TeamAAS-2.5/TeamAAS.Core/TeamAAS.Feeder/UI/FeederDebugViewModel.cs

using System;
using System.Collections.ObjectModel;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using Prism.Commands;
using Prism.Mvvm;
using TeamAAS.Feeder.Enums;
using TeamAAS.Feeder.Interfaces;
using TeamAAS.Feeder.Models;

namespace TeamAAS.Feeder.UI
{
    /// <summary>
    /// 通用（Team 品牌）供料器调试页的视图模型：从宿主 SettingViewModel 下沉而来（Phase 2 迁移）。
    /// 绑定一个 <see cref="IFeeder"/> 设备实例 + 其 <see cref="FeederInfo"/> 配置，直接调用设备 API。
    /// IFeederManager 经 TeamAAS.Global.ServiceRegistry 拉取（避免 Feeder 库反向依赖 TeamAAS.Core）。
    /// 方向/振动集/序列集/料斗IO/输入触发/系统参数/背光 全部在此，与硬件库调试页范式一致。
    /// </summary>
    public class FeederDebugViewModel : BindableBase
    {
        private const string LogSource = "Feeder";

        private IFeeder _feeder;
        private FeederInfo _info;
        private IFeederManager _manager;
        private CancellationTokenSource _sequenceCts;

        public FeederDebugViewModel()
        {
            FeederDirectionCommand = new DelegateCommand<object>(async p => await ExecuteDirectionAsync(Convert.ToInt32(p)));
            StopFeederActionCommand = new DelegateCommand(async () => await StopFeederAsync());
            ToggleBacklightCommand = new DelegateCommand(async () => await ToggleBacklightAsync());
            ExecuteActionCommand = new DelegateCommand(async () => await ExecuteCurrentActionAsync());
            DownloadParamCommand = new DelegateCommand(async () => await DownloadFeederParamsAsync());

            AddSequenceCommand = new DelegateCommand(AddSequence);
            DeleteSequenceCommand = new DelegateCommand(DeleteSequence);
            RenameSequenceCommand = new DelegateCommand(RenameSequence);
            AddSequenceStepCommand = new DelegateCommand<string>(AddSequenceStep);
            MoveUpStepCommand = new DelegateCommand(MoveUpStep);
            MoveDownStepCommand = new DelegateCommand(MoveDownStep);
            DeleteStepCommand = new DelegateCommand(DeleteStep);
            ExecuteSequenceCommand = new DelegateCommand(async () => await ExecuteSequenceAsync());
            StopSequenceCommand = new DelegateCommand(StopSequence);

            ReadHopperParamCommand = new DelegateCommand(async () => await ReadHopperParamAsync());
            WriteHopperParamCommand = new DelegateCommand(async () => await WriteHopperParamAsync());
            RunHopperOutputCommand = new DelegateCommand(async () => await RunHopperOutputAsync());
            StopHopperOutputCommand = new DelegateCommand(async () => await StopHopperOutputAsync());

            ReadInputTriggerCommand = new DelegateCommand(async () => await ReadInputTriggerAsync());
            WriteInputTriggerCommand = new DelegateCommand(async () => await WriteInputTriggerAsync());

            ReadSystemParamCommand = new DelegateCommand(async () => await ReadSystemParamAsync());
            WriteSystemParamCommand = new DelegateCommand(async () => await WriteSystemParamAsync());
        }

        /// <summary>绑定供料器设备（页面装载/选中时由 IFeederDebugPage.BindFeeder 调用）。</summary>
        public void Bind(IFeeder feeder)
        {
            _feeder = feeder;
            try { _manager = TeamAAS.Global.ServiceRegistry.Default.GetService<IFeederManager>(); }
            catch { _manager = null; }
            _info = null;
            if (_feeder != null && _manager != null)
            {
                try { _info = _manager.GetAll().FirstOrDefault(f => f.Id == _feeder.Id); }
                catch { _info = null; }
            }
            SelectedSequence = _info?.Sequences?.FirstOrDefault();
            StatusText = _feeder == null ? "未连接" : (_feeder.IsConnected ? $"{_feeder.Name} 已就绪" : "未连接");
            RaisePropertyChanged(nameof(Info));
            RaisePropertyChanged(nameof(CurrentAction));
            RaisePropertyChanged(nameof(CurrentSequences));
            RaisePropertyChanged(nameof(HasSelectedStep));
        }

