TeamAAS-2.5/TeamAAS.Plugins/Plugins.Vm/VmFlowNodes.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Text.RegularExpressions;
using System.Threading;
using PropertyGridLib.Attributes;
using PropertyGridLib.Controls;
using TeamAAS.FlowEditor.Execution;
using TeamAAS.FlowEditor.Models;
using TeamAAS.FlowEditor.Plugins;
using TeamAAS.FlowEngine.FormulaData;

namespace Plugins.Vm
{
    // ─────────────────────────────────────────────────────────────────────
    // VM（VisionMaster）流程容器 —— 镜像 HalconFlowPlugin/VppFlowPlugin 的"平台子流程"模式：
    // 主流程拖一个「VM流程」容器节点，双击进入 VM 专用子流程编辑器（工具箱只显
    // Vm模块 的算子），配置输入/输出映射后循环执行子图。
    // ─────────────────────────────────────────────────────────────────────

    /// <summary>
    /// VM 流程容器节点。镜像 HalconFlowPlugin 的行为：
    /// 配置输入映射（把主流程图像等注入子流程）→ 运行 VM 子流程（可循环）→ 收集输出映射回主流程。
    /// 双击打开 <see cref="Views.VmFlowEditorView"/>：一个只含 VM 算子（按 VisionPlugin 分类）的流程编辑器。
    /// </summary>
    [Serializable]
    [Plugin("VM流程", PluginCategory.Vm模块, typeof(Models.VmFlowModel), typeof(Views.VmFlowEditorView),
        "CameraIris", NodeShape = NodeCategory.Group,
        Description = "VisionMaster 视觉子流程容器 - 图像经输入映射进入，内部用 VM 模块算子处理，结果映射回主流程")]
    public class VmFlowPlugin : BasePlugin<Models.VmFlowModel>
    {
        public override List<OutputField> DeclareOutputs()
        {
            var list = new List<OutputField>();
            if (Model?.ModuleOutputs != null)
            {
                foreach (var kv in Model.ModuleOutputs)
                {
                    if (string.IsNullOrWhiteSpace(kv.OutName)) continue;
                    list.Add(new OutputField(kv.OutName, typeof(object)));
                }
            }
            list.Add(new OutputField("实际循环次数", typeof(int)));
            list.Add(new OutputField("循环设置", typeof(string)));
            list.Add(new OutputField("结果", typeof(bool)));
            list.Add(new OutputField("Message", typeof(string)));
            return list;
        }

        public override bool InitPlugin()
        {
            Model.EnsureSubGraph();
            return true;
        }

        [Newtonsoft.Json.JsonIgnore]
        public int CurrentCount { get; set; } = 0;

        public override NodeRunStatus PluginRun(CancellationToken token, out Dictionary<string, object> results)
        {
            var res = new Dictionary<string, object>();
            results = res;
            Model.EnsureSubGraph();

            NodeRunStatus Fail(string message)
            {
                res["Error"] = message;
                res["结果"] = false;
                Log(1, $"VM 流程失败: {message}", TeamAAS.LogLevel.Error);
                return NodeRunStatus.Failed;
            }

            if (Model.LoopCount == 0)
            {
                Log(2, "循环次数为 0，跳过 VM 流程执行");
                res["结果"] = true;
                res["实际循环次数"] = 0;
                res["循环设置"] = "0";
                return NodeRunStatus.Skipped;
            }

            if (Model.SubGraph.Nodes.Count == 0)
                return Fail("VM 子流程为空（双击节点进入编辑器拖入 VM 模块算子）");

            Log(3, $"VM 流程开始，循环设置={(Model.LoopCount == -1 ? "无限" : Model.LoopCount.ToString())}，输入 {Model.ModuleInputs?.Count ?? 0} 个、输出 {Model.ModuleOutputs?.Count ?? 0} 个、子节点 {Model.SubGraph.Nodes.Count} 个");
            Model.IsBreakRequested = false;
            int maxLoops = Model.LoopCount == -1 ? int.MaxValue : Model.LoopCount;
            int actualLoops = 0;

            try
            {
                for (int i = 0; i < maxLoops; i++)
                {
                    if (token.IsCancellationRequested) break;
                    CurrentCount = i + 1;

                    foreach (var node in Model.SubGraph.Nodes)
                    {
                        node.Status = NodeRunStatus.NotStarted;
                        node.CostTime = 0;
                    }

