using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Globalization;
using System.IO;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using TeamAAS_VP.Core;
using TeamAAS_VP.Data; // for ISystemDatabaseService (if used)
using TeamAAS_VP.Enums;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Calibration;
using TeamAAS_VP.Models.Feeder;
using TeamAAS_VP.Models.Lights;
using TeamAAS_VP.Models.PLC;
using TeamAAS_VP.Models.ScrewDriver;
using TeamAAS_VP.Models.Torque;
using TeamAAS_VP.Resources.Languages;
using WPFLocalizeExtension.Engine;

namespace TeamAAS_VP.Services
{
    /// <summary>
    /// ���ò�������ʵ���ࡣ
    /// �̰߳�ȫ���ڲ�ʹ��˽�����ֶ� <see cref="_sync"/> ���������ڴ漯�ϵIJ������ʡ�
    /// �־û����Լ��ϵ��޸Ļ�д�ص���Ӧ�������ļ���·�����ڲ���̬�� <see cref="ConfigPaths"/> ���壩��
    /// </summary>
    public class ConfigService : IConfigService
    {
        private static class ConfigPaths
        {
            // ��·�����й����ڱ��࣬��ǰʹ������ FilePath ֵ�Ա��ּ���
            public static readonly string CamerasConfigurationPath = "..//Config//CameraConfiguration.cfg";
            public static readonly string RobotsConfigurationPath = "..//Config//RobotsConfiguration.cfg";
            public static readonly string FeedersConfigurationPath = "..//Config//FeedersConfiguration.cfg";
            public static readonly string PlcConfigurationPath = "..//Config//PlcConfiguration.cfg";
            public static readonly string BgTcpIpConfigurationPath = "..//Config//BgTcpIpConfiguration.cfg";
            public static readonly string BgModbusTcpConfigurationPath = "..//Config//BgModbusTcpConfiguration.cfg";
            public static readonly string SystemConfigurationPath = "..//Config//SystemConfiguration.cfg";
            public static readonly string DeviceInfoConfigurationPath = "..//Config//DeviceInfo.cfg";
            // Feeder������������·��
            public static readonly string FeederClearanceTasksConfigurationPath = "..//Config//FeederClearanceTasksConfiguration.cfg";
            // ��Դ����������·��
            public static readonly string LightControllersConfigurationPath = "..//Config//LightControllersConfiguration.cfg";
            // ��������·�������豸��
            public static readonly string ScrewDriverConfigurationPath = "..//Config//ScrewDriverConfiguration.cfg";
            // ��˿�����������ϣ�����·��
            public static readonly string ScrewFeedersConfigurationPath = "..//Config//ScrewFeedersConfiguration.cfg";
            // ˢ��������·��
            public static readonly string CardReaderConfigurationPath = "..//Config//CardReaderConfiguration.cfg";
            // ��������·��
            public static readonly string TorqueReaderConfigurationPath = "..//Config//TorqueReaderConfiguration.cfg";
            public static readonly string DataConfigurationPath = "..//Config//DataConfiguration.cfg";
        }

        private readonly object _sync = new object();
        private ObservableCollection<CameraInfo> Cameras { get; set; }
        private ObservableCollection<RobotInfo> Robots { get; set; }
        private ObservableCollection<FeederInfo> Feeders { get; set; }
        // ��˿�����������ϣ�����
        private ObservableCollection<ScrewFeederInfo> ScrewFeeders { get; set; }
        private ObservableCollection<PlcInfo> Plcs { get; set; }
        private BgTcpIP BgCommunicate { get; set; }
        private BgModbusTcp BgModbusCommunicate { get; set; }
        private ObservableCollection<FeederClearWork> FeederClearanceTasks { get; set; }
        // ��Դ����������
        private ObservableCollection<LightControllerConfig> LightControllers { get; set; }

        // Device info - 支持多设备
        private List<DeviceInfo> _deviceInfoList;
        public CTQ_Data CtqData { get; set; }

        private PlcAddressConfig PlcAddressConfig { get; set; }
        // ������������
        private TeamAAS_VP.Models.ScrewDriver.ScrewDriverConfig _screwDriverConfig;
        public TeamAAS_VP.Models.ScrewDriver.ScrewDriverConfig ScrewDriverConfig { get { lock (_sync) { return _screwDriverConfig; } } }

        private ISystemDatabaseService _systemDatabaseService;

        // ˢ��������
        private SerialPortConfig _cardReaderConfig;

        private TorqueSerialPortConfig _torqueReaderConfig;

        /// <summary>
        /// ע��ϵͳ���ݿ���񣨿�ѡ�������ڼ�¼��˿���α���ȼ�¼��
        /// </summary>
        /// <param name="svc"></param>
        public void SetSystemDatabaseService(ISystemDatabaseService svc)
        {
            lock (_sync)
            {
                _systemDatabaseService = svc;
            }
        }

        /// <summary>
        /// ��ʼ��һ���µ� <see cref="ConfigService"/> ʵ����
        /// ���캯�������Զ����������ļ��������ڹ����ڼ���� I/O ���������ɵ��� <see cref="LoadAll"/> �� <see cref="LoadAllAsync"/> ��ʽ���ء�
        /// </summary>
        public ConfigService()
        {

            //LoadAll();
        }

        /// <summary>
        /// ͬ���������������ļ����ڴ棨����Ӧ�ļ������ڣ�������Ĭ�Ͽռ���/����д���ļ�����
        /// �̰߳�ȫ�������ڲ��Թ�����Դʹ�� <see cref="_sync"/> ������
        /// </summary>
        public void LoadAll()
        {
            lock (_sync)
            {
                // ��ȡ�����ã�����ļ������ڣ��򱣳� DeviceConfig Ĭ��ֵ
                if (File.Exists(ConfigPaths.CamerasConfigurationPath))
                    Cameras = FileHelper.ReadJsonFile<ObservableCollection<CameraInfo>>(ConfigPaths.CamerasConfigurationPath);
                else
                {
                    Cameras = new ObservableCollection<CameraInfo>();
                    FileHelper.WriteJsonFile(Cameras, ConfigPaths.CamerasConfigurationPath);
                }
                if (File.Exists(ConfigPaths.RobotsConfigurationPath))
                    Robots = FileHelper.ReadJsonFile<ObservableCollection<RobotInfo>>(ConfigPaths.RobotsConfigurationPath);
                else
                {
                    Robots = new ObservableCollection<RobotInfo>();
                    FileHelper.WriteJsonFile(Robots, ConfigPaths.RobotsConfigurationPath);
                }
                if (File.Exists(ConfigPaths.FeedersConfigurationPath))
                    Feeders = FileHelper.ReadJsonFile<ObservableCollection<FeederInfo>>(ConfigPaths.FeedersConfigurationPath);
                else
                {
                    Feeders = new ObservableCollection<FeederInfo>();
                    FileHelper.WriteJsonFile(Feeders, ConfigPaths.FeedersConfigurationPath);
                }

                // load screw feeders (material) configuration
                if (File.Exists(ConfigPaths.ScrewFeedersConfigurationPath))
                    ScrewFeeders = FileHelper.ReadJsonFile<ObservableCollection<ScrewFeederInfo>>(ConfigPaths.ScrewFeedersConfigurationPath);
                else
                {
                    ScrewFeeders = new ObservableCollection<ScrewFeederInfo>();
                    FileHelper.WriteJsonFile(ScrewFeeders, ConfigPaths.ScrewFeedersConfigurationPath);
                }

                if (File.Exists(ConfigPaths.PlcConfigurationPath))
                    Plcs = FileHelper.ReadJsonFile<ObservableCollection<PlcInfo>>(ConfigPaths.PlcConfigurationPath);
                else
                {
                    Plcs = new ObservableCollection<PlcInfo>();
                    FileHelper.WriteJsonFile(Plcs, ConfigPaths.PlcConfigurationPath);
                }
                if (File.Exists(ConfigPaths.BgTcpIpConfigurationPath))
                    BgCommunicate = FileHelper.ReadJsonFile<BgTcpIP>(ConfigPaths.BgTcpIpConfigurationPath);
                else
                {
                    BgCommunicate = new BgTcpIP();
                    FileHelper.WriteJsonFile(BgCommunicate, ConfigPaths.BgTcpIpConfigurationPath);
                }
                if (File.Exists(ConfigPaths.BgModbusTcpConfigurationPath))
                    BgModbusCommunicate = FileHelper.ReadJsonFile<BgModbusTcp>(ConfigPaths.BgModbusTcpConfigurationPath);
                else
                {
                    BgModbusCommunicate = new BgModbusTcp();
                    FileHelper.WriteJsonFile(BgModbusCommunicate, ConfigPaths.BgModbusTcpConfigurationPath);
                }
                if (!File.Exists(ConfigPaths.FeederClearanceTasksConfigurationPath))
                {
                    FeederClearanceTasks = new ObservableCollection<FeederClearWork>();
                    FileHelper.WriteJsonFile(FeederClearanceTasks, ConfigPaths.FeederClearanceTasksConfigurationPath);
                }
                else
                {
                    // ��ȡ Feeder�������� ����
                    FeederClearanceTasks = FileHelper.ReadJsonFile<ObservableCollection<FeederClearWork>>(ConfigPaths.FeederClearanceTasksConfigurationPath);
                }

