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

using System;
using System.Linq;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Controls.Primitives;
using TeamAAS.Global.Devices;

namespace TeamAAS.Motion
{
    /// <summary>
    /// 运动/IO 通用调试页面：轴状态表 + 定位/回零/使能/停止 + IO 输出点翻转。
    /// 所有运动卡与 IO 卡（仿真/雷赛/固高/IMC60G/GR20T…）共用此页面（设备内核·统一调试页要求）；
    /// 品牌特有调试能力可通过 IDeviceDebugPageFactory 提供专用页面替换本页。
    /// </summary>
    public partial class MotionDebugView : UserControl
    {
        private IMotionCard _motion;
        private IIOCard _io;
        private readonly System.Windows.Threading.DispatcherTimer _refreshTimer;

        public MotionDebugView()
        {
            InitializeComponent();
            _refreshTimer = new System.Windows.Threading.DispatcherTimer { Interval = TimeSpan.FromMilliseconds(300) };
            _refreshTimer.Tick += (s, e) => RefreshStatus();
        }

        /// <summary>绑定设备（运动卡或 IO 卡，二选一或同时实现）。</summary>
        public void Bind(object device)
        {
            _motion = device as IMotionCard;
            _io = device as IIOCard;
            TxtTitle.Text = (_motion as TeamAAS.Global.Devices.INamedDevice)?.Name
                            ?? (_io as TeamAAS.Global.Devices.INamedDevice)?.Name
                            ?? "运动/IO 调试";

            if (_motion != null)
            {
                AxisGrid.ItemsSource = _motion.GetAllAxisStatus();
            }
            else
            {
                AxisGrid.Visibility = Visibility.Collapsed;
            }

            BuildIoPanel();

            _refreshTimer.Start();
            RefreshStatus();
        }

        private IMotionCard Motion => _motion;
        private IIOCard Io => _io;

        private void BuildIoPanel()
        {
            IoPanel.Children.Clear();
            if (_io == null)
            {
                IoPanel.Visibility = Visibility.Collapsed;
                return;
            }
            IoPanel.Visibility = Visibility.Visible;
            for (int i = 0; i < _io.OutputCount; i++)
            {
                int index = i;
                var btn = new ToggleButton
                {
                    Content = $"Y{index}",
                    Width = 44,
                    Margin = new Thickness(2),
                };
                btn.Checked += (s, e) => _io.WriteOutput(index, true);
                btn.Unchecked += (s, e) => _io.WriteOutput(index, false);
                IoPanel.Children.Add(btn);
            }
        }

        private void RefreshStatus()
        {
            try
            {
                if (_motion != null && _motion.IsConnected)
                    AxisGrid.ItemsSource = _motion.GetAllAxisStatus();

                if (_io != null && _io.IsConnected)
                {
                    var outs = _io.ReadAllOutputs();
                    var ins = _io.ReadAllInputs();
                    for (int i = 0; i < IoPanel.Children.Count && i < outs.Length; i++)
                    {
                        if (IoPanel.Children[i] is ToggleButton tb && tb.IsChecked != outs[i])
                        {
                            _suppressIo = true;
                            tb.IsChecked = outs[i];
                            _suppressIo = false;
                        }
                    }
                    TxtStatus.Text = $"已连接 · 输入:{ToMask(ins)} 输出:{ToMask(outs)}";
                }
                else
                {
                    TxtStatus.Text = _motion != null && _motion.IsConnected ? "已连接" : "未连接";
                }
            }
            catch { }
        }

        private bool _suppressIo;

        private static string ToMask(bool[] bits)
            => bits == null ? "" : new string(bits.Select(b => b ? '1' : '0').ToArray());

        private bool TryGetAxis(out int axis, out double vel, out double pos)
        {
            axis = 0; vel = 100; pos = 0;
            if (_motion == null) return false;
            return int.TryParse(TxtAxis.Text, out axis)
                && double.TryParse(TxtVel.Text, out vel)
                && double.TryParse(TxtPos.Text, out pos);
        }

        private void BtnOpen_Click(object sender, RoutedEventArgs e)
        {
            try
            {
                bool ok = (_motion as IConnectableDevice)?.Open()
                          ?? (_io as IConnectableDevice)?.Open() ?? false;
                TxtStatus.Text = ok ? "已连接" : "连接失败";
            }
            catch (Exception ex) { TxtStatus.Text = "连接失败: " + ex.Message; }
        }

        private void BtnClose_Click(object sender, RoutedEventArgs e)
        {
            try { (_motion as IConnectableDevice)?.Close(); (_io as IConnectableDevice)?.Close(); } catch { }
            TxtStatus.Text = "未连接";
        }

        private void BtnMoveAbs_Click(object sender, RoutedEventArgs e)
        {
            if (TryGetAxis(out var axis, out var vel, out var pos))
                _motion?.MoveAbsolute(axis, pos, vel);
        }

        private void BtnEnable_Click(object sender, RoutedEventArgs e)
        {
            if (int.TryParse(TxtAxis.Text, out var axis)) _motion?.SetEnable(axis, true);
        }

        private void BtnHome_Click(object sender, RoutedEventArgs e)
        {
            if (int.TryParse(TxtAxis.Text, out var axis)) _motion?.Home(axis);
        }

        private void BtnStop_Click(object sender, RoutedEventArgs e)
        {
            _motion?.Stop(-1);
        }

        private void BtnRefresh_Click(object sender, RoutedEventArgs e) => RefreshStatus();
    }

    /// <summary>
    /// 运动/IO 设备通用调试页工厂：注册到设备调试页体系后，所有运动卡/IO 卡自动获得调试页面。
    /// </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;
        }
    }
}