TeamAAS-2.5/TeamAAS.Core/TeamAAS.Motion/MotionManager.cs

using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using Newtonsoft.Json;
using TeamAAS.Global.Devices;
using TeamAAS.Motion.AdapterFactorys;
using TeamAAS.Motion.Interfaces;
using TeamAAS.Motion.Models;
using TeamAAS.Motion.Motions;

namespace TeamAAS.Motion
{
    /// <summary>
    /// 运动控制设备管理器（懒汉单例）。
    /// 职责：加载/保存 Config\MotionDevices.json；按配置实例化品牌适配器（仿真/雷赛/固高/IMC60G/GR20T）；
    /// 对上层（主程序状态栏、流程节点、调试页）提供统一的 IMotionCard/IIOCard 访问。
    /// 与 CameraManager/RobotManager 同构：App 启动时 LoadConfig，退出时 CloseAll。
    /// </summary>
    public class MotionManager
    {
        private static MotionManager _instance;
        public static MotionManager Instance => _instance ?? (_instance = new MotionManager());

        private DevicePluginManager _DevicePluginManager=new DevicePluginManager();

        public DevicePluginManager DevicePluginManager { get => _DevicePluginManager; set => _DevicePluginManager = value; }

        private readonly object _sync = new object();

        /// <summary>全部运动/IO 设备实例（含运动卡与 IO 卡）。</summary>
        public List<object> Devices { get; } = new List<object>();

        /// <summary>设备配置列表（与 Devices 一一对应）。</summary>
        public List<MotionDeviceConfig> Configs { get; private set; } = new List<MotionDeviceConfig>();

        /// <summary>
        /// 配置文件路径（Config\MotionDevices.json）。
        /// 由系统配置文件的目录派生（SystemConfigurationFile 在 Config\ 下），不引入新的 PathHelper 成员。
        /// </summary>
        public static string ConfigPath
        {
            get
            {
                var sysCfg = TeamAAS.PathHelper.SystemConfigurationFile;
                var dir = string.IsNullOrEmpty(sysCfg) ? AppDomain.CurrentDomain.BaseDirectory : Path.GetDirectoryName(sysCfg);
                return Path.Combine(dir ?? "", "MotionDevices.json");
            }
        }



        /// <summary>
        /// 从配置实例化全部设备（已存在实例时先释放）。仅创建，不自动连接。
        /// </summary>
        public void LoadConfig()
        {
            lock (_sync)
            {
                CloseAllUnsafe();
                try
                {
                    if (File.Exists(ConfigPath))
                    {
                        var json = File.ReadAllText(ConfigPath);
                        Configs = JsonConvert.DeserializeObject<List<MotionDeviceConfig>>(json) ?? new List<MotionDeviceConfig>();
                    }
                }
                catch { Configs = new List<MotionDeviceConfig>(); }

                foreach (var cfg in Configs)
                {
                    var dev = CreateDevice(cfg);
                    if (dev != null) Devices.Add(dev);
                }
            }
        }

        /// <summary>保存配置到 Config\MotionDevices.json。</summary>
        public bool SaveConfig()
        {
            lock (_sync)
            {
                try
                {
                    var dir = Path.GetDirectoryName(ConfigPath);
                    if (!string.IsNullOrEmpty(dir) && !Directory.Exists(dir)) Directory.CreateDirectory(dir);
                    File.WriteAllText(ConfigPath, JsonConvert.SerializeObject(Configs, Formatting.Indented));
                    return true;
                }
                catch (Exception ex)
                {
                    AppLogger.Error("运动设备配置保存失败", ex, nameof(MotionManager));
                }
                return false;
            }
        }

        /// <summary>按名称取运动卡。</summary>
        public IMotionControl GetMotion(string name)
            => Devices.OfType<IMotionControl>().FirstOrDefault(d => string.Equals(d.CardName, name, StringComparison.OrdinalIgnoreCase));

        /// <summary>按名称取 IO 卡。</summary>
        public IIOCard GetIO(string name)
            => Devices.OfType<IIOCard>().FirstOrDefault(d => string.Equals(d.Name, name, StringComparison.OrdinalIgnoreCase));

        /// <summary>断开并清空全部设备（App 退出时调用）。</summary>
        public void CloseAll()
        {
            lock (_sync) { CloseAllUnsafe(); }
        }

        private void CloseAllUnsafe()
        {
            foreach (var d in Devices)
            {
                try { (d as IConnectableDevice)?.Close(); } catch { }
            }
            Devices.Clear();
        }

        /// <summary>
        /// 按配置创建设备实例（品牌适配器工厂）。
        /// 新品牌接入：实现 IMotionCard/IIOCard → 在此 switch 增加分支即可。
        /// </summary>
        public  object CreateDevice(MotionDeviceConfig cfg)
        {
            IDeviceAdapterFactory Devicefactory= Instance.DevicePluginManager.GetFactory(cfg);
            if ( Devicefactory != null )
            {
                IMotionControl motion= Devicefactory.Create(cfg);
                if ( motion != null )
                {
                    Devices.Add(motion);
                    return motion;
                }
            }
            AppLogger.Info("该品牌还未适配");
            return null;
        }

        public void RemoveDevice(MotionDeviceConfig cfg) 
        {

            GetMotion(cfg.Name).Disconnect();
            Devices.Remove(cfg);

        }
    }
}