                    // ResetAllNodes 会 ClearFlow 清掉子流程所有结果（含刚注册的输入），
                    // 所以用 SkipReset=true 保留输入变量；节点状态由上面的循环手动复位（与 GroupPlugin 一致）
                    RegisterInputs();

                    var executor = new FlowExecutor(Model.SubGraph) { SkipReset = true };
                    executor.EndNodeEncountered += () => { Model.IsBreakRequested = true; };
                    executor.ExecuteAsync(token).Wait();

                    actualLoops++;

                    if (Model.IsBreakRequested)
                    {
                        res["Message"] = $"第 {i + 1} 次循环遇到结束节点";
                        Log(2, $"第 {i + 1} 次循环遇到结束节点，跳出循环");
                        break;
                    }
                }

                // 收集输出：把子流程内部节点结果映射回主流程
                SaveOutputs(res);

                res["实际循环次数"] = actualLoops;
                res["循环设置"] = Model.LoopCount == -1 ? "无限" : Model.LoopCount.ToString();

                if (token.IsCancellationRequested)
                {
                    Log(1, $"VM 流程被取消，已执行 {actualLoops} 次循环", TeamAAS.LogLevel.Warning);
                    res["结果"] = false;
                    return NodeRunStatus.Failed;
                }

                res["结果"] = true;
                Log(2, $"VM 流程执行完成，实际循环 {actualLoops} 次");
                return NodeRunStatus.Success;
            }
            catch (Exception ex)
            {
                return Fail(ex.Message);
            }
        }

        /// <summary>
        /// 把 ModuleInputs 映射到子流程注册表的「输入」区，内部节点通过 &amp;{输入.变量名} 引用。
        /// </summary>
        private void RegisterInputs()
        {
            if (Model?.ModuleInputs == null || Model.ModuleInputs.Count == 0) return;

            var subGraphId = Model.SubGraph.GraphId;
            var flowId = GetModel.FlowId;

            foreach (var input in Model.ModuleInputs)
            {
                if (string.IsNullOrWhiteSpace(input.InputName)) continue;
                if (input.SourceValue == null) continue;

                object value = null;
                if (!string.IsNullOrWhiteSpace(input.SourceValue.Formula))
                    value = RegistryOrDebug.ResolveFormula(flowId, input.SourceValue.Formula);
                else
                    value = input.SourceValue.Value;

                RegistryOrDebug.SetInputVariable(subGraphId, input.InputName, value);
                Log(4, $"输入[{input.InputName}] ← {(value?.GetType().Name ?? "null")}");
            }
        }

        /// <summary>把每个 ModuleOutput 的公式在子流程内解析后写入结果（键=OutName）。</summary>
        private void SaveOutputs(Dictionary<string, object> results)
        {
            if (Model?.ModuleOutputs == null) return;
            foreach (var kv in Model.ModuleOutputs)
            {
                if (string.IsNullOrWhiteSpace(kv.OutName)) continue;
                object value = ResolveFromSubGraph(kv.OutValue?.Formula, kv.OutValue?.Value);
                results[kv.OutName] = value;
                Log(4, $"输出[{kv.OutName}] = {(value?.ToString() ?? "null")}");
            }
        }

        /// <summary>
        /// 解析 &amp;{节点名.属性名}（从子流程节点本地 RawResults 读），
        /// 或 &amp;{流程名.节点名.属性名}（回退到注册表）；无公式时返回 fallback。
        /// </summary>
        private object ResolveFromSubGraph(string formula, object fallback)
        {
            if (string.IsNullOrEmpty(formula)) return fallback;

            var m2 = Regex.Match(formula, @"^&\{(?<node>[^.}]+)\.(?<prop>[^.}]+)\}$");
            if (m2.Success)
            {
                var nodeName = m2.Groups["node"].Value;
                var propName = m2.Groups["prop"].Value;
                // 「输入」伪节点直接查注册表
                if (nodeName == "输入")
                    return RegistryOrDebug.GetValue(Model.SubGraph.GraphId, "输入", propName);
                var node = Model.SubGraph?.Nodes?.FirstOrDefault(n => n.NodeName == nodeName);
                if (node?.RawResults != null && node.RawResults.TryGetValue(propName, out var val))
                    return val;
                return null;
            }

