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.Models;

namespace TeamAAS.Motion
{
    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();

        public List<object> Devices { get; } = new List<object>();
        public List<MotionDeviceConfig> Configs { get; private set; } = new List<MotionDeviceConfig>();

        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");
            }
        }

        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>();
                    }
                    else
                    {
                        Configs = new List<MotionDeviceConfig>();
                    }
                }
                catch
                {
                    Configs = new List<MotionDeviceConfig>();
                }

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

        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;
            }
        }

        public IMotionCard GetMotion(string name)
            => Devices.OfType<IMotionCard>()
                .FirstOrDefault(d => string.Equals(d.Name, name, StringComparison.OrdinalIgnoreCase));

        public IIOCard GetIO(string name)
            => Devices.OfType<IIOCard>()
                .FirstOrDefault(d => string.Equals(d.Name, name, StringComparison.OrdinalIgnoreCase));

        public void CloseAll()
        {
            lock (_sync) { CloseAllUnsafe(); }
        }

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

        public object CreateDevice(MotionDeviceConfig cfg)
        {
            if (cfg == null) return null;

            var factory = DevicePluginManager.GetFactory(cfg);
            if (factory == null)
            {
                AppLogger.Info($"未找到运动适配器: {cfg.AdapterKey}");
                return null;
            }

            return factory.Create(cfg);
        }

        public bool AddDevice(MotionDeviceConfig cfg)
        {
            if (cfg == null || string.IsNullOrWhiteSpace(cfg.Name)) return false;

            lock (_sync)
            {
                if (Configs.Any(c => string.Equals(c.Name, cfg.Name, StringComparison.OrdinalIgnoreCase)))
                    return false;

                var dev = CreateDevice(cfg);
                if (dev == null) return false;

                Configs.Add(cfg);
                Devices.Add(dev);
                return SaveConfig();
            }
        }

        public bool RemoveDevice(MotionDeviceConfig cfg)
        {
            if (cfg == null) return false;

            lock (_sync)
            {
                var motion = GetMotion(cfg.Name);
                try { motion?.Close(); } catch { }

                if (motion != null)
                    Devices.Remove(motion);

                Configs.RemoveAll(c => string.Equals(c.Name, cfg.Name, StringComparison.OrdinalIgnoreCase));
                return SaveConfig();
            }
        }
    }
}