        /// <summary>解绑（切换供料器/页面卸载）。</summary>
        public void Unbind()
        {
            try { _sequenceCts?.Cancel(); } catch { }
            _feeder = null;
            _info = null;
        }

        private string _statusText = "未连接";
        public string StatusText { get { return _statusText; } set { SetProperty(ref _statusText, value); } }

        /// <summary>当前绑定供料器的配置模型（方向/振动集/序列/背光状态等的数据源）；未绑定时为 null。</summary>
        public FeederInfo Info { get { return _info; } }

        private bool EnsureConnected()
        {
            if (_feeder == null || !_feeder.IsConnected)
            {
                TeamAAS.DialogHelper.Warning("请先连接供料器");
                return false;
            }
            return true;
        }

        private void SaveSilent()
        {
            if (_info == null || _manager == null) return;
            try { _manager.SaveConfig(); } catch { }
        }

        #region 振动集 / 方向

        public int[] VibrationSetList { get; } = Enumerable.Range(1, 11).ToArray();
        public string[] ActionLetterList { get; } = { "← A 左", "↙ B 左下", "↖ C 左上", "↓ D 下", "↑ E 上", "→ F 右", "↘ G 右下", "↗ H 右上", "⤨ I 散开", "⇔ J 水平聚集", "⇕ K 垂直聚集" };

        private int _selectedVibrationSetIndex;
        public int SelectedVibrationSetIndex
        {
            get { return _selectedVibrationSetIndex; }
            set { if (SetProperty(ref _selectedVibrationSetIndex, value)) RaisePropertyChanged(nameof(CurrentAction)); }
        }

        private int _selectedActionIndex;
        public int SelectedActionIndex
        {
            get { return _selectedActionIndex; }
            set { if (SetProperty(ref _selectedActionIndex, value)) RaisePropertyChanged(nameof(CurrentAction)); }
        }

        private int _currentDuration = 500;
        public int CurrentDuration { get { return _currentDuration; } set { SetProperty(ref _currentDuration, value); } }

        public SingleActionParam CurrentAction
        {
            get
            {
                if (_info == null || _info.ActionGroups == null) return null;
                int idx = SelectedVibrationSetIndex < 0 ? 0 : SelectedVibrationSetIndex > 10 ? 10 : SelectedVibrationSetIndex;
                return _info.ActionGroups[idx];
            }
        }

        private bool _isSyncChanging;
        public bool IsSyncChanging { get { return _isSyncChanging; } set { SetProperty(ref _isSyncChanging, value); } }

        private int _globalAmplitude = 50;
        public int GlobalAmplitude
        {
            get { return _globalAmplitude; }
            set
            {
                if (SetProperty(ref _globalAmplitude, value) && IsSyncChanging && CurrentAction != null)
                {
                    CurrentAction.Motor1.Amplitude = (ushort)value;
                    CurrentAction.Motor2.Amplitude = (ushort)value;
                    CurrentAction.Motor3.Amplitude = (ushort)value;
                    CurrentAction.Motor4.Amplitude = (ushort)value;
                }
            }
        }

        private int _globalFrequency = 100;
        public int GlobalFrequency
        {
            get { return _globalFrequency; }
            set
            {
                if (SetProperty(ref _globalFrequency, value) && IsSyncChanging && CurrentAction != null)
                {
                    CurrentAction.Motor1.Frequency = (ushort)value;
                    CurrentAction.Motor2.Frequency = (ushort)value;
                    CurrentAction.Motor3.Frequency = (ushort)value;
                    CurrentAction.Motor4.Frequency = (ushort)value;
                }
            }
        }

        public DelegateCommand<object> FeederDirectionCommand { get; }
        public DelegateCommand StopFeederActionCommand { get; }
        public DelegateCommand ToggleBacklightCommand { get; }
        public DelegateCommand ExecuteActionCommand { get; }
        public DelegateCommand DownloadParamCommand { get; }