                // ��ȡ��Դ����������
                if (!File.Exists(ConfigPaths.LightControllersConfigurationPath))
                {
                    LightControllers = new ObservableCollection<LightControllerConfig>();
                    FileHelper.WriteJsonFile(LightControllers, ConfigPaths.LightControllersConfigurationPath);
                }
                else
                {
                    LightControllers = FileHelper.ReadJsonFile<ObservableCollection<LightControllerConfig>>(ConfigPaths.LightControllersConfigurationPath);
                }
                // load plc addresses
                var plcAddressPath = "..//Config//PlcAddressConfiguration.cfg";
                if (File.Exists(plcAddressPath))
                    PlcAddressConfig = FileHelper.ReadJsonFile<PlcAddressConfig>(plcAddressPath);
                else
                {
                    PlcAddressConfig = new PlcAddressConfig();
                    PlcAddressConfig.SetDefaultValue();
                    FileHelper.WriteJsonFile(PlcAddressConfig, plcAddressPath);
                }

                // load screw driver config (single device)
                if (File.Exists(ConfigPaths.ScrewDriverConfigurationPath))
                    _screwDriverConfig = FileHelper.ReadJsonFile<TeamAAS_VP.Models.ScrewDriver.ScrewDriverConfig>(ConfigPaths.ScrewDriverConfigurationPath);
                else
                {
                    _screwDriverConfig = new TeamAAS_VP.Models.ScrewDriver.ScrewDriverConfig();
                    FileHelper.WriteJsonFile(_screwDriverConfig, ConfigPaths.ScrewDriverConfigurationPath);
                }

                // load device info list (支持多设备)
                if (File.Exists(ConfigPaths.DeviceInfoConfigurationPath))
                {
                    try
                    {
                        // 尝试作为列表读取
                        _deviceInfoList = FileHelper.ReadJsonFile<List<DeviceInfo>>(ConfigPaths.DeviceInfoConfigurationPath);
                    }
                    catch
                    {
                        // 兼容旧版单个 DeviceInfo，将其转换为列表
                        var singleDevice = FileHelper.ReadJsonFile<DeviceInfo>(ConfigPaths.DeviceInfoConfigurationPath);
                        if (singleDevice != null)
                        {
                            singleDevice.DeviceNo = 0;
                            _deviceInfoList = new List<DeviceInfo> { singleDevice };
                        }
                        else
                        {
                            _deviceInfoList = new List<DeviceInfo> { new DeviceInfo { DeviceNo = 0 } };
                        }
                        FileHelper.WriteJsonFile(_deviceInfoList, ConfigPaths.DeviceInfoConfigurationPath);
                    }
                }
                else
                {
                    _deviceInfoList = new List<DeviceInfo> { new DeviceInfo { DeviceNo = 0 } };
                    FileHelper.WriteJsonFile(_deviceInfoList, ConfigPaths.DeviceInfoConfigurationPath);
                }

                // load card reader configuration
                if (File.Exists(ConfigPaths.CardReaderConfigurationPath))
                    _cardReaderConfig = FileHelper.ReadJsonFile<SerialPortConfig>(ConfigPaths.CardReaderConfigurationPath);
                else
                {
                    _cardReaderConfig = new SerialPortConfig();
                    FileHelper.WriteJsonFile(_cardReaderConfig, ConfigPaths.CardReaderConfigurationPath);
                }
            }
        }

        /// <summary>
        /// �첽ִ�� <see cref="LoadAll"/> ������
        /// </summary>
        /// <returns>��ʾ�첽���ز���������</returns>
        public Task LoadAllAsync()
        {
            return Task.Run(() => LoadAll());
        }

        /// <summary>
        /// ���ڴ��е���������д�ص���Ӧ�����ļ���
        /// �̰߳�ȫ�������ڲ���д�����ʹ�� <see cref="_sync"/> ������
        /// </summary>
        public void SaveAll()
        {
            lock (_sync)
            {
                FileHelper.WriteJsonFile(Cameras, ConfigPaths.CamerasConfigurationPath);
                FileHelper.WriteJsonFile(Robots, ConfigPaths.RobotsConfigurationPath);
                FileHelper.WriteJsonFile(Feeders, ConfigPaths.FeedersConfigurationPath);
                FileHelper.WriteJsonFile(Plcs, ConfigPaths.PlcConfigurationPath);
                FileHelper.WriteJsonFile(BgCommunicate, ConfigPaths.BgTcpIpConfigurationPath);
                FileHelper.WriteJsonFile(BgModbusCommunicate, ConfigPaths.BgModbusTcpConfigurationPath);
                FileHelper.WriteJsonFile(FeederClearanceTasks, ConfigPaths.FeederClearanceTasksConfigurationPath);
                FileHelper.WriteJsonFile(LightControllers, ConfigPaths.LightControllersConfigurationPath);
                // save screw driver config
                if (_screwDriverConfig != null)
                    FileHelper.WriteJsonFile(_screwDriverConfig, ConfigPaths.ScrewDriverConfigurationPath);
                // save screw feeders
                if (ScrewFeeders != null)
                    FileHelper.WriteJsonFile(ScrewFeeders, ConfigPaths.ScrewFeedersConfigurationPath);
                // save plc addresses
                //FileHelper.WriteJsonFile(PlcAddressConfig, "..//Config//PlcAddressConfiguration.cfg");
                // save device info list (支持多设备)
                if (_deviceInfoList != null)
                    FileHelper.WriteJsonFile(_deviceInfoList, ConfigPaths.DeviceInfoConfigurationPath);
                // save card reader config
                if (_cardReaderConfig != null)
                    FileHelper.WriteJsonFile(_cardReaderConfig, ConfigPaths.CardReaderConfigurationPath);
            }
        }

        /// <summary>
        /// �첽ִ�� <see cref="SaveAll"/> ������
        /// </summary>
        /// <returns>��ʾ�첽�������������</returns>
        public Task SaveAllAsync()
        {
            return Task.Run(() => SaveAll());
        }

        #region Cameras
        /// <summary>
        /// ��ȡ����������õ�ֻ�����ϡ�
        /// �̰߳�ȫ�����ڲ������Ա�֤������ȡ��һ���ԡ�
        /// </summary>
        /// <returns>������õ�ֻ�����ϡ�</returns>
        public IReadOnlyCollection<CameraInfo> GetAllCameras()
        {
            lock (_sync) { return Cameras.ToList().AsReadOnly(); }
        }

        /// <summary>
        /// ���ݱ�ʶ��ȡ�������������Ϣ��
        /// </summary>
        /// <param name="id">����� Guid ��ʶ��</param>
        /// <returns>�ҵ��򷵻ض�Ӧ�� <see cref="CameraInfo"/>�����򷵻� <c>null</c>��</returns>
        public CameraInfo GetCamera(Guid id)
        {
            lock (_sync) { return Cameras.FirstOrDefault(c => c.Id == id); }
        }

        /// <summary>
        /// ���������������á�
        /// - ������ <paramref name="camera"/> Ϊ <c>null</c> ���� <c>null</c>��
        /// - �� Id �Ѵ������滻������׷�Ӳ����������� CameraNo ��š�
        /// ����������Ὣ������ϳ־û��������ļ���
        /// </summary>
        /// <param name="camera">Ҫ���ӻ���µ�������á�</param>
        /// <returns>�����ӻ���µ� <see cref="CameraInfo"/>������Ϊ <c>null</c> ʱ���� <c>null</c>��</returns>
        public CameraInfo AddOrUpdateCamera(CameraInfo camera)
        {
            if (camera == null) return null;
            lock (_sync)
            {
                var exist = Cameras.FirstOrDefault(c => c.Id == camera.Id);
                if (exist != null)
                {
                    var idx = Cameras.IndexOf(exist);
                    Cameras[idx] = camera;
                }
                else
                {
                    camera.CameraNo = Cameras.Count + 1;
                    Cameras.Add(camera);
                }
            }
            FileHelper.WriteJsonFile(Cameras, ConfigPaths.CamerasConfigurationPath);
            return camera;
        }

