TeamAAS-2.5/TeamAAS/ViewModels/SettingViewModel.Feeder.cs

using System;
using System.Collections.ObjectModel;
using System.Linq;
using System.Threading.Tasks;
using TeamAAS.Feeder.Interfaces;
using TeamAAS.Feeder.Models;
using TeamAAS.Feeder.UI;
using TeamAAS.Feeder.Enums;

namespace TeamAAS.ViewModels
{
    public partial class SettingViewModel
    {
        public ObservableCollection<FeederInfo> Feeders { get; }

        private System.ComponentModel.PropertyChangedEventHandler _feederInfoHandler;

        private FeederInfo _selectedFeeder;
        public FeederInfo SelectedFeeder
        {
            get { return _selectedFeeder; }
            set
            {
                if (SetProperty(ref _selectedFeeder, value))
                {
                    // 监听选中供料器的品牌变化：品牌决定连接方式约束与调试页
                    if (_feederInfoHandler == null)
                    {
                        _feederInfoHandler = (s, e) =>
                        {
                            if (e.PropertyName == nameof(FeederInfo.FeederBrand))
                            {
                                // Team 品牌只支持 TCP 连接
                                if (_selectedFeeder?.FeederBrand == FeederBrand.Team &&
                                    _selectedFeeder.ConnectType != FeederConnectType.TCP)
                                {
                                    _selectedFeeder.ConnectType = FeederConnectType.TCP;
                                }
                                RaisePropertyChanged(nameof(ShowSerialConnection));
                                RefreshFeederDebugHost();
                            }
                        };
                    }

                    if (_selectedFeeder != null)
                    {
                        _selectedFeeder.PropertyChanged -= _feederInfoHandler;
                        _selectedFeeder.PropertyChanged += _feederInfoHandler;
                    }

                    RaisePropertyChanged(nameof(HasSelectedFeeder));
                    RaisePropertyChanged(nameof(CurrentAction));
                    RaisePropertyChanged(nameof(HasConnectedDevice));
                    RaisePropertyChanged(nameof(CurrentSequences));
                    RaisePropertyChanged(nameof(ShowSerialConnection));
                    SelectedSequence = _selectedFeeder?.Sequences?.FirstOrDefault();
                    RefreshFeederDebugHost();
                }
            }
        }

        private object _currentFeederDebugPage;
        /// <summary>品牌专属调试页（由 [Feeder] 特性 DebugPageType 创建）；null = 使用通用手动调试面板</summary>
        public object CurrentFeederDebugPage
        {
            get { return _currentFeederDebugPage; }
            private set
            {
                if (SetProperty(ref _currentFeederDebugPage, value))
                    RaisePropertyChanged(nameof(HasFeederCustomPage));
            }
        }

        /// <summary>选中品牌是否声明了专属调试页（true=显示专属页，false=显示通用手动调试面板）</summary>
        public bool HasFeederCustomPage => _currentFeederDebugPage != null;

        /// <summary>是否显示串口连接参数（Team 品牌仅支持 TCP，不显示）</summary>
        public bool ShowSerialConnection => _selectedFeeder != null && _selectedFeeder.FeederBrand != FeederBrand.Team;

        /// <summary>按选中的供料器刷新调试区：有专属页则创建并绑定，否则回退通用手动调试面板</summary>
        private void RefreshFeederDebugHost()
        {
            (_currentFeederDebugPage as IFeederDebugPage)?.UnbindFeeder();
            CurrentFeederDebugPage = null;

            if (_selectedFeeder == null) return;

            try
            {
                var feeder = _feederManager.GetOrCreateDevice(_selectedFeeder);
                if (feeder == null) return;
                CurrentFeederDebugPage = FeederDebugPageFactory.Create(feeder);
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"加载供料器调试页失败: {ex.Message}");
            }
        }

        public bool HasSelectedFeeder => _selectedFeeder != null;

        private IFeeder _activeDevice;
        public bool HasConnectedDevice => _activeDevice?.IsConnected ?? false;

        #region 调试属性

        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" };
        public WaveShape[] WaveShapeList { get; } = { WaveShape.None, WaveShape.SignWave, WaveShape.SawToothWave, WaveShape.TriangleWave };

        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 (SelectedFeeder == null || SelectedFeeder.ActionGroups == null) return null;
                int idx = SelectedVibrationSetIndex < 0 ? 0 : SelectedVibrationSetIndex > 10 ? 10 : SelectedVibrationSetIndex;
                return SelectedFeeder.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;
                }
            }
        }