        private async Task ExecuteDirectionAsync(int dir)
        {
            if (!EnsureConnected()) return;
            try
            {
                var action = (FeederAction)dir;
                StatusText = $"执行方向: {action}";
                await _feeder.RunDirectionAsync(action, CurrentDuration);
                TeamAAS.AppLogger.Info($"供料器方向执行: {action} 持续 {CurrentDuration}ms", LogSource);
                StatusText = $"方向 {action} 执行完成";
            }
            catch (Exception ex) { StatusText = "执行失败"; TeamAAS.DialogHelper.ShowError("方向执行失败", ex); }
        }

        private async Task StopFeederAsync()
        {
            if (_feeder == null) return;
            try { await _feeder.StopAsync(); StatusText = "停止振动"; }
            catch (Exception ex) { TeamAAS.DialogHelper.ShowError("停止失败", ex); }
        }

        private async Task ToggleBacklightAsync()
        {
            if (!EnsureConnected()) return;
            try
            {
                bool on = await _feeder.QueryBacklightAsync();
                if (on) { await _feeder.CloseBacklightAsync(); if (_info != null) _info.IsBacklightOn = false; StatusText = "背光关"; }
                else { await _feeder.OpenBacklightAsync(); if (_info != null) _info.IsBacklightOn = true; StatusText = "背光开"; }
                RaisePropertyChanged(nameof(Info));
            }
            catch (Exception ex) { TeamAAS.DialogHelper.ShowError("背光控制失败", ex); }
        }

        private async Task ExecuteCurrentActionAsync()
        {
            if (!EnsureConnected()) return;
            try
            {
                await _feeder.SetActionParamAsync(SelectedVibrationSetIndex, CurrentAction);
                await _feeder.RunDirectionAsync((FeederAction)SelectedActionIndex, CurrentDuration);
                StatusText = $"执行振动集 {SelectedVibrationSetIndex + 1} ({ActionLetterList[SelectedActionIndex]})";
            }
            catch (Exception ex) { StatusText = "执行失败"; TeamAAS.DialogHelper.ShowError("执行动作失败", ex); }
        }

        private async Task DownloadFeederParamsAsync()
        {
            if (!EnsureConnected() || _info == null) return;
            try
            {
                StatusText = "下载参数中...";
                await _feeder.DownloadAllParamsAsync(_info);
                TeamAAS.AppLogger.Info($"供料器下载振动集参数: {_info.FeederName}", LogSource);
                await _feeder.SaveToDeviceAsync();
                StatusText = "参数已下载并保存到设备";
                TeamAAS.DialogHelper.Success("参数已下载到设备");
            }
            catch (Exception ex) { StatusText = "下载失败"; TeamAAS.DialogHelper.ShowError("下载参数失败", ex); }
        }

        #endregion

        #region 序列集（送料流程）

        public ObservableCollection<SequenceSet> CurrentSequences => _info?.Sequences;

        private SequenceSet _selectedSequence;
        public SequenceSet SelectedSequence
        {
            get { return _selectedSequence; }
            set { if (SetProperty(ref _selectedSequence, value)) RaisePropertyChanged(nameof(CurrentSequenceSteps)); }
        }

        public ObservableCollection<SequenceStep> CurrentSequenceSteps => _selectedSequence?.Steps;

        private SequenceStep _selectedStep;
        public SequenceStep SelectedStep
        {
            get { return _selectedStep; }
            set { if (SetProperty(ref _selectedStep, value)) RaisePropertyChanged(nameof(HasSelectedStep)); }
        }

        public bool HasSelectedStep => _selectedStep != null;

        private string _sequenceStatusText = "";
        public string SequenceStatusText { get { return _sequenceStatusText; } set { SetProperty(ref _sequenceStatusText, value); } }