        /// <summary>
        /// ���ݱ�ʶ�Ƴ�������ò����±��ʣ������� CameraNo��
        /// ����������Ὣ������ϳ־û��������ļ���
        /// </summary>
        /// <param name="id">Ҫ�Ƴ������ Guid��</param>
        /// <returns>���ҵ����ɹ��Ƴ����� <c>true</c>�����򷵻� <c>false</c>��</returns>
        public bool RemoveCamera(Guid id)
        {
            bool result = false;
            lock (_sync)
            {
                var exist = Cameras.FirstOrDefault(c => c.Id == id);
                if (exist != null) result = Cameras.Remove(exist);
                //���±��
                int no = 1;
                //�����������CameraNo����
                var sortedCameras = Cameras.OrderBy(c => c.CameraNo).ToList();
                foreach (var cam in sortedCameras)
                {
                    cam.CameraNo = no;
                    no++;
                }
                Cameras.Clear();
                foreach (var cam in sortedCameras)
                {
                    Cameras.Add(cam);
                }
            }
            FileHelper.WriteJsonFile(Cameras, ConfigPaths.CamerasConfigurationPath);
            return result;
        }

        /// <summary>
        /// ����Ƿ����ָ�� Id ��������á�
        /// </summary>
        /// <param name="id">����� Guid��</param>
        /// <returns>���ڷ��� <c>true</c>�����򷵻� <c>false</c>��</returns>
        public bool ContainsCamera(Guid id) { lock (_sync) { return Cameras.Any(c => c.Id == id); } }
        #endregion

        #region DeviceInfo
        /// <summary>
        /// 获取所有设备信息配置列表
        /// </summary>
        /// <returns>设备信息列表的只读集合</returns>
        public IReadOnlyCollection<DeviceInfo> GetAllDeviceInfos()
        {
            lock (_sync)
            {
                if (_deviceInfoList == null)
                {
                    if (File.Exists(ConfigPaths.DeviceInfoConfigurationPath))
                    {
                        try
                        {
                            _deviceInfoList = FileHelper.ReadJsonFile<List<DeviceInfo>>(ConfigPaths.DeviceInfoConfigurationPath);
                        }
                        catch
                        {
                            // 兼容旧版单个 DeviceInfo
                            var singleDevice = FileHelper.ReadJsonFile<DeviceInfo>(ConfigPaths.DeviceInfoConfigurationPath);
                            if (singleDevice != null)
                            {
                                singleDevice.DeviceNo = 0;
                                _deviceInfoList = new List<DeviceInfo> { singleDevice };
                            }
                            else
                            {
                                _deviceInfoList = new List<DeviceInfo> { new DeviceInfo { DeviceNo = 0 } };
                            }
                            FileHelper.WriteJsonFile(_deviceInfoList, ConfigPaths.DeviceInfoConfigurationPath);
                        }
                    }
                    else
                    {
                        _deviceInfoList = new List<DeviceInfo> { new DeviceInfo { DeviceNo = 0 } };
                        FileHelper.WriteJsonFile(_deviceInfoList, ConfigPaths.DeviceInfoConfigurationPath);
                    }
                }
                return _deviceInfoList.AsReadOnly();
            }
        }

        /// <summary>
        /// 根据设备编号获取设备信息（兼容旧API，返回第一个设备）
        /// </summary>
        /// <returns>设备信息，若不存在则创建默认设备</returns>
        public DeviceInfo GetDeviceInfo()
        {
            return GetDeviceInfo(0);
        }

        /// <summary>
        /// 根据设备编号获取设备信息
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <returns>设备信息，若不存在则返回 null</returns>
        public DeviceInfo GetDeviceInfo(int deviceNo)
        {
            lock (_sync)
            {
                var allDevices = GetAllDeviceInfos();
                return allDevices.FirstOrDefault(d => d.DeviceNo == deviceNo);
            }
        }

        /// <summary>
        /// 添加或更新设备信息
        /// </summary>
        /// <param name="deviceInfo">设备信息对象</param>
        public void SaveDeviceInfo(DeviceInfo deviceInfo)
        {
            if (deviceInfo == null) return;
            lock (_sync)
            {
                // 确保列表已初始化
                if (_deviceInfoList == null)
                {
                    _deviceInfoList = new List<DeviceInfo>();
                }

                // 查找是否已存在相同设备编号的设备
                var existing = _deviceInfoList.FirstOrDefault(d => d.DeviceNo == deviceInfo.DeviceNo);
                if (existing != null)
                {
                    // 更新现有设备
                    var index = _deviceInfoList.IndexOf(existing);
                    _deviceInfoList[index] = deviceInfo;
                }
                else
                {
                    // 添加新设备
                    _deviceInfoList.Add(deviceInfo);
                }
                // 按设备编号排序
                _deviceInfoList = _deviceInfoList.OrderBy(d => d.DeviceNo).ToList();
                FileHelper.WriteJsonFile(_deviceInfoList, ConfigPaths.DeviceInfoConfigurationPath);
            }
        }

        /// <summary>
        /// 保存所有设备信息列表
        /// </summary>
        /// <param name="deviceInfoList">设备信息列表</param>
        public void SaveAllDeviceInfos(IEnumerable<DeviceInfo> deviceInfoList)
        {
            if (deviceInfoList == null) return;
            lock (_sync)
            {
                _deviceInfoList = deviceInfoList.OrderBy(d => d.DeviceNo).ToList();
                FileHelper.WriteJsonFile(_deviceInfoList, ConfigPaths.DeviceInfoConfigurationPath);
            }
        }

        /// <summary>
        /// 添加新设备
        /// </summary>
        /// <returns>新添加的设备</returns>
        public DeviceInfo AddDeviceInfo()
        {
            lock (_sync)
            {
                if (_deviceInfoList == null)
                {
                    _deviceInfoList = new List<DeviceInfo>();
                }

                // 计算新设备编号
                int newDeviceNo = _deviceInfoList.Count > 0 ? _deviceInfoList.Max(d => d.DeviceNo) + 1 : 0;
                var newDevice = new DeviceInfo { DeviceNo = newDeviceNo };
                _deviceInfoList.Add(newDevice);
                FileHelper.WriteJsonFile(_deviceInfoList, ConfigPaths.DeviceInfoConfigurationPath);
                return newDevice;
            }
        }

        /// <summary>
        /// 删除设备
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <returns>是否删除成功</returns>
        public bool RemoveDeviceInfo(int deviceNo)
        {
            lock (_sync)
            {
                if (_deviceInfoList == null) return false;
                var device = _deviceInfoList.FirstOrDefault(d => d.DeviceNo == deviceNo);
                if (device != null)
                {
                    _deviceInfoList.Remove(device);
                    FileHelper.WriteJsonFile(_deviceInfoList, ConfigPaths.DeviceInfoConfigurationPath);
                    return true;
                }
                return false;
            }
        }
        #endregion

        #region Robots
        /// <summary>
        /// ��ȡ���л��������õ�ֻ�����ϡ�
        /// </summary>
        /// <returns>���������õ�ֻ�����ϡ�</returns>
        public IReadOnlyCollection<RobotInfo> GetAllRobots() { lock (_sync) { return Robots.ToList().AsReadOnly(); } }

        /// <summary>
        /// ���ݱ�ʶ��ȡ�������������á�
        /// </summary>
        /// <param name="id">�����˵� Guid ��ʶ��</param>
        /// <returns>�ҵ��򷵻ض�Ӧ�� <see cref="RobotInfo"/>�����򷵻� <c>null</c>��</returns>
        public RobotInfo GetRobot(Guid id) { lock (_sync) { return Robots.FirstOrDefault(r => r.Id == id); } }

        /// <summary>
        /// ��������»��������ã�������־û��������ļ���
        /// ����ʱΪ�����˷��������� RobotNo ��š�
        /// </summary>
        /// <param name="robot">Ҫ���ӻ���µĻ��������á�</param>
        /// <returns>�����ӻ���µ� <see cref="RobotInfo"/>������Ϊ <c>null</c> ʱ���� <c>null</c>��</returns>
        public RobotInfo AddOrUpdateRobot(RobotInfo robot)
        {
            if (robot == null) return null;
            lock (_sync)
            {
                var exist = Robots.FirstOrDefault(r => r.Id == robot.Id);
                if (exist != null)
                {
                    var idx = Robots.IndexOf(exist);
                    Robots[idx] = robot;
                }
                else
                {
                    robot.RobotNo = Robots.Count + 1;
                    Robots.Add(robot);
                }

