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.Input;
using System.Windows.Media;
using TeamAAS.Global.Devices;

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。
    /// 仿真卡与后续真实卡共用；绑定 <see cref="IMotionCard"/> 实例。
    /// </summary>
    public partial class MotionDebugView : UserControl
    {
        private IMotionCard _motion;
        private IAxis _selectedAxis;
        private bool _jogActive;
        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();
        }

        public void Bind(object motion)
        {
            _motion = motion as IMotionCard;
            _selectedAxis = null;
            _jogActive = false;
            CmbAxis.ItemsSource = null;

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

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

            OpsRoot.IsEnabled = _motion.IsConnected;
            _refreshTimer.Start();
            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;
            }
            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;
                RefreshAxisInfo();
            }
            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);
            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;
            BtnEnable.IsEnabled = !enabled;
            BtnDisable.IsEnabled = enabled;
            BtnStop.IsEnabled = axis.IsMoving;
            MotionOps.IsEnabled = enabled;
            TxtNeedEnable.Visibility = enabled ? Visibility.Collapsed : Visibility.Visible;
        }

        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 (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;
        }

        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; }
            try
            {
                axis.Enable();
                Msg("已使能");
                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); }
        }
    }

    /// <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;
        }
    }
}