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

using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Threading.Tasks;
using System.Windows;
using TeamAAS.Robot.Models;
using TeamAAS.Robot.UI;
using TeamAAS.Views;

namespace TeamAAS.ViewModels
{
    /// <summary>
    /// 设置页 - 机器人管理(列表 / 连接 / 属性)。
    /// 调试操作(jog / 电机 / 复位 / 刹车 / Tool / 坐标)已下沉到库内 DefaultRobotDebugPage。
    /// </summary>
    public partial class SettingViewModel
    {
        #region 机器人管理

        public ObservableCollection<RobotInfo> Robots { get; }

        private RobotInfo _selectedRobot;
        public RobotInfo SelectedRobot
        {
            get { return _selectedRobot; }
            set
            {
                if (SetProperty(ref _selectedRobot, value))
                    RefreshRobotDebugHost();
                RaisePropertyChanged(nameof(HasSelectedRobot));
            }
        }

        private object _currentRobotDebugPage;
        /// <summary>右侧调试页内容：RobotDebugPageFactory 创建(品牌专属页或库内默认页)，选中机器人时恒非空。</summary>
        public object CurrentRobotDebugPage
        {
            get { return _currentRobotDebugPage; }
            private set { SetProperty(ref _currentRobotDebugPage, value); }
        }

        /// <summary>按选中的机器人刷新右侧调试页(工厂恒返回页面并绑定设备实例)。</summary>
        private void RefreshRobotDebugHost()
        {
            (_currentRobotDebugPage as IRobotDebugPage)?.UnbindRobot();
            CurrentRobotDebugPage = null;

            if (_selectedRobot == null) return;

            try
            {
                var robot = _robotManager.GetRobot(_selectedRobot.Id);
                if (robot == null) return;
                CurrentRobotDebugPage = RobotDebugPageFactory.Create(robot);
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"加载机器人调试页失败: {ex.Message}");
            }
        }

        public bool HasSelectedRobot => _selectedRobot != null;

        #endregion

        #region 机器人操作(列表管理 + 连接)

        private void AddRobot()
        {
            var dialog = new AddRobotDialog(Robots.Count)
            {
                Owner = Application.Current.MainWindow
            };

            if (dialog.ShowDialog() == true && dialog.Result != null)
            {
                var robotInfo = dialog.Result;
                robotInfo.RobotNo = Robots.Count + 1;

                try
                {
                    _robotManager.CreateRobot(robotInfo.Id, robotInfo);
                    Robots.Add(robotInfo);
                    SelectedRobot = robotInfo;
                    DialogHelper.Success($"已添加 {robotInfo.RobotName}");
                }
                catch (Exception ex)
                {
                    DialogHelper.ShowError("添加机器人失败", ex);
                }
            }
        }

        private void DeleteRobot()
        {
            if (SelectedRobot == null) return;

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

            var robotToRemove = SelectedRobot;
            try
            {
                _robotManager.RemoveRobot(robotToRemove.Id);
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"释放机器人资源异常: {ex.Message}");
            }

            Robots.Remove(robotToRemove);

            for (int i = 0; i < Robots.Count; i++)
            {
                Robots[i].RobotNo = i + 1;
            }

            SelectedRobot = null;
        }

        private async Task ConnectRobotAsync()
        {
            if (SelectedRobot == null) return;

            try
            {
                var robot = _robotManager.GetRobot(SelectedRobot.Id);
                if (robot == null)
                {
                    _robotManager.CreateRobot(SelectedRobot.Id, SelectedRobot);
                    robot = _robotManager.GetRobot(SelectedRobot.Id);
                }

                if (robot == null)
                {
                    DialogHelper.ShowWarning("无法获取机器人实例");
                    return;
                }

                await robot.ConnectAsync();
                if (robot.IsConnected) DialogHelper.Success("机器人连接成功");
                else DialogHelper.ShowError("机器人连接失败");
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("连接异常", ex);
            }
        }

        private void DisconnectRobot()
        {
            if (SelectedRobot == null) return;

            try
            {
                var robot = _robotManager.GetRobot(SelectedRobot.Id);
                if (robot == null) return;

                robot.Disconnect();
                DialogHelper.Info("已断开机器人");
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("断开异常", ex);
            }
        }

        #endregion

        #region 机器人列表刷新 & 配置保存 & 属性编辑

        public void ApplyRobotEdit(RobotInfo edited)
        {
            try
            {
                var infos = _robotManager.GetAllRobotInfos();
                var list = new List<RobotInfo>(infos);
                int idx = list.FindIndex(r => r.Id == edited.Id);
                if (idx >= 0) list[idx] = edited;

                _robotManager.InitializeAllRobots(list.ToArray());
                _robotManager.SaveConfig();
                RefreshRobotList();
                DialogHelper.Success("机器人属性已更新并保存");
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("应用机器人属性失败", ex);
            }
        }

        private void RefreshRobotList()
        {
            Robots.Clear();
            var infos = _robotManager.GetAllRobotInfos();
            foreach (var info in infos)
            {
                Robots.Add(info);
            }
        }

        private void SaveRobotConfig()
        {
            try
            {
                if (_robotManager.SaveConfig())
                {
                    RefreshRobotList();
                    DialogHelper.Success("机器人配置已保存");
                }
                else
                    DialogHelper.ShowError("机器人配置保存失败，请查看日志");
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("保存机器人配置失败", ex);
            }
        }

        #endregion
    }
}