            }
            FileHelper.WriteJsonFile(Robots, ConfigPaths.RobotsConfigurationPath);
            return robot;
        }

        /// <summary>
        /// ���ݱ�ʶ�Ƴ����������ò����±��ʣ������ˡ�
        /// ������־û������ļ���
        /// </summary>
        /// <param name="id">Ҫ�Ƴ��Ļ����� Guid��</param>
        /// <returns>�Ƴ��ɹ����� <c>true</c>�����򷵻� <c>false</c>��</returns>
        public bool RemoveRobot(Guid id)
        {
            bool result = false;
            lock (_sync)
            {
                var e = Robots.FirstOrDefault(r => r.Id == id);
                if (e != null)
                    result = Robots.Remove(e);
                //���±��
                int no = 1;
                //�����л����˰�RobotNo����
                var sortedRobots = Robots.OrderBy(r => r.RobotNo).ToList();
                foreach (var r in sortedRobots)
                {
                    r.RobotNo = no;
                    no++;
                }
                Robots.Clear();
                foreach (var r in sortedRobots)
                {
                    Robots.Add(r);
                }
            }
            FileHelper.WriteJsonFile(Robots, ConfigPaths.RobotsConfigurationPath);
            return result;
        }

        /// <summary>
        /// �ж��Ƿ����ָ�� Id �Ļ��������á�
        /// </summary>
        /// <param name="id">�����˵� Guid��</param>
        /// <returns>���ڷ��� <c>true</c>�����򷵻� <c>false</c>��</returns>
        public bool ContainsRobot(Guid id) { lock (_sync) { return Robots.Any(r => r.Id == id); } }

        /// <summary>
        /// �޸�ָ�������� Id�IJ������벢�־û����������á�
        /// </summary>
        /// <param name="id">������Ψһ��ʶ����</param>
        /// <param name="stepDistance">�������롣</param>
        /// <returns>���³ɹ����� <c>true</c>���Ҳ��������˷��� <c>false</c>��</returns>
        public bool UpdateRobotStepDistance(Guid id, double stepDistance)
        {
            lock (_sync)
            {
                var robot = Robots.FirstOrDefault(r => r.Id == id);
                if (robot != null)
                {
                    robot.StepDistance = stepDistance;
                    FileHelper.WriteJsonFile(Robots, ConfigPaths.RobotsConfigurationPath);
                    return true;
                }
                else
                {
                    return false;
                }
            }
        }

        /// <summary>
        /// ��ȡָ�������� Id �IJ������롣
        /// </summary>
        /// <param name="id">������ Guid��</param>
        /// <returns>���ҵ��򷵻ض�Ӧ�IJ������룬���򷵻�Ĭ��ֵ 1.0��</returns>
        public double GetRobotStepDistance(Guid id)
        {
            lock (_sync)
            {
                var robot = Robots.FirstOrDefault(r => r.Id == id);
                if (robot != null)
                {
                    return robot.StepDistance;
                }
                else
                {
                    return 1.0;
                }
            }

        }

        #endregion

        #region Feeders
        /// <summary>
        /// ��ȡ���й��������õ�ֻ�����ϡ�
        /// </summary>
        /// <returns>���������õ�ֻ�����ϡ�</returns>
        public IReadOnlyCollection<FeederInfo> GetAllFeeders() { lock (_sync) { return Feeders.ToList().AsReadOnly(); } }

        /// <summary>
        /// ���ݱ�ʶ��ȡ�������������á�
        /// </summary>
        /// <param name="id">�������� Guid ��ʶ��</param>
        /// <returns>�ҵ��򷵻ض�Ӧ�� <see cref="FeederInfo"/>�����򷵻� <c>null</c>��</returns>
        public FeederInfo GetFeeder(Guid id) { lock (_sync) { return Feeders.FirstOrDefault(f => f.Id == id); } }

        /// <summary>
        /// ��������¹��������ã�������־û��������ļ���
        /// ����ʱΪ���������������� FeederNo ��š�
        /// </summary>
        /// <param name="feeder">Ҫ���ӻ���µĹ��������á�</param>
        /// <returns>�����ӻ���µ� <see cref="FeederInfo"/>������Ϊ <c>null</c> ʱ���� <c>null</c>��</returns>
        public FeederInfo AddOrUpdateFeeder(FeederInfo feeder)
        {
            if (feeder == null) return null;
            lock (_sync)
            {
                var exist = Feeders.FirstOrDefault(f => f.Id == feeder.Id);
                if (exist != null)
                {
                    var idx = Feeders.IndexOf(exist);
                    Feeders[idx] = feeder;
                }
                else
                {
                    feeder.FeederNo = Feeders.Count + 1;
                    Feeders.Add(feeder);
                }
            }
            FileHelper.WriteJsonFile(Feeders, ConfigPaths.FeedersConfigurationPath);
            return feeder;
        }

        /// <summary>
        /// ���ݱ�ʶ�Ƴ����������ò����±��ʣ�๩������
        /// ������־û������ļ���
        /// </summary>
        /// <param name="id">Ҫ�Ƴ��Ĺ����� Guid��</param>
        /// <returns>�Ƴ��ɹ����� <c>true</c>�����򷵻� <c>false</c>��</returns>
        public bool RemoveFeeder(Guid id)
        {
            bool result = false;
            lock (_sync)
            {
                var e = Feeders.FirstOrDefault(f => f.Id == id);
                if (e != null) result = Feeders.Remove(e);
                //���±��
                int no = 1;
                //�����������FeederNo����
                var sortedFeeders = Feeders.OrderBy(f => f.FeederNo).ToList();
                foreach (var f in sortedFeeders)
                {
                    f.FeederNo = no;
                    no++;
                }
                Feeders.Clear();
                foreach (var f in sortedFeeders)
                {
                    Feeders.Add(f);
                }

            }
            FileHelper.WriteJsonFile(Feeders, ConfigPaths.FeedersConfigurationPath);
            return result;
        }

        /// <summary>
        /// �ж��Ƿ����ָ�� Id �Ĺ��������á�
        /// </summary>
        /// <param name="id">������ Guid��</param>
        /// <returns>���ڷ��� <c>true</c>�����򷵻� <c>false</c>��</returns>
        public bool ContainsFeeder(Guid id) { lock (_sync) { return Feeders.Any(f => f.Id == id); } }
        #endregion

        #region PLC
        /// <summary>
        /// ��ȡ���� PLC ���õ�ֻ�����ϡ�
        /// </summary>
        /// <returns>PLC ���õ�ֻ�����ϡ�</returns>
        public IReadOnlyCollection<PlcInfo> GetAllPlcs() { lock (_sync) { return Plcs.ToList().AsReadOnly(); } }

        /// <summary>
        /// ���ݱ�ʶ��ȡ���� PLC ���á�
        /// </summary>
        /// <param name="id">PLC �� Guid ��ʶ��</param>
        /// <returns>ƥ��� <see cref="PlcInfo"/> ʵ�����Ҳ������� <c>null</c>��</returns>
        public PlcInfo GetPlc(Guid id) { lock (_sync) { return Plcs.FirstOrDefault(p => p.Id == id); } }

        /// <summary>
        /// ��������� PLC ���ã�������־û��������ļ�������ʱ�������� PlcNo ��š�
        /// </summary>
        /// <param name="plc">Ҫ���ӻ���µ� PLC ���á�</param>
        /// <returns>�����ӻ���µ� <see cref="PlcInfo"/>������Ϊ <c>null</c> ʱ���� <c>null</c>��</returns>
        public PlcInfo AddOrUpdatePlc(PlcInfo plc)
        {
            if (plc == null) return null;
            lock (_sync)
            {
                var exist = Plcs.FirstOrDefault(p => p.Id == plc.Id);
                if (exist != null)
                {
                    var idx = Plcs.IndexOf(exist);
                    Plcs[idx] = plc;
                }
                else
                {
                    plc.PlcNo = Plcs.Count + 1;
                    Plcs.Add(plc);
                }
            }
            FileHelper.WriteJsonFile(Plcs, ConfigPaths.PlcConfigurationPath);
            return plc;
        }