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

        #endregion

        private void AddFeeder()
        {
            try
            {
                int maxNo = Feeders.Count > 0 ? Feeders.Max(f => f.FeederNo) : 0;
                var newFeeder = new FeederInfo
                {
                    FeederNo = maxNo + 1,
                    FeederName = $"供料器{maxNo + 1}",
                };

                _feederManager.Add(newFeeder);
                RefreshFeederList();
                SelectedFeeder = Feeders.FirstOrDefault(f => f.Id == newFeeder.Id);
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("添加供料器失败", ex);
            }
        }

        private void DeleteFeeder()
        {
            if (SelectedFeeder == null) return;

            if (!DialogHelper.ConfirmYesNo(
                $"确认删除 \"{SelectedFeeder.FeederName}\" 吗?",
                "确认删除"))
            {
                return;
            }

            try
            {
                _feederManager.Remove(SelectedFeeder.Id);
                RefreshFeederList();
                SelectedFeeder = null;
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("删除供料器失败", ex);
            }
        }

        private void SaveFeederConfig()
        {
            try
            {
                if (_feederManager.SaveConfig())
                    DialogHelper.Success("供料器配置已保存");
                else
                    DialogHelper.ShowError("供料器配置保存失败");
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("保存供料器配置失败", ex);
            }
        }

        public void ApplyFeederEdit(FeederInfo edited)
        {
            try
            {
                _feederManager.Add(edited);
                _feederManager.SaveConfig();
                RefreshFeederList();
                DialogHelper.Success("供料器属性已更新并保存");
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("应用供料器属性失败", ex);
            }
        }

        private void RefreshFeederList()
        {
            // 只恢复用户此前显式选中的供料器；列表加载本身不产生选中项
            //（WPF 选择器默认会自动选中首项，导致未选设备时调试页就被创建）
            Guid? selectedId = _selectedFeeder?.Id;

            Feeders.Clear();
            var infos = _feederManager.GetAll();
            foreach (var info in infos)
                Feeders.Add(info);

            if (selectedId.HasValue)
                SelectedFeeder = Feeders.FirstOrDefault(f => f.Id == selectedId.Value);

            DeleteFeederCommand?.RaiseCanExecuteChanged();
        }

        #region 硬件通讯

        private async Task ConnectFeederAsync()
        {
            if (SelectedFeeder == null) return;
            try
            {
                FeederStatusText = $"正在连接 {SelectedFeeder.FeederName} ({SelectedFeeder.IP}:{SelectedFeeder.Port})...";
                _activeDevice = _feederManager.GetOrCreateDevice(SelectedFeeder);
                _activeDevice.MessageExchanged += OnFeederMessageExchanged;
                _activeDevice.ConnectionChanged += (dev, online) =>
                {
                    RaisePropertyChanged(nameof(HasConnectedDevice));
                    FeederStatusText = online ? $"{dev.Name} 已就绪" : "连接断开";
                };
                await _activeDevice.ConnectAsync();
                AppLogger.Info($"供料器已连接: {SelectedFeeder.FeederName} ({SelectedFeeder.IP}:{SelectedFeeder.Port})", "Feeder");
                FeederStatusText = $"{SelectedFeeder.FeederName} 已就绪";
                RaisePropertyChanged(nameof(HasConnectedDevice));
            }
            catch (Exception ex)
            {
                FeederStatusText = "连接失败";
                DialogHelper.ShowError("供料器连接失败", ex);
            }
        }

        private async void DisconnectFeeder()
        {
            if (_activeDevice == null) return;
            try
            {
                await _activeDevice.DisconnectAsync();
                AppLogger.Info($"供料器已断开: {_activeDevice.Name}", "Feeder");
                FeederStatusText = "已断开";
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("断开连接失败", ex);
            }
            RaisePropertyChanged(nameof(HasConnectedDevice));
        }

        private async void ToggleBacklight()
        {
            if (_activeDevice == null || !_activeDevice.IsConnected)
            {
                DialogHelper.Warning("请先连接供料器");
                return;
            }
            try
            {
                bool currentlyOn = await _activeDevice.QueryBacklightAsync();
                if (currentlyOn)
                {
                    await _activeDevice.CloseBacklightAsync();
                    SelectedFeeder.IsBacklightOn = false;
                    FeederStatusText = "背光关";
                }
                else
                {
                    await _activeDevice.OpenBacklightAsync();
                    SelectedFeeder.IsBacklightOn = true;
                    FeederStatusText = "背光开";
                }
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("背光控制失败", ex);
            }
        }

