \"{SelectedMotionCard.Name}\" 吗?",
                "确认删除"))
                return;

            var cardToRemove = SelectedMotionCard;
            try
            {
                _motionManager.RemoveDevice(cardToRemove);
                MotionCards.Remove(cardToRemove);
                SelectedMotionCard = null;
                CurrentMotionDebugPage = null;
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("删除控制卡失败", ex);
            }
        }

        private Task ConnectMotionCardAsync()
        {
            if (SelectedMotionCard == null) return Task.CompletedTask;

            try
            {
                var motion = _motionManager.GetMotion(SelectedMotionCard.Name);
                if (motion == null)
                {
                    var dev = _motionManager.CreateDevice(SelectedMotionCard);
                    if (dev != null)
                        _motionManager.Devices.Add(dev);
                    motion = _motionManager.GetMotion(SelectedMotionCard.Name);
                }

                if (motion == null)
                {
                    DialogHelper.ShowWarning("无法获取控制卡实例");
                    return Task.CompletedTask;
                }

                if (motion.Open())
                {
                    DialogHelper.Success("控制卡连接成功");
                    RefreshMotionDebugHost();
                }
                else
                {
                    DialogHelper.ShowError("控制卡连接失败");
                }
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("连接异常", ex);
            }

            return Task.CompletedTask;
        }

        private void DisconnectMotionCard()
        {
            if (SelectedMotionCard == null) return;

            try
            {
                var motion = _motionManager.GetMotion(SelectedMotionCard.Name);
                motion?.Close();
                RefreshMotionDebugHost();
                DialogHelper.Info("已断开控制卡");
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("断开异常", ex);
            }
        }

        #endregion

        #region 配置

        public void ApplyMotionCardEdit(MotionDeviceConfig edited)
        {
            try
            {
                if (edited == null) return;
                _motionManager.SaveConfig();
                ReloadMotionCardAxes(edited);
                RefreshMotionDebugHost();
                DialogHelper.Success("控制卡属性已更新并保存");
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("应用控制卡属性失败", ex);
            }
        }

        private void EditMotionAxes()
        {
            if (SelectedMotionCard == null) return;
            var current = MotionAxisCatalog.GetEffective(SelectedMotionCard);
            var dialog = new EditMotionAxesDialog(current)
            {
                Owner = Application.Current.MainWindow
            };
            if (dialog.ShowDialog() != true || dialog.Result == null)
                return;

            SelectedMotionCard.Axes = dialog.Result;
            SelectedMotionCard.AxisCount = dialog.Result.Count;
            _motionManager.SaveConfig();
            ReloadMotionCardAxes(SelectedMotionCard);
            RefreshMotionDebugHost();
            DialogHelper.Success("轴配置已保存");
        }

        private void EditMotionSafety()
        {
            if (SelectedMotionCard == null) return;
            var current = MotionAxisCatalog.GetEffective(SelectedMotionCard);
            var dialog = new EditMotionSafetyDialog(SelectedMotionCard, current)
            {
                Owner = Application.Current.MainWindow
            };
            if (dialog.ShowDialog() != true || dialog.Result == null)
                return;

            SelectedMotionCard.EstopDiIndex = dialog.EstopDiIndex;
            SelectedMotionCard.EstopDiBank = dialog.EstopDiBank;
            SelectedMotionCard.EstopActiveHigh = dialog.EstopActiveHigh;
            SelectedMotionCard.StopDiIndex = dialog.StopDiIndex;
            SelectedMotionCard.StopDiBank = dialog.StopDiBank;
            SelectedMotionCard.StopActiveHigh = dialog.StopActiveHigh;
            if (SelectedMotionCard.Axes == null || SelectedMotionCard.Axes.Count == 0)
                SelectedMotionCard.Axes = current;
            foreach (var row in dialog.Result)
            {
                var ax = SelectedMotionCard.Axes.FirstOrDefault(a => a != null && a.AxisNo == row.AxisNo);
                if (ax == null) continue;
                ax.SoftLimitEnabled = row.SoftLimitEnabled;
                ax.SoftLimitNeg = row.SoftLimitNeg;
                ax.SoftLimitPos = row.SoftLimitPos;
                ax.MaxVelocity = row.MaxVelocity;
            }
            _motionManager.SaveConfig();
            ReloadMotionCardAxes(SelectedMotionCard);
            RefreshMotionDebugHost();
            DialogHelper.Success("安全配置已保存");
        }

        private void ReloadMotionCardAxes(MotionDeviceConfig cfg)
        {
            var motion = _motionManager.GetMotion(cfg.Name);
            if (motion is InovanceMotionCard inovance)
                inovance.ReloadFromConfig();
            else if (motion is SimulatedMotionCard simulated)
                simulated.ReloadFromConfig();
        }

        private void RefreshMotionCardList()
        {
            MotionCards.Clear();
            foreach (var cfg in _motionManager.Configs)
                MotionCards.Add(cfg);

            SelectedMotionCard = MotionCards.FirstOrDefault();
        }

        private void SaveMotionCardConfig()
        {
            try
            {
                if (_motionManager.SaveConfig())
                    DialogHelper.Success("控制卡配置已保存");
                else
                    DialogHelper.ShowError("控制卡配置保存失败，请查看日志");
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("保存控制卡配置失败", ex);
            }
        }

        #endregion
    }
}