        /// <summary>
        /// ���ݱ�ʶ�Ƴ� PLC ���ò����±��ʣ�� PLC��
        /// ������־û������ļ���
        /// </summary>
        /// <param name="id">Ҫ�Ƴ��� PLC Guid��</param>
        /// <returns>�Ƴ��ɹ����� <c>true</c>�����򷵻� <c>false</c>��</returns>
        public bool RemovePlc(Guid id)
        {
            bool result = false;
            lock (_sync)
            {
                var e = Plcs.FirstOrDefault(p => p.Id == id);
                if (e != null) result = Plcs.Remove(e);
                //���±��
                int no = 1;
                //������PLC��PlcNo����
                var sortedPlcs = Plcs.OrderBy(p => p.PlcNo).ToList();
                foreach (var p in sortedPlcs)
                {
                    p.PlcNo = no;
                    no++;
                }
                Plcs.Clear();
                foreach (var p in sortedPlcs)
                {
                    Plcs.Add(p);
                }

            }
            FileHelper.WriteJsonFile(Plcs, ConfigPaths.PlcConfigurationPath);
            return result;
        }

        /// <summary>
        /// �ж��Ƿ����ָ�� Id �� PLC ���á�
        /// </summary>
        /// <param name="id">PLC �� Guid��</param>
        /// <returns>���ڷ��� <c>true</c>�����򷵻� <c>false</c>��</returns>
        public bool ContainsPlc(Guid id) { lock (_sync) { return Plcs.Any(p => p.Id == id); } }
        #endregion

        #region BgTcp
        /// <summary>
        /// ��ȡ BG TCP/IP ͨ�����ã��ڴ���󣬿���Ϊ null����
        /// </summary>
        /// <returns>��ǰ�� <see cref="BgTcpIP"/> ���ö���</returns>
        public BgTcpIP GetBgTcp() { lock (_sync) { return BgCommunicate; } }

        /// <summary>
        /// ���� BG TCP/IP ͨ�����ã��������ڴ���󣬲����Զ��־û�����
        /// ����־û������ <see cref="SaveBgTcp"/>��
        /// </summary>
        /// <param name="cfg">�µ� <see cref="BgTcpIP"/> ���ö���</param>
        public void SetBgTcp(BgTcpIP cfg) { lock (_sync) { BgCommunicate = cfg; } }

        /// <summary>
        /// ����ǰ�ڴ��е� BG TCP/IP ���ó־û��������ļ���
        /// </summary>
        public void SaveBgTcp() { lock (_sync) { FileHelper.WriteJsonFile(BgCommunicate, ConfigPaths.BgTcpIpConfigurationPath); } }
        #endregion

        #region BgModbus
        /// <summary>
        /// ��ȡ BG Modbus TCP ͨ�����ã��ڴ���󣩡�
        /// </summary>
        /// <returns>��ǰ�� <see cref="BgModbusTcp"/> ���ö���</returns>
        public BgModbusTcp GetBgModbusTcp() { lock (_sync) { return BgModbusCommunicate; } }

        /// <summary>
        /// ���� BG Modbus TCP ͨ�����ã��������ڴ���󣬲����Զ��־û�����
        /// </summary>
        /// <param name="cfg">�µ� <see cref="BgModbusTcp"/> ���ö���</param>
        public void SetBgModbusTcp(BgModbusTcp cfg) { lock (_sync) { BgModbusCommunicate = cfg; } }

        /// <summary>
        /// ����ǰ�ڴ��е� BG Modbus TCP ���ó־û��������ļ���
        /// </summary>
        public void SaveBgModbusTcp() { lock (_sync) { FileHelper.WriteJsonFile(BgModbusCommunicate, ConfigPaths.BgModbusTcpConfigurationPath); } }
        #endregion

        #region CTQData
        /// <summary>
        /// 获取CTQ信息配置
        /// </summary>
        public CTQ_Data GetCTQDataInfo()
        {
            lock (_sync)
            {
                if (CtqData == null)
                {
                    if (File.Exists(ConfigPaths.DataConfigurationPath))
                        CtqData = FileHelper.ReadJsonFile<CTQ_Data>(ConfigPaths.DataConfigurationPath);
                    else
                    {
                        CtqData = new CTQ_Data();
                        FileHelper.WriteJsonFile(CtqData, ConfigPaths.DataConfigurationPath);
                    }
                }
                return CtqData;
            }
        }

        /// <summary>
        /// 保存CTQ信息
        /// </summary>
        public void SaveCTQDataInfo(CTQ_Data cd)
        {
            if (cd == null) return;
            lock (_sync)
            {
                CtqData = cd;
                FileHelper.WriteJsonFile(CtqData, ConfigPaths.DataConfigurationPath);
            }
        }
        #endregion

        #region ϵͳ����
        /// <summary>
        /// ��ȡϵͳ���ã��������ļ���ȡ����
        /// �̰߳�ȫ�������ڲ������Ա�֤��ȡһ���ԡ�
        /// </summary>
        /// <returns>��ȡ���� <see cref="SystemConfiguration"/> �������ļ��������򷵻�Ĭ�ϵ���ʵ����</returns>
        public SystemConfiguration GetSystemConfiguration()
        {
            lock (_sync)
            {
                var config = new SystemConfiguration();
                if (File.Exists(ConfigPaths.SystemConfigurationPath))
                {
                    config = FileHelper.ReadJsonFile<SystemConfiguration>(ConfigPaths.SystemConfigurationPath);
                }
                FileHelper.WriteJsonFile(config, ConfigPaths.SystemConfigurationPath);
                return config;
            }
        }

        /// <summary>
        /// ����ϵͳ���õ������ļ����Ḳ�������ļ�����
        /// </summary>
        /// <param name="systemConfiguration">Ҫ�����ϵͳ���ö���</param>
        public void SaveSystemConfiguration(SystemConfiguration systemConfiguration)
        {
            lock (_sync)
            {
                FileHelper.WriteJsonFile(systemConfiguration, ConfigPaths.SystemConfigurationPath);
            }
        }

        /// <summary>
        /// ��ȡ��ǰ����
        /// </summary>
        /// <returns></returns>
        public Language GetCurrentLanguage()
        {
            lock (_sync)
            {
                var config = GetSystemConfiguration();
                return config.CurrentLanguage;
            }
        }

        /// <summary>
        /// ���õ�ǰ����
        /// </summary>
        /// <param name="language"></param>
        public void SetCurrentLanguage(Language language)
        {
            lock (_sync)
            {
                var config = GetSystemConfiguration();
                config.CurrentLanguage = language;
                if (language == Enums.Language.ChineseSimplified)
                {
                    var culture = new CultureInfo("zh-CN");
                    App.Current.Dispatcher.Thread.CurrentCulture = culture;
                    App.Current.Dispatcher.Thread.CurrentUICulture = culture;
                    LocalizeDictionary.Instance.Culture = culture;
                    Lang.Culture = culture;
                    System.Windows.Application.Current.Resources["DefaultFont"] = new System.Windows.Media.FontFamily("Microsoft YaHei");
                }
                else if (language == Enums.Language.ChineseTraditional)
                {
                    var culture = new CultureInfo("zh-TW");
                    App.Current.Dispatcher.Thread.CurrentCulture = culture;
                    App.Current.Dispatcher.Thread.CurrentUICulture = culture;
                    LocalizeDictionary.Instance.Culture = culture;
                    Lang.Culture = culture;
                    System.Windows.Application.Current.Resources["DefaultFont"] = new System.Windows.Media.FontFamily("Microsoft YaHei");
                }
                else if (language == Enums.Language.English)
                {
                    var culture = new CultureInfo("en");
                    App.Current.Dispatcher.Thread.CurrentCulture = culture;
                    App.Current.Dispatcher.Thread.CurrentUICulture = culture;
                    LocalizeDictionary.Instance.Culture = culture;
                    Lang.Culture = culture;
                    System.Windows.Application.Current.Resources["DefaultFont"] = new System.Windows.Media.FontFamily("Segoe UI");
                }
                else if (language == Enums.Language.Japanese)
                {
                    var culture = new CultureInfo("ja-JP");
                    App.Current.Dispatcher.Thread.CurrentCulture = culture;
                    App.Current.Dispatcher.Thread.CurrentUICulture = culture;
                    LocalizeDictionary.Instance.Culture = culture;
                    Lang.Culture = culture;
                    System.Windows.Application.Current.Resources["DefaultFont"] = new System.Windows.Media.FontFamily("Segoe UI");
                }
                SaveSystemConfiguration(config);
            }
        }
        #endregion

        #region Feeder��������
        /// <summary>
        /// ��ȡ�������������ֻ�����ϡ�
        /// </summary>
        /// <returns>���������ֻ�����ϡ�</returns>
        public IReadOnlyCollection<FeederClearWork> GetAllClearanceTasks() { lock (_sync) { return FeederClearanceTasks.ToList().AsReadOnly(); } }

