TeamAAS-2.5/TeamAAS.Base/TeamAAS.FlowEngine/Plugins/BasePlugin.cs

using PropertyGridLib.Controls;
using System;
using System.Collections.Generic;
using System.Threading;
using TeamAAS.FlowEditor.Execution;
using TeamAAS.FlowEditor.Models;

namespace TeamAAS.FlowEditor.Plugins
{
    /// <summary>
    /// 插件抽象基类 - 参照 VisionKit 的 BaseAbstractPlugin&lt;TModel&gt;
    /// 泛型 TModel 自动实例化，子类只需实现 InitPlugin 和 PluginRun
    /// </summary>
    [Serializable]
    public abstract class BasePlugin<TModel> : IFlowNodePlugin where TModel : BasePluginModel, new()
    {
        public TModel Model { get; protected set; }
        public BasePluginModel GetModel { get => Model; set => Model = (TModel)value; }

        /// <summary>
        /// 所属流程绑定的结果注册表（运行态=Main，编辑/调试态=Debug）。
        /// 由 FlowNode 在初始化/换图时注入；未注入时回退到 Debug 注册表。
        /// </summary>

        [field: NonSerialized]
        public ResultRegistry Registry { get; set; }

        /// <summary>实际使用的注册表（保证非 null）</summary>
        protected ResultRegistry RegistryOrDebug => Registry ?? ResultRegistry.Debug;

        [NonSerialized]
        private TeamAAS.Global.IPluginContext _context;

        /// <summary>
        /// 插件运行上下文：获取平台服务（相机/机器人/通讯/供料/运动）的正规渠道。
        /// 未注入时回落到全局 ServiceRegistry.Default，永不为 null；
        /// 插件经 Context.GetService 取服务，无需直接摸 XxxManager.Instance。
        /// 宿主将来可提供自定义实现（如远程代理）注入覆盖。
        /// </summary>
        public TeamAAS.Global.IPluginContext Context
        {
            get => _context ?? TeamAAS.Global.ServiceRegistry.Default;
            set => _context = value;
        }


        /// <summary>按类型获取平台服务（工厂方法）：相机/机器人/通讯/供料/运动管理器等；未注册返回 null。</summary>
        protected T Service<T>() => Context.GetService<T>();

        public int CostTime { get; protected set; }


        public NodeRunStatus IsSuccess { get; set; } = NodeRunStatus.NotStarted;

        public bool IsEnable { get; set; } = true;


        public Dictionary<string, object> LastResults { get; private set; }

        /// <summary>分支节点：返回下一个要执行的节点名列表（null=非分支节点）</summary>

        public List<string> BranchTargets { get; protected set; }

        protected BasePlugin()
        {
            Model = new TModel();
        }

        /// <summary>
        /// 释放插件持有的资源。
        /// 子类有相机句柄/连接流/大对象等需释放的资源时，重写并调用 base.Dispose()。
        /// </summary>
        public virtual void Dispose()
        {
            try
            {
                LastResults?.Clear();
                LastResults = null;
                BranchTargets?.Clear();
                BranchTargets = null;
                Model = null;
            }
            catch { }
        }

        public virtual bool InitPlugin()
        {
            return true;
        }

        /// <summary>
        /// 声明插件输出字段。静态插件重写此方法声明固定输出；动态插件可从 Model 动态生成。
        /// </summary>
        public virtual List<OutputField> DeclareOutputs() => new List<OutputField>();

        public abstract NodeRunStatus PluginRun(CancellationToken token, out Dictionary<string, object> results);

        public bool InitRun()
        {
            Dictionary<string, object> results = new Dictionary<string, object>();
            try
            {
                bool ret = InitPlugin();
                foreach (var field in DeclareOutputs())
                {
                    results[field.Key] = field.ValueType != null && field.ValueType.IsValueType
                        ? Activator.CreateInstance(field.ValueType)
                        : null;
                }
                results["状态"] = NodeRunStatus.NotStarted;
                results["结果"] = false;
                results["耗时"] = 0;
                results["模型"] = this;
                if (!ret)
                    results["Error"] = GetModel.FlowName + "插件初始化失败";
                RegistryOrDebug.SetResult(GetModel.FlowId, GetModel.NodeId, GetModel.NodeName, results);
                LastResults = results;
                return ret;
            }
            catch (System.Exception ex)
            {
                results["Error"] = GetModel.FlowName + ex.Message;
                RegistryOrDebug.SetResult(GetModel.FlowId, GetModel.NodeId, GetModel.NodeName, results);
                LastResults = results;
                System.Diagnostics.Debug.WriteLine($"[InitRun] {GetModel.NodeName}: {ex}");
                return false;
            }
        }

        public NodeRunStatus Run(CancellationToken token)
        {
            IsSuccess = NodeRunStatus.Running;
            NodeRunStatus status;
            try
            {
                Dictionary<string, object> results;
                status = PluginRun(token, out results);
                LastResults = results;
                IsSuccess = status;
            }
            catch (System.Exception)
            {
                IsSuccess = NodeRunStatus.Failed;
                status = NodeRunStatus.Failed;
            }
            return status;
        }

        /// <summary>
        /// 通过公式获取节点执行结果值
        /// </summary>
        /// <typeparam name="T"></typeparam>
        /// <param name="formula"></param>
        /// <returns></returns>
        public T GetValue<T>(FormulaBound<T> formula)
        {
            if (formula == null)
                return default(T);
            object _result = new object();
            _result = RegistryOrDebug.ResolveFormula(GetModel.FlowId, formula.Formula);
            if (_result == null || _result?.ToString() == "")
                return formula.Value;
            else if (typeof(T).IsInterface)
            {
                if (_result is T tResult)
                    return tResult;
                else
                    return default(T);
            }
            else
                return (T)System.Convert.ChangeType(_result, typeof(T));
        }

        public object GetResolve(FormulaBound<object> formula)
        {
            if (formula == null)
                return default(object);
            object _result = new object();
            _result = RegistryOrDebug.ResolveFormula(GetModel.FlowId, formula.Formula);
            if (_result == null || _result?.ToString() == "")
                return formula.Value;
            else
                return _result;
        }
        /// <summary>
        /// 保存一条插件日志（像 GetValue 一样直接调用）。
        /// level 是详细度等级（1低/2中/3高/4终）：超过本插件设置的"日志等级"就跳过对应通道（存储/显示各一道，详见下行）；
        /// 两道独立闸门：level ≤ 节点「存储详细度」才写文件（1/2 公共日志，3/4 流程/任务 独立路径）；level ≤ 节点「显示详细度」才进实时日志控件（可存而不显、显而不存）。category 是类别（Info/Warning/Error），只作标记不影响存/显。
        /// 例：Log(1, "开始执行");  Log(3, "通讯超时", TeamAAS.LogLevel.Warning);
        /// </summary>
        public void Log(int level, string message, TeamAAS.LogLevel category = TeamAAS.LogLevel.Info)
            => TeamAAS.Logging.PluginLogger.Log(
                   Model.FlowName, Model.NodeName, Model.StoreVerbosity, Model.DisplayVerbosity, level, message, category);

    }
}