        private async Task ExecuteDirectionAsync(int dir)
        {
            if (_activeDevice == null || !_activeDevice.IsConnected)
            {
                DialogHelper.Warning("请先连接供料器");
                return;
            }
            try
            {
                var action = (FeederAction)dir;
                FeederStatusText = $"执行方向: {action}";
                await _activeDevice.RunDirectionAsync(action, CurrentDuration);
                AppLogger.Info($"供料器方向执行: {action} 持续 {CurrentDuration}ms", "Feeder");
                FeederStatusText = $"方向 {action} 执行完成";
            }
            catch (Exception ex)
            {
                FeederStatusText = "执行失败";
                DialogHelper.ShowError("方向执行失败", ex);
            }
        }

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

        private async Task ExecuteCurrentActionAsync()
        {
            if (_activeDevice == null || !_activeDevice.IsConnected)
            {
                DialogHelper.Warning("请先连接供料器");
                return;
            }
            try
            {
                // 先下载当前振动集参数到设备
                await _activeDevice.SetActionParamAsync(SelectedVibrationSetIndex, CurrentAction);
                // 再执行
                await _activeDevice.RunDirectionAsync((FeederAction)SelectedActionIndex, CurrentDuration);
                FeederStatusText = $"执行振动集 {SelectedVibrationSetIndex + 1} ({ActionLetterList[SelectedActionIndex]})";
            }
            catch (Exception ex)
            {
                FeederStatusText = "执行失败";
                DialogHelper.ShowError("执行动作失败", ex);
            }
        }

        private async Task DownloadFeederParamsAsync()
        {
            if (_activeDevice == null || !_activeDevice.IsConnected)
            {
                DialogHelper.Warning("请先连接供料器");
                return;
            }
            if (SelectedFeeder == null) return;
            try
            {
                FeederStatusText = "下载参数中...";
                await _activeDevice.DownloadAllParamsAsync(SelectedFeeder);
                AppLogger.Info($"供料器下载振动集参数: {SelectedFeeder.FeederName}", "Feeder");
                await _activeDevice.SaveToDeviceAsync();
                FeederStatusText = "参数已下载并保存到设备";
                DialogHelper.Success("参数已下载到设备");
            }
            catch (Exception ex)
            {
                FeederStatusText = "下载失败";
                DialogHelper.ShowError("下载参数失败", ex);
            }
        }

        #endregion

        #region 配方

        private ObservableCollection<FeederRecipe> _recipes = new ObservableCollection<FeederRecipe>();
        public ObservableCollection<FeederRecipe> Recipes
        {
            get { return _recipes; }
            set { SetProperty(ref _recipes, value); }
        }

        private FeederRecipe _selectedRecipe;
        public FeederRecipe SelectedRecipe
        {
            get { return _selectedRecipe; }
            set { SetProperty(ref _selectedRecipe, value); }
        }

        private void SaveCurrentAsRecipe()
        {
            if (SelectedFeeder == null)
            {
                DialogHelper.Warning("请先选择供料器");
                return;
            }

            string name = DialogHelper.Input("配方名称", "保存配方", SelectedFeeder.FeederName + "_配方");
            if (string.IsNullOrWhiteSpace(name)) return;
            if (Recipes.Any(r => string.Equals(r.RecipeName, name, StringComparison.OrdinalIgnoreCase)))
            {
                DialogHelper.Warning($"配方 \"{name}\" 已存在，请换一个名称");
                return;
            }

            try
            {
                var recipe = new FeederRecipe
                {
                    RecipeName = name,
                    Description = $"从 {SelectedFeeder.FeederName} 导出",
                    Brand = SelectedFeeder.FeederBrand,
                };
                foreach (var g in SelectedFeeder.ActionGroups)
                    recipe.ActionGroups.Add(g.Clone());
                foreach (var s in SelectedFeeder.Sequences)
                    recipe.Sequences.Add(s.Clone());

                if (_feederManager.SaveRecipe(recipe))
                {
                    DialogHelper.Success($"配方 \"{name}\" 已保存");
                    RefreshRecipeList();
                }
                else
                {
                    DialogHelper.ShowError("配方保存失败");
                }
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("保存配方失败", ex);
            }
        }

        private void LoadRecipeToCurrent()
        {
            if (SelectedRecipe == null)
            {
                DialogHelper.Warning("请先选择配方");
                return;
            }
            if (SelectedFeeder == null)
            {
                DialogHelper.Warning("请先选择供料器");
                return;
            }

            try
            {
                SelectedFeeder.ActionGroups.Clear();
                foreach (var g in SelectedRecipe.ActionGroups)
                    SelectedFeeder.ActionGroups.Add(g.Clone());