        /// <summary>
        /// ���������������������ʱΪ������������ TaskCode����ɺ�־û������ļ���
        /// </summary>
        /// <param name="task">Ҫ���ӻ���µ������������</param>
        /// <returns>�����ӻ���µ� <see cref="FeederClearWork"/>������Ϊ <c>null</c> ʱ���� <c>null</c>��</returns>
        public FeederClearWork AddOrUpdateClearanceTask(FeederClearWork task)
        {
            if (task == null) return null;
            lock (_sync)
            {
                var exist = FeederClearanceTasks.FirstOrDefault(t => t.Id == task.Id);
                if (exist != null)
                {
                    var idx = FeederClearanceTasks.IndexOf(exist);
                    FeederClearanceTasks[idx] = task;
                }
                else
                {
                    // ����������Ϊ��ǰ����ż�1
                    task.TaskCode = FeederClearanceTasks.Count > 0 ? FeederClearanceTasks.Max(t => t.TaskCode) + 1 : 1;
                    FeederClearanceTasks.Add(task);
                }
            }
            FileHelper.WriteJsonFile(FeederClearanceTasks, ConfigPaths.FeederClearanceTasksConfigurationPath);
            return task;
        }

        /// <summary>
        /// ���ݱ�ʶ�Ƴ��������񲢳־û������ļ���
        /// </summary>
        /// <param name="id">Ҫ�Ƴ����������� Guid��</param>
        /// <returns>���ҵ����Ƴ����� <c>true</c>�����򷵻� <c>false</c>��</returns>
        public bool RemoveClearanceTask(Guid id)
        {
            lock (_sync)
            {
                var exist = FeederClearanceTasks.FirstOrDefault(t => t.Id == id);
                if (exist != null)
                {
                    FileHelper.WriteJsonFile(FeederClearanceTasks, ConfigPaths.FeederClearanceTasksConfigurationPath);
                    return FeederClearanceTasks.Remove(exist);
                }
                else
                    return false;
            }

        }

        /// <summary>
        /// ��������������񲢳־û��ռ��ϵ������ļ���
        /// </summary>
        public void ClearAllClearanceTasks()
        {
            lock (_sync)
            {
                FeederClearanceTasks.Clear();
            }
            FileHelper.WriteJsonFile(FeederClearanceTasks, ConfigPaths.FeederClearanceTasksConfigurationPath);
        }

        /// <summary>
        /// �ж��Ƿ����ָ�� Id ����������
        /// </summary>
        /// <param name="id">�������� Guid��</param>
        /// <returns>���ڷ��� <c>true</c>�����򷵻� <c>false</c>��</returns>
        public bool ContainsClearanceTask(Guid id)
        {
            lock (_sync) { return FeederClearanceTasks.Any(t => t.Id == id); }

        }

        /// <summary>
        /// ���ݱ�ʶ��ȡ��������������Ϣ��
        /// </summary>
        /// <param name="id">�������� Guid��</param>
        /// <returns>ƥ��� <see cref="FeederClearWork"/>���Ҳ������� <c>null</c>��</returns>
        public FeederClearWork GetClearanceTask(Guid id)
        {
            lock (_sync) { return FeederClearanceTasks.FirstOrDefault(t => t.Id == id); }
        }

        /// <summary>
        /// �ж��Ƿ����ָ�������ŵ���������
        /// </summary>
        /// <param name="taskNumber">�����ţ�TaskCode����</param>
        /// <returns>���ڷ��� <c>true</c>�����򷵻� <c>false</c>��</returns>
        public bool ContainsClearanceTaskByNumber(int taskNumber)
        {
            lock (_sync) { return FeederClearanceTasks.Any(t => t.TaskCode == taskNumber); }
        }

        /// <summary>
        /// ���������Ż�ȡ��������������Ϣ��
        /// </summary>
        /// <param name="taskNumber">�����ţ�TaskCode����</param>
        /// <returns>ƥ��� <see cref="FeederClearWork"/>���Ҳ������� <c>null</c>��</returns>
        public FeederClearWork GetClearanceTaskByNumber(int taskNumber)
        {
            lock (_sync) { return FeederClearanceTasks.FirstOrDefault(t => t.TaskCode == taskNumber); }
        }
        #endregion

        #region Light controllers and channels

        /// <summary>
        /// ��ȡ���й�Դ���������õ�ֻ�����ϡ�
        /// �̰߳�ȫ�����ڲ�ʹ�� <see cref="_sync"/> ���������Ա�֤�������ʰ�ȫ��
        /// </summary>
        /// <returns>����ǰ�ڴ��д洢˳�򷵻ص�ֻ�� <see cref="LightControllerConfig"/> ���ϡ�</returns>
        public IReadOnlyCollection<LightControllerConfig> GetAllLightControllers()
        {
            lock (_sync) { return LightControllers.ToList().AsReadOnly(); }
        }

        /// <summary>
        /// ���ݿ�������ʶ��ȡ������Դ���������á�
        /// �̰߳�ȫ���÷������ڴ漯�Ͻ���ֻ�����ʲ����ڲ�������
        /// </summary>
        /// <param name="id">��������������ʶ��Id����</param>
        /// <returns>ƥ��� <see cref="LightControllerConfig"/> ʵ�����Ҳ����򷵻� <c>null</c>��</returns>
        public LightControllerConfig GetLightController(int id)
        {
            lock (_sync) { return LightControllers.FirstOrDefault(c => c.Id == id); }
        }

        /// <summary>
        /// ��������¹�Դ���������á�
        /// - �� <paramref name="controller"/> Ϊ <c>null</c> ���� <c>null</c>��
        /// - ����ʱ�� Id ƥ��������滻��
        /// - ����ʱ���������Ŀ����� Id����Ϊ�������ڵ�ÿ��ͨ������ȫ��ͨ����ţ�GlobalIndex����
        /// �̰߳�ȫ�����ڲ�ʹ�� <see cref="_sync"/> �������ϡ�
        /// </summary>
        /// <param name="controller">Ҫ���ӻ���µ� <see cref="LightControllerConfig"/> ʵ����</param>
        /// <returns>�����ӻ���µ� <see cref="LightControllerConfig"/> ʵ��������Ϊ <c>null</c> ʱ���� <c>null</c>��</returns>
        /// <exception cref="ArgumentException">��Ҫ����/���µĿ��������������������������ظ�ʱ�׳���</exception>
        public LightControllerConfig AddOrUpdateLightController(LightControllerConfig controller)
        {
            if (controller == null) return null;
            lock (_sync)
            {
                // ���Ʋ����������������ظ���ͬ������ͬ Id ��������
                if (LightControllers.Any(c => c.Name == controller.Name && c.Id != controller.Id))
                    throw new ArgumentException("Controller name must be unique");

                var exist = LightControllers.FirstOrDefault(c => c.Id == controller.Id);
                if (exist != null)
                {
                    // �������п��������������滻��
                    var idx = LightControllers.IndexOf(exist);
                    LightControllers[idx] = controller;
                }
                else
                {
                    // ����������
                    // ������������Ϊ��ǰ��� Id + 1��������Ϊ����Ϊ 1��
                    controller.Id = LightControllers.Count > 0 ? LightControllers.Max(c => c.Id) + 1 : 1;

                    // ������һ��ȫ��ͨ���������������Ѵ��ڿ�������ͨ�� GlobalIndex ��ȡ���ֵ����1
                    int nextGlobal = 0;
                    if (LightControllers.SelectMany(c => c.ChannelConfigs).Any())
                    {
                        nextGlobal = LightControllers.SelectMany(c => c.ChannelConfigs).Max(ch => ch.GlobalIndex) + 1;
                    }

                    // ����������������ͨ������ͨ���� GlobalIndex ��Ч��<0����������ͨ����ͻ�������·���
                    for (int i = 0; i < controller.ChannelConfigs.Count; i++)
                    {
                        var ch = controller.ChannelConfigs[i];
                        if (ch.GlobalIndex < 0 || LightControllers.SelectMany(c => c.ChannelConfigs).Any(existingCh => existingCh.GlobalIndex == ch.GlobalIndex))
                        {
                            ch.GlobalIndex = nextGlobal;
                            nextGlobal++;
                        }
                    }

                    LightControllers.Add(controller);
                }
            }
            // �־û����º�Ĺ�Դ����������
            FileHelper.WriteJsonFile(LightControllers, ConfigPaths.LightControllersConfigurationPath);
            return controller;
        }