            var m3 = Regex.Match(formula, @"^&\{(?<flow>[^.}]+)\.(?<node>[^.}]+)\.(?<prop>[^.}]+)\}$");
            if (m3.Success)
                return RegistryOrDebug.GetValue(m3.Groups["flow"].Value, m3.Groups["node"].Value, m3.Groups["prop"].Value);

            return formula;
        }
    }
}

namespace Plugins.Vm.Models
{
    using TeamAAS.FlowEditor.Plugins;

    /// <summary>
    /// VM 流程容器节点模型。镜像 HalconFlowModel：持有一张子流程图 <see cref="SubGraph"/>，
    /// 支持把主流程前序节点的输出（尤其是图像）映射进来，并把子流程结果映射回主流程。
    /// 子流程内部的节点是 VM 专用算子（按 VisionPlugin 分类），不含主流程节点。
    /// </summary>
    [Serializable]
    public class VmFlowModel : BasePluginModel
    {
        [Category("I.参数")]
        [DisplayName("1.输入参数")]
        [Description("把主流程前序节点的输出映射进来（图像通常映射为「图像」）；子流程内部节点用 &{输入.变量名} 引用")]
        [CollectionEditor(CanAdd = true, CanRemove = true, CanSort = true)]
        public List<VmFlowInput> ModuleInputs { get; set; } = new List<VmFlowInput>();

        [Category("I.参数")]
        [DisplayName("2.输出参数")]
        [Description("把子流程内部节点的结果映射回主流程（如结果键值、OK/NG）")]
        [CollectionEditor(CanAdd = true, CanRemove = true, CanSort = true)]
        public List<VmFlowOutput> ModuleOutputs { get; set; } = new List<VmFlowOutput>();

        private int _loopCount = 1;
        [Category("II.循环设置")]
        [DisplayName("1.循环次数")]
        [Description("循环次数。-1=无限循环, 0=跳过不执行, 其他=按次数执行")]
        public int LoopCount
        {
            get => _loopCount;
            set => _loopCount = value;
        }

        [Browsable(false)]
        public FlowGraph SubGraph { get; set; }

        [Browsable(false)]
        public bool IsBreakRequested { get; set; } = false;

        public void EnsureSubGraph()
        {
            if (SubGraph == null)
                SubGraph = new FlowGraph { GraphName = ToolName ?? "VM流程", GraphId = NodeId };
        }
    }

    /// <summary>容器输入映射项：主流程来源值 → 子流程内 &amp;{输入.InputName}。</summary>
    [Serializable]
    public class VmFlowInput
    {
        public VmFlowInput()
        {
            SourceValue = new FormulaBound<object>();
        }

        [Category("输入参数")]
        [DisplayName("变量名")]
        [Description("自定义变量名，内部节点通过 &{输入.变量名} 引用（图像一般命名为「图像」）")]
        public string InputName { get; set; } = "图像";

        [Category("输入参数")]
        [DisplayName("来源值")]
        [Description("从主流程前序节点的输出结果中选择（运行时自动读取最新值）")]
        [FormulaEditor(typeof(InputSourceDataProvider))]
        public FormulaBound<object> SourceValue { get; set; }

        public override string ToString() => InputName;
    }

    /// <summary>容器输出映射项：子流程内 &amp;{节点名.属性名} → 主流程 OutName。</summary>
    [Serializable]
    public class VmFlowOutput
    {
        public VmFlowOutput()
        {
            OutValue = new FormulaBound<object>();
        }

        private string _outName = string.Empty;
        [Category("输出参数")]
        [DisplayName("参数名")]
        [Description("输出到主流程的参数名（下游节点据此绑定）")]
        public string OutName
        {
            get => _outName;
            set => _outName = value;
        }

        [Category("输出参数")]
        [DisplayName("参数值")]
        [Description("从子流程内部节点的输出中选择（如 &{VM模块1.分数}、&{VM模块1.结果}）")]
        [FormulaEditor(typeof(PluginDataProvider))]
        public FormulaBound<object> OutValue { get; set; }

        public override string ToString() => OutName;
    }
}