        public DelegateCommand AddSequenceCommand { get; }
        public DelegateCommand DeleteSequenceCommand { get; }
        public DelegateCommand RenameSequenceCommand { get; }
        public DelegateCommand<string> AddSequenceStepCommand { get; }
        public DelegateCommand MoveUpStepCommand { get; }
        public DelegateCommand MoveDownStepCommand { get; }
        public DelegateCommand DeleteStepCommand { get; }
        public DelegateCommand ExecuteSequenceCommand { get; }
        public DelegateCommand StopSequenceCommand { get; }

        private void AddSequence()
        {
            if (_info == null) { TeamAAS.DialogHelper.Warning("请先选择供料器"); return; }
            string name = TeamAAS.DialogHelper.Input("流程名称", "新建流程", "新流程");
            if (string.IsNullOrWhiteSpace(name)) return;
            if (_info.Sequences.Any(s => string.Equals(s.Name, name, StringComparison.OrdinalIgnoreCase)))
            { TeamAAS.DialogHelper.Warning($"流程 \"{name}\" 已存在，请换一个名称"); return; }
            var seq = new SequenceSet { Name = name };
            _info.Sequences.Add(seq);
            SelectedSequence = seq;
            RenumberSteps();
            SaveSilent();
        }

        private void DeleteSequence()
        {
            if (SelectedSequence == null) return;
            if (!TeamAAS.DialogHelper.ConfirmYesNo($"确认删除流程 \"{SelectedSequence.Name}\" 吗?", "确认")) return;
            var list = CurrentSequences;
            int idx = list.IndexOf(SelectedSequence);
            list.Remove(SelectedSequence);
            SelectedSequence = list.Count > 0 ? list[Math.Min(idx, list.Count - 1)] : null;
            RaisePropertyChanged(nameof(CurrentSequenceSteps));
            RenumberSteps();
            SaveSilent();
        }

        private void RenameSequence()
        {
            if (SelectedSequence == null || _info == null) return;
            string name = TeamAAS.DialogHelper.Input("流程名称", "重命名", SelectedSequence.Name);
            if (string.IsNullOrWhiteSpace(name)) return;
            if (!string.Equals(name, SelectedSequence.Name, StringComparison.OrdinalIgnoreCase) &&
                _info.Sequences.Any(s => string.Equals(s.Name, name, StringComparison.OrdinalIgnoreCase)))
            { TeamAAS.DialogHelper.Warning($"流程 \"{name}\" 已存在，请换一个名称"); return; }
            SelectedSequence.Name = name;
            SaveSilent();
        }

        private void AddSequenceStep(string type)
        {
            if (SelectedSequence == null) { TeamAAS.DialogHelper.Warning("请先选择或创建一个流程"); return; }
            var step = new SequenceStep
            {
                StepType = type == "Delay" ? SequenceStepType.Delay : SequenceStepType.Direction,
                TimeMs = type == "Delay" ? 300 : 500,
                Direction = FeederAction.Right,
                Enabled = true,
            };
            SelectedSequence.Steps.Add(step);
            RenumberSteps();
            SaveSilent();
        }

        private void MoveUpStep()
        {
            if (SelectedStep == null || CurrentSequenceSteps == null) return;
            int idx = CurrentSequenceSteps.IndexOf(SelectedStep);
            if (idx <= 0) return;
            CurrentSequenceSteps.Move(idx, idx - 1);
            SelectedStep = CurrentSequenceSteps[idx - 1];
            RenumberSteps();
            SaveSilent();
        }

        private void MoveDownStep()
        {
            if (SelectedStep == null || CurrentSequenceSteps == null) return;
            int idx = CurrentSequenceSteps.IndexOf(SelectedStep);
            if (idx < 0 || idx >= CurrentSequenceSteps.Count - 1) return;
            CurrentSequenceSteps.Move(idx, idx + 1);
            SelectedStep = CurrentSequenceSteps[idx + 1];
            RenumberSteps();
            SaveSilent();
        }

        private void DeleteStep()
        {
            if (SelectedStep == null || CurrentSequenceSteps == null) return;
            CurrentSequenceSteps.Remove(SelectedStep);
            SelectedStep = null;
            RenumberSteps();
            SaveSilent();
        }