                SelectedFeeder.Sequences.Clear();
                foreach (var s in SelectedRecipe.Sequences)
                    SelectedFeeder.Sequences.Add(s.Clone());

                SelectedSequence = SelectedFeeder.Sequences.FirstOrDefault();
                RaisePropertyChanged(nameof(CurrentSequences));
                SaveFeederConfigSilent();

                DialogHelper.Success($"配方 \"{SelectedRecipe.RecipeName}\" 已加载到 {SelectedFeeder.FeederName}");
            }
            catch (Exception ex)
            {
                DialogHelper.ShowError("加载配方失败", ex);
            }
        }

        private async Task ApplyRecipeToDevice()
        {
            if (SelectedRecipe == null)
            {
                DialogHelper.Warning("请先选择配方");
                return;
            }
            if (_activeDevice == null || !_activeDevice.IsConnected)
            {
                DialogHelper.Warning("请先连接供料器");
                return;
            }

            try
            {
                FeederStatusText = $"应用配方 \"{SelectedRecipe.RecipeName}\"...";
                for (int i = 0; i < SelectedRecipe.ActionGroups.Count && i < 11; i++)
                {
                    await _activeDevice.SetActionParamAsync(i, SelectedRecipe.ActionGroups[i]);
                }
                await _activeDevice.SaveToDeviceAsync();
                FeederStatusText = "配方已应用到设备";
                DialogHelper.Success("配方已下载到设备");
            }
            catch (Exception ex)
            {
                FeederStatusText = "配方应用失败";
                DialogHelper.ShowError("配方应用失败", ex);
            }
        }

        private void DeleteSelectedRecipe()
        {
            if (SelectedRecipe == null) return;
            if (!DialogHelper.ConfirmYesNo($"确认删除配方 \"{SelectedRecipe.RecipeName}\" 吗?", "确认删除"))
                return;

            if (_feederManager.DeleteRecipe(SelectedRecipe.RecipeName))
            {
                DialogHelper.Success("配方已删除");
                RefreshRecipeList();
            }
        }

        private void RefreshRecipeList()
        {
            Recipes.Clear();
            foreach (var r in _feederManager.GetRecipes())
                Recipes.Add(r);
        }

        #endregion

        #region 序列集（送料流程）

        public ObservableCollection<SequenceSet> CurrentSequences
            => _selectedFeeder?.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); }
        }

        private System.Threading.CancellationTokenSource _sequenceCts;

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

        private void DeleteSequence()
        {
            if (SelectedSequence == null) return;
            if (!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();
            SaveFeederConfigSilent();
        }

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

        private void AddSequenceStep(string type)
        {
            if (SelectedSequence == null)
            {
                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();
            SaveFeederConfigSilent();
        }

        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();
            SaveFeederConfigSilent();
        }

        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();
            SaveFeederConfigSilent();
        }

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

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

        private void SaveFeederConfigSilent()
        {
            if (SelectedFeeder == null) return;
            try { _feederManager.SaveConfig(); } catch { }
        }

        private async Task ExecuteSequenceAsync()
        {
            if (SelectedSequence == null)
            {
                DialogHelper.Warning("请先选择流程");
                return;
            }
            if (_activeDevice == null || !_activeDevice.IsConnected)
            {
                DialogHelper.Warning("请先连接供料器");
                return;
            }
            _sequenceCts = new System.Threading.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 _activeDevice.RunDirectionAsync(step.Direction, step.TimeMs > 0 ? step.TimeMs : (int?)null);
                    }
                }

                if (token.IsCancellationRequested)
                    SequenceStatusText = "流程已停止";
                else
                    SequenceStatusText = "流程执行完成";
            }
            catch (TaskCanceledException)
            {
                SequenceStatusText = "流程已停止";
            }
            catch (Exception ex)
            {
                SequenceStatusText = "流程执行异常";
                DialogHelper.ShowError("流程执行异常", ex);
            }
        }

        private void StopSequence()
        {
            _sequenceCts?.Cancel();
            try { _activeDevice?.StopAsync(); } catch { }
        }

        #endregion
    }
}