        /// <summary>
        /// ���� Id �Ƴ���Դ���������ò���ʣ����������±�ţ��� 1 ��ʼ������ţ���
        /// ������־û������ļ���
        /// </summary>
        /// <param name="id">Ҫ�Ƴ��Ŀ����� Id��</param>
        /// <returns>����ɹ��Ƴ����� <c>true</c>�����򷵻� <c>false</c>������δ�ҵ��� Id����</returns>
        public bool RemoveLightController(int id)
        {
            bool result = false;
            lock (_sync)
            {
                var e = LightControllers.FirstOrDefault(c => c.Id == id);
                if (e != null)
                    result = LightControllers.Remove(e);

                // ���°� Id ���򲢴� 1 ��ʼ���±�ţ��Ա���������
                int no = 1;
                var sorted = LightControllers.OrderBy(c => c.Id).ToList();
                foreach (var c in sorted)
                {
                    c.Id = no;
                    no++;
                }
                LightControllers.Clear();
                foreach (var c in sorted)
                {
                    LightControllers.Add(c);
                }
            }
            FileHelper.WriteJsonFile(LightControllers, ConfigPaths.LightControllersConfigurationPath);
            return result;
        }

        /// <summary>
        /// �ж��Ƿ����ָ�� Id �Ĺ�Դ��������
        /// </summary>
        /// <param name="id">������ Id��</param>
        /// <returns>���ڷ��� <c>true</c>�����򷵻� <c>false</c>��</returns>
        public bool ContainsLightController(int id) { lock (_sync) { return LightControllers.Any(c => c.Id == id); } }

        /// <summary>
        /// ��ȡ���й�Դͨ����ֻ�����ϣ��� GlobalIndex ���򷵻ء�
        /// </summary>
        /// <returns>�� GlobalIndex ����� <see cref="ChannelConfig"/> ֻ�����ϡ�</returns>
        public IReadOnlyCollection<ChannelConfig> GetAllLightChannels()
        {
            lock (_sync) { return LightControllers.SelectMany(c => c.ChannelConfigs).OrderBy(ch => ch.GlobalIndex).ToList().AsReadOnly(); }
        }

        /// <summary>
        /// ����ȫ��ͨ��������ȡ����ͨ�����á�
        /// </summary>
        /// <param name="globalIndex">ͨ����ȫ��������GlobalIndex����</param>
        /// <returns>ƥ��� <see cref="ChannelConfig"/> ʵ�����Ҳ����򷵻� <c>null</c>��</returns>
        public ChannelConfig GetLightChannelByGlobalIndex(int globalIndex)
        {
            lock (_sync) { return LightControllers.SelectMany(c => c.ChannelConfigs).FirstOrDefault(ch => ch.GlobalIndex == globalIndex); }
        }

        /// <summary>
        /// �ж��Ƿ����ָ��ȫ��ͨ��������ͨ�����á�
        /// </summary>
        /// <param name="globalIndex">ȫ��ͨ��������</param>
        /// <returns>���ڷ��� <c>true</c>�����򷵻� <c>false</c>��</returns>
        public bool ContainsLightChannelByGlobalIndex(int globalIndex)
        {
            lock (_sync) { return LightControllers.SelectMany(c => c.ChannelConfigs).Any(ch => ch.GlobalIndex == globalIndex); }
        }

        /// <summary>
        /// ����ָ��ȫ��ͨ����Ĭ�����ȣ�DefaultBrightness�������־û���Դ���������á�
        /// </summary>
        /// <param name="globalIndex">Ŀ��ͨ����ȫ��������GlobalIndex����</param>
        /// <param name="brightness">Ҫ���õ�����ֵ��</param>
        /// <returns>���³ɹ����� <c>true</c>���Ҳ�����Ӧͨ������ <c>false</c>��</returns>
        public bool UpdateChannelDefaultBrightness(int globalIndex, int brightness)
        {
            lock (_sync)
            {
                var ch = LightControllers.SelectMany(c => c.ChannelConfigs).FirstOrDefault(x => x.GlobalIndex == globalIndex);
                if (ch == null) return false;
                ch.DefaultBrightness = brightness;
                FileHelper.WriteJsonFile(LightControllers, ConfigPaths.LightControllersConfigurationPath);
                return true;
            }
        }

        #endregion

        #region Plc Addresses
        public PlcAddressConfig GetPlcAddresses() { lock (_sync) { return PlcAddressConfig; } }
        #endregion

        #region ScrewDriver config (single device)
        /// <summary>
        /// ��ȡ�������ã����豸����
        /// </summary>
        /// <returns>��ǰ�� <see cref="ScrewDriverConfig"/>����δ�����򷵻� null��</returns>
        public ScrewDriverConfig GetScrewDriverConfig()
        {
            lock (_sync) { return _screwDriverConfig; }
        }

        /// <summary>
        /// ���ò��־û��������ã����豸����
        /// </summary>
        /// <param name="cfg">�µ����ö��󣬲���Ϊ�ա�</param>
        public void SetScrewDriverConfig(ScrewDriverConfig cfg)
        {
            if (cfg == null) throw new ArgumentNullException(nameof(cfg));
            lock (_sync)
            {
                _screwDriverConfig = cfg;
                FileHelper.WriteJsonFile(_screwDriverConfig, ConfigPaths.ScrewDriverConfigurationPath);
            }
        }

        /// <summary>
        /// ������ǰ�ڴ��еĵ������ñ��浽�ļ���
        /// </summary>
        public void SaveScrewDriverConfig()
        {
            lock (_sync)
            {
                if (_screwDriverConfig != null)
                    FileHelper.WriteJsonFile(_screwDriverConfig, ConfigPaths.ScrewDriverConfigurationPath);
            }
        }
        #endregion

        #region Screw Feeders (material)
        /// <summary>
        /// ��ȡ������˿���������õ�ֻ�����ϡ�
        /// </summary>
        public IReadOnlyCollection<ScrewFeederInfo> GetAllScrewFeeders() { lock (_sync) { return ScrewFeeders.ToList().AsReadOnly(); } }

        /// <summary>
        /// ���� Id ��ȡ������˿���������á�
        /// </summary>
        public ScrewFeederInfo GetScrewFeeder(Guid id) { lock (_sync) { return ScrewFeeders.FirstOrDefault(s => s.Id == id); } }

        /// <summary>
        /// �����������˿���������á�
        /// ����ʱ��δָ�� FeederNumber �����Ϊ��ǰ����+1��
        /// </summary>
        public ScrewFeederInfo AddOrUpdateScrewFeeder(ScrewFeederInfo feeder)
        {
            if (feeder == null) return null;
            lock (_sync)
            {
                var exist = ScrewFeeders.FirstOrDefault(f => f.Id == feeder.Id);
                if (exist != null)
                {
                    var idx = ScrewFeeders.IndexOf(exist);
                    ScrewFeeders[idx] = feeder;
                }
                else
                {
                    if (feeder.FeederNumber <= 0) feeder.FeederNumber = ScrewFeeders.Count + 1;
                    ScrewFeeders.Add(feeder);
                }
                FileHelper.WriteJsonFile(ScrewFeeders, ConfigPaths.ScrewFeedersConfigurationPath);
            }
            return feeder;
        }

        /// <summary>
        /// �Ƴ���˿���������á�
        /// </summary>
        public bool RemoveScrewFeeder(Guid id)
        {
            bool result = false;
            lock (_sync)
            {
                var e = ScrewFeeders.FirstOrDefault(s => s.Id == id);
                if (e != null) result = ScrewFeeders.Remove(e);
            }
            FileHelper.WriteJsonFile(ScrewFeeders, ConfigPaths.ScrewFeedersConfigurationPath);
            return result;
        }

        public bool ContainsScrewFeeder(Guid id) { lock (_sync) { return ScrewFeeders.Any(s => s.Id == id); } }

        // event for low level alarm
        public event Action<ScrewFeederInfo> ScrewFeederLowLevelAlarmTriggered;

        /// <summary>
        /// ��ȡָ����������ŵ�ʣ����˿�������Ҳ������� -1��
        /// </summary>
        public int GetRemainingCountByFeederNumber(int feederNumber)
        {
            lock (_sync)
            {
                var f = ScrewFeeders.FirstOrDefault(s => s.FeederNumber == feederNumber);
                if (f == null) return -1;
                return f.RemainingCount;
            }
        }

        /// <summary>
        /// ��ȡָ����������ŵĵ�������״̬���Ҳ������� false��
        /// </summary>
        public bool GetLowLevelAlarmStatusByFeederNumber(int feederNumber)
        {
            lock (_sync)
            {
                var f = ScrewFeeders.FirstOrDefault(s => s.FeederNumber == feederNumber);
                if (f == null) return false;
                return f.IsLowLevelAlarmActive;
            }
        }