        private void RenumberSteps()
        {
            if (CurrentSequenceSteps == null) return;
            for (int i = 0; i < CurrentSequenceSteps.Count; i++)
                CurrentSequenceSteps[i].Index = i + 1;
        }

        private async Task ExecuteSequenceAsync()
        {
            if (SelectedSequence == null) { TeamAAS.DialogHelper.Warning("请先选择流程"); return; }
            if (!EnsureConnected()) return;
            _sequenceCts = new CancellationTokenSource();
            var token = _sequenceCts.Token;
            try
            {
                int stepIdx = 0;
                foreach (var step in SelectedSequence.Steps)
                {
                    stepIdx++;
                    if (!step.Enabled) continue;
                    if (token.IsCancellationRequested) break;
                    if (step.StepType == SequenceStepType.Delay)
                    {
                        SequenceStatusText = $"等待 {step.TimeMs}ms... ({stepIdx}/{SelectedSequence.Steps.Count})";
                        await Task.Delay(step.TimeMs, token);
                    }
                    else
                    {
                        SequenceStatusText = $"{step.Direction} 振动 {step.TimeMs}ms ({stepIdx}/{SelectedSequence.Steps.Count})";
                        await _feeder.RunDirectionAsync(step.Direction, step.TimeMs > 0 ? step.TimeMs : (int?)null);
                    }
                }
                SequenceStatusText = token.IsCancellationRequested ? "流程已停止" : "流程执行完成";
            }
            catch (TaskCanceledException) { SequenceStatusText = "流程已停止"; }
            catch (Exception ex) { SequenceStatusText = "流程执行异常"; TeamAAS.DialogHelper.ShowError("流程执行异常", ex); }
        }

        private void StopSequence()
        {
            try { _sequenceCts?.Cancel(); } catch { }
            try { var t = _feeder?.StopAsync(); } catch { }
        }

        #endregion

        #region 料斗输入输出

        public int[] HopperGroupList { get; } = Enumerable.Range(0, 26).ToArray();

        private int _selectedHopperGroup;
        public int SelectedHopperGroup { get { return _selectedHopperGroup; } set { SetProperty(ref _selectedHopperGroup, value); } }

        private HopperOutputParam _hopperParam = new HopperOutputParam();
        public HopperOutputParam HopperParam { get { return _hopperParam; } set { SetProperty(ref _hopperParam, value); } }

        public DelegateCommand ReadHopperParamCommand { get; }
        public DelegateCommand WriteHopperParamCommand { get; }
        public DelegateCommand RunHopperOutputCommand { get; }
        public DelegateCommand StopHopperOutputCommand { get; }

        private async Task ReadHopperParamAsync()
        {
            if (!EnsureConnected()) return;
            try
            {
                StatusText = $"读取料斗输出参数(组 {SelectedHopperGroup})...";
                HopperParam = await _feeder.GetHopperParamAsync(SelectedHopperGroup);
                StatusText = "料斗输出参数已读取";
            }
            catch (Exception ex) { StatusText = "读取料斗参数失败"; TeamAAS.AppLogger.Error("读取料斗输出参数失败", ex, LogSource); TeamAAS.DialogHelper.ShowError("读取料斗参数失败", ex); }
        }

        private async Task WriteHopperParamAsync()
        {
            if (!EnsureConnected()) return;
            try
            {
                StatusText = $"下载料斗输出参数(组 {SelectedHopperGroup})...";
                await _feeder.SetHopperParamAsync(SelectedHopperGroup, HopperParam);
                StatusText = "料斗输出参数已下载";
                TeamAAS.DialogHelper.Success("料斗输出参数已下载到设备");
            }
            catch (Exception ex) { StatusText = "下载料斗参数失败"; TeamAAS.AppLogger.Error("下载料斗输出参数失败", ex, LogSource); TeamAAS.DialogHelper.ShowError("下载料斗参数失败", ex); }
        }

