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

using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using TeamAAS.Motion;
using TeamAAS.Motion.Models;
using TeamAAS.Views;


namespace TeamAAS.ViewModels
{
    /// <summary>
    /// 设置页 - 控制卡管理(列表 / 连接 / 属性)。
    /// 调试操作(jog  / 复位)已下沉到库内 MotionDebugView。
    /// </summary>
    public partial class SettingViewModel
    {
        #region 控制卡管理



        MotionDebugPageFactory Factory=new MotionDebugPageFactory();
        public ObservableCollection<MotionDeviceConfig> MotionCards { get; }

        private MotionDeviceConfig _selectedMotionCard;
        public MotionDeviceConfig SelectedMotionCard
        {
            get { return _selectedMotionCard; }
            set
            {
                if ( SetProperty(ref _selectedMotionCard, value) )
                    RefreshMotionDebugHost();
                RaisePropertyChanged(nameof(HasSelectedMotionCard));
            }
        }

        private object _currentMotionDebugPage;
        /// <summary>右侧调试页内容：RobotDebugPageFactory 创建(品牌专属页或库内默认页)，选中机器人时恒非空。</summary>
        public object CurrentMotionDebugPage
        {
            get { return _currentMotionDebugPage; }
            private set { SetProperty(ref _currentMotionDebugPage, value); }
        }

        /// <summary>按选中的机器人刷新右侧调试页(工厂恒返回页面并绑定设备实例)。</summary>
        private void RefreshMotionDebugHost()
        {
            if ( _selectedMotionCard == null ) return;
            try
            {
                var motionCard = _motionManager.GetMotion(_selectedMotionCard.Name);
                if ( motionCard == null ) return;
                CurrentMotionDebugPage = Factory.CreatePage(motionCard);
            }
            catch ( Exception ex )
            {
                System.Diagnostics.Debug.WriteLine($"加载控制卡调试页失败: {ex.Message}");
            }
        }

        public bool HasSelectedMotionCard => _selectedMotionCard != null;

        #endregion

        #region 控制卡操作(列表管理 + 连接)

        private void AddMotionCard()
        {
           

            var dialog = new AddMotionCardDialog(_motionManager)
            {
               Owner = Application.Current.MainWindow
            };

            if ( dialog.ShowDialog() == true && dialog.Result != null )
            {
                var montionInfo = dialog.Result;
               
                try
                {
                    _motionManager.CreateDevice (montionInfo);
                    MotionCards.Add(montionInfo);
                    SelectedMotionCard = montionInfo;
                    DialogHelper.Success($"已添加 {montionInfo.Name}");
                }
                catch ( Exception ex )
                {
                    DialogHelper.ShowError("添加控制卡失败", ex);
                }
            }
        }

        private void DeleteMotionCard()
        {
            if ( SelectedMotionCard == null ) return;

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

            var CardToRemove = SelectedMotionCard;
            try
            {
                _motionManager.RemoveDevice(CardToRemove);
                 MotionCards.Remove(CardToRemove);
                SelectedMotionCard = null;
            }
            catch ( Exception ex )
            {
                System.Diagnostics.Debug.WriteLine($"释放控制卡资源异常: {ex.Message}");
            }

            MotionCards.Remove(CardToRemove);

            SelectedRobot = null;
        }

        private async Task ConnectMotionCardAsync()
        {
            if ( SelectedMotionCard == null ) return;

            try
            {
                var motion = _motionManager.GetMotion(SelectedMotionCard.Name);
                if ( motion == null )
                {
                    _motionManager.CreateDevice(SelectedMotionCard);
                     motion = _motionManager.GetMotion(SelectedMotionCard.Name);
                }

                if ( motion == null )
                {
                    DialogHelper.ShowWarning("无法获取控制卡实例");
                    return;
                }

                motion.Connect(SelectedMotionCard.ConnectionString);
                if ( motion.IsConnected ) DialogHelper.Success("控制卡连接成功");
                else DialogHelper.ShowError("控制卡连接失败");
            }
            catch ( Exception ex )
            {
                DialogHelper.ShowError("连接异常", ex);
            }
        }

        private void DisconnectMotionCard()
        {
            if ( SelectedMotionCard == null ) return;

            try
            {
                var motion = _motionManager.GetMotion(SelectedMotionCard.Name);
                if ( motion == null ) return;

                motion.Disconnect();
                DialogHelper.Info("已断开控制卡");
            }
            catch ( Exception ex )
            {
                DialogHelper.ShowError("断开异常", ex);
            }
        }

        #endregion

        #region 机器人列表刷新 & 配置保存 & 属性编辑

        public void ApplyMotionCardEdit(MotionDeviceConfig edited)
        {
            try
            {
              
                DialogHelper.Success("控制卡属性已更新并保存");
            }
            catch ( Exception ex )
            {
                DialogHelper.ShowError("应用控制卡属性失败", ex);
            }
        }

        private void RefreshMotionCardList()
        {
            MotionCards.Clear();
            var infos = _motionManager.Devices;
            foreach ( var info in infos )
            {
                MotionCards.Add(( MotionDeviceConfig ) info);
            }
        }

        private void SaveMotionCardConfig()
        {
            try
            {
                if ( _motionManager.SaveConfig() )
                {
                    
                    DialogHelper.Success("控制卡配置已保存");
                }
                else
                    DialogHelper.ShowError("控制卡配置保存失败，请查看日志");
            }
            catch ( Exception ex )
            {
                DialogHelper.ShowError("保存控制卡配置失败", ex);
            }
        }

        #endregion
    }
}