        // helper: check and raise low level alarm when necessary
        private void CheckAndTriggerLowLevelAlarm(ScrewFeederInfo f)
        {
            if (f == null) return;
            if (f.LowLevelAlarmEnabled && f.RemainingCount <= f.LowLevelThreshold)
            {
                if (!f.IsLowLevelAlarmActive)
                {
                    f.IsLowLevelAlarmActive = true;
                    try
                    {
                        ScrewFeederLowLevelAlarmTriggered?.Invoke(f.Clone());
                    }
                    catch { }
                }
            }
            else
            {
                if (f.IsLowLevelAlarmActive)
                {
                    f.IsLowLevelAlarmActive = false;
                }
            }
        }

        /// <summary>
        /// Ϊָ����������ŵݼ�ָ�����������������㷵�� -1
        /// </summary>
        public int DecrementScrewCountByFeederNumber(int feederNumber, int decrement = 1)
        {
            lock (_sync)
            {
                var f = ScrewFeeders.FirstOrDefault(s => s.FeederNumber == feederNumber);
                if (f == null) return -1;
                if (decrement <= 0) decrement = 1;
                if (f.RemainingCount < decrement) return -1;
                f.RemainingCount -= decrement;
                // check alarm
                CheckAndTriggerLowLevelAlarm(f);
                FileHelper.WriteJsonFile(ScrewFeeders, ConfigPaths.ScrewFeedersConfigurationPath);
                return f.RemainingCount;
            }
        }

        /// <summary>
        /// ���ָ����������ŵ���˿��Ϣ�����κ��ÿգ�ʣ��������0��
        /// </summary>
        public void ClearScrewFeederByNumber(int feederNumber)
        {
            lock (_sync)
            {
                var f = ScrewFeeders.FirstOrDefault(s => s.FeederNumber == feederNumber);
                if (f == null) return;
                f.BatchNumber = string.Empty;
                f.RemainingCount = 0;
                // check alarm
                CheckAndTriggerLowLevelAlarm(f);
                FileHelper.WriteJsonFile(ScrewFeeders, ConfigPaths.ScrewFeedersConfigurationPath);
            }
        }

        /// <summary>
        /// Ϊָ������������������κţ�����ԭ��ʣ������������һ����PackSize��
        /// </summary>
        public void SetBatchForFeederNumber(int feederNumber, string batchNumber)
        {
            if (string.IsNullOrWhiteSpace(batchNumber)) return;

            //��ȡ��ǰ�IJ���Ա�û���
            string operatorName = _systemDatabaseService.GetCurrentUser()?.UserName;

            // capture values under lock, then record to DB outside lock
            ScrewFeederInfo target = null;
            int remainingAfter = 0;
            int packSize = 0;
            string feederName = null;
            int previousCount = 0;
            lock (_sync)
            {
                var f = ScrewFeeders.FirstOrDefault(s => s.FeederNumber == feederNumber);
                if (f == null) return;
                f.BatchNumber = batchNumber;
                previousCount = f.RemainingCount;
                f.RemainingCount += Math.Max(0, f.PackSize);

                // prepare capture values
                target = f;
                remainingAfter = f.RemainingCount;
                packSize = f.PackSize;
                feederName = f.Name;

                // check alarm
                CheckAndTriggerLowLevelAlarm(f);
                FileHelper.WriteJsonFile(ScrewFeeders, ConfigPaths.ScrewFeedersConfigurationPath);
            }

            try
            {
                var record = new ScrewFeederBatchRecord
                {
                    BatchNumber = batchNumber,
                    PackSize = packSize,
                    ChangeTime = DateTime.Now,
                    RemainingCount = remainingAfter,
                    FeederNumber = feederNumber,
                    FeederName = feederName,
                    PreviousCount = previousCount,
                    OperatorName = operatorName,
                };

                // try get operator name from system database service if available
                try
                {
                    var user = _systemDatabaseService?.GetCurrentUser();
                    if (user != null)
                        record.OperatorName = user.UserName;
                }
                catch
                {
                    // ignore getting user failure
                }

                try
                {
                    if (_systemDatabaseService != null)
                    {
                        _ = _systemDatabaseService.RecordScrewFeederBatchAsync(record);
                    }
                }
                catch
                {
                    // �������ݿ�д����󣬼�¼��������־
                }
            }
            catch
            {
                // ignore any error creating/recording the batch record
            }
        }

        /// <summary>
        /// ���ʣ����˿�Ƿ񱨾�
        /// </summary>
        public bool CheckAlarm(int feederNumber)
        {
            lock (_sync)
            {
                var f = ScrewFeeders.FirstOrDefault(s => s.FeederNumber == feederNumber);
                if (f == null) return false;
                // check alarm
                CheckAndTriggerLowLevelAlarm(f);
                return f.IsLowLevelAlarmActive;
            }
        }
        #endregion

        #region �û���¼ˢ����
        /// <summary>
        /// ��ȡˢ��������
        /// </summary>
        /// <returns></returns>
        public SerialPortConfig GetCardReaderConfig()
        {
            lock (_sync)
            {
                if (_cardReaderConfig != null)
                    return _cardReaderConfig;

                if (File.Exists(ConfigPaths.CardReaderConfigurationPath))
                {
                    try
                    {
                        _cardReaderConfig = FileHelper.ReadJsonFile<SerialPortConfig>(ConfigPaths.CardReaderConfigurationPath);
                    }
                    catch
                    {
                        // ����ȡʧ�ܣ�����Ĭ�����ò������ļ�������Ŀ���������ò���һ�£�
                        _cardReaderConfig = new SerialPortConfig();
                        try { FileHelper.WriteJsonFile(_cardReaderConfig, ConfigPaths.CardReaderConfigurationPath); } catch { }
                    }
                }
                else
                {
                    _cardReaderConfig = new SerialPortConfig();
                    try { FileHelper.WriteJsonFile(_cardReaderConfig, ConfigPaths.CardReaderConfigurationPath); } catch { }
                }

                return _cardReaderConfig;
            }
        }

        /// <summary>
        /// ����ˢ��������
        /// </summary>
        /// <param name="config"></param>
        public void SaveCardReaderConfig(SerialPortConfig config)
        {
            if (config == null) return;
            lock (_sync)
            {
                _cardReaderConfig = config;
                try
                {
                    FileHelper.WriteJsonFile(_cardReaderConfig, ConfigPaths.CardReaderConfigurationPath);
                }
                catch
                {
                    // ���Գ־û���������Ŀ���������淽��һ�£���������Ҫʱ������־��¼
                }
            }
        }



        #endregion

        #region ��ȡ��������
        public void SaveTorqueReaderConfig(TorqueSerialPortConfig config)
        {
            if (config == null) return;
            lock (_sync)
            {
                _torqueReaderConfig = config;
                try
                {
                    FileHelper.WriteJsonFile(_torqueReaderConfig, ConfigPaths.TorqueReaderConfigurationPath);
                }
                catch
                {
                    // ���Գ־û���������Ŀ���������淽��һ�£���������Ҫʱ������־��¼
                }
            }
        }

        public TorqueSerialPortConfig GetTorqueReaderConfig()
        {
            lock (_sync)
            {
                if (_torqueReaderConfig != null)
                    return _torqueReaderConfig;

                if (File.Exists(ConfigPaths.TorqueReaderConfigurationPath))
                {
                    try
                    {
                        _torqueReaderConfig = FileHelper.ReadJsonFile<TorqueSerialPortConfig>(ConfigPaths.TorqueReaderConfigurationPath);
                    }
                    catch
                    {
                        // ����ȡʧ�ܣ�����Ĭ�����ò������ļ�������Ŀ���������ò���һ�£�
                        _torqueReaderConfig = new TorqueSerialPortConfig();
                        try { FileHelper.WriteJsonFile(_torqueReaderConfig, ConfigPaths.TorqueReaderConfigurationPath); } catch { }
                    }
                }
                else
                {
                    _torqueReaderConfig = new TorqueSerialPortConfig();
                    try { FileHelper.WriteJsonFile(_torqueReaderConfig, ConfigPaths.TorqueReaderConfigurationPath); } catch { }
                }

                return _torqueReaderConfig;
            }
        }

        #endregion

        /// <summary>
        /// �ͷ���Դ�����浱ǰ�ڴ��е��������õ��ļ���
        /// </summary>
        public void Dispose()
        {
            SaveAll();
            GC.SuppressFinalize(this);
        }
    }
}