        private async Task RunHopperOutputAsync()
        {
            if (!EnsureConnected()) return;
            try
            {
                int id = SelectedHopperGroup + 1;
                StatusText = $"执行料斗动作 {id}...";
                await _feeder.RunHopperOutputAsync(id, HopperParam.HopperDuration > 0 ? HopperParam.HopperDuration : (int?)null);
                StatusText = $"料斗动作 {id} 执行完成";
            }
            catch (Exception ex) { StatusText = "料斗动作执行失败"; TeamAAS.AppLogger.Error("执行料斗动作失败", ex, LogSource); TeamAAS.DialogHelper.ShowError("料斗动作执行失败", ex); }
        }

        private async Task StopHopperOutputAsync()
        {
            if (_feeder == null) return;
            try { await _feeder.StopHopperOutputAsync(); StatusText = "料斗振动已停止"; }
            catch (Exception ex) { TeamAAS.AppLogger.Error("停止料斗振动失败", ex, LogSource); TeamAAS.DialogHelper.ShowError("停止料斗振动失败", ex); }
        }

        #endregion

        #region 输入触发序列ID

        private int _inputTrigger1;
        public int InputTrigger1 { get { return _inputTrigger1; } set { SetProperty(ref _inputTrigger1, value); } }

        private int _inputTrigger2;
        public int InputTrigger2 { get { return _inputTrigger2; } set { SetProperty(ref _inputTrigger2, value); } }

        public DelegateCommand ReadInputTriggerCommand { get; }
        public DelegateCommand WriteInputTriggerCommand { get; }

        private async Task ReadInputTriggerAsync()
        {
            if (!EnsureConnected()) return;
            try
            {
                InputTrigger1 = await _feeder.GetInputTriggerAsync(0);
                InputTrigger2 = await _feeder.GetInputTriggerAsync(1);
                StatusText = $"输入触发已读取: 输入1={InputTrigger1} 输入2={InputTrigger2}";
            }
            catch (Exception ex) { StatusText = "读取输入触发失败"; TeamAAS.AppLogger.Error("读取输入触发序列ID失败", ex, LogSource); TeamAAS.DialogHelper.ShowError("读取输入触发失败", ex); }
        }

        private async Task WriteInputTriggerAsync()
        {
            if (!EnsureConnected()) return;
            try
            {
                await _feeder.SetInputTriggerAsync(0, InputTrigger1);
                await _feeder.SetInputTriggerAsync(1, InputTrigger2);
                StatusText = "输入触发已写入";
                TeamAAS.DialogHelper.Success("输入触发参数已写入设备");
            }
            catch (Exception ex) { StatusText = "写入输入触发失败"; TeamAAS.AppLogger.Error("写入输入触发序列ID失败", ex, LogSource); TeamAAS.DialogHelper.ShowError("写入输入触发失败", ex); }
        }

        #endregion

        #region 系统参数（超时/背光）

        private FeederSystemParam _systemParam = new FeederSystemParam();
        public FeederSystemParam SystemParam { get { return _systemParam; } set { SetProperty(ref _systemParam, value); } }

        public DelegateCommand ReadSystemParamCommand { get; }
        public DelegateCommand WriteSystemParamCommand { get; }

        private async Task ReadSystemParamAsync()
        {
            if (!EnsureConnected()) return;
            try
            {
                StatusText = "读取系统参数...";
                SystemParam = await _feeder.GetSystemParamAsync();
                StatusText = "系统参数已读取";
            }
            catch (Exception ex) { StatusText = "读取系统参数失败"; TeamAAS.AppLogger.Error("读取供料器系统参数失败", ex, LogSource); TeamAAS.DialogHelper.ShowError("读取系统参数失败", ex); }
        }

        private async Task WriteSystemParamAsync()
        {
            if (!EnsureConnected()) return;
            try
            {
                StatusText = "写入系统参数...";
                await _feeder.SetSystemParamAsync(SystemParam);
                StatusText = "系统参数已写入并保存";
                TeamAAS.DialogHelper.Success("系统参数已写入设备");
            }
            catch (Exception ex) { StatusText = "写入系统参数失败"; TeamAAS.AppLogger.Error("写入供料器系统参数失败", ex, LogSource); TeamAAS.DialogHelper.ShowError("写入系统参数失败", ex); }
        }

        #endregion
    }
}