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.Resources.Languages;
using WPFLocalizeExtension.Engine;

namespace TeamAAS_VP.Services
{
    /// <summary>
    /// 配置参数服务实现类。
    /// 线程安全：内部使用私有锁字段 <see cref="_sync"/> 来保护对内存集合的并发访问。
    /// 持久化：对集合的修改会写回到对应的配置文件（路径由内部静态类 <see cref="ConfigPaths"/> 定义）。
    /// </summary>
    public class ConfigService : IConfigService
    {
        private static class ConfigPaths
        {
            // 将路径集中管理于本类，当前使用现有 FilePath 值以保持兼容
            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清料任务配置路径
            public static readonly string FeederClearanceTasksConfigurationPath = "..//Config//FeederClearanceTasksConfiguration.cfg";
            // 光源控制器配置路径
            public static readonly string LightControllersConfigurationPath = "..//Config//LightControllersConfiguration.cfg";
            // 电批配置路径（单设备）
            public static readonly string ScrewDriverConfigurationPath = "..//Config//ScrewDriverConfiguration.cfg";
            // 螺丝供料器（物料）配置路径
            public static readonly string ScrewFeedersConfigurationPath = "..//Config//ScrewFeedersConfiguration.cfg";
            // 刷卡器配置路径
            public static readonly string CardReaderConfigurationPath = "..//Config//CardReaderConfiguration.cfg";
            // 生产数据配置路径
            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; }
        // 螺丝供料器（物料）集合
        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; }
        // 光源控制器配置
        private ObservableCollection<LightControllerConfig> LightControllers { get; set; }
        // Device info - 支持多设备
        private List<DeviceInfo> _deviceInfoList;

        private PlcAddressConfig PlcAddressConfig { get; set; }
        // 单个电批配置
        private TeamAAS_VP.Models.ScrewDriver.ScrewDriverConfig _screwDriverConfig;
        public TeamAAS_VP.Models.ScrewDriver.ScrewDriverConfig ScrewDriverConfig { get { lock(_sync) { return _screwDriverConfig; } } }

        private ISystemDatabaseService _systemDatabaseService;
        // 刷卡器配置
        private SerialPortConfig _cardReaderConfig;
        /// <summary>
        /// 注入系统数据库服务（可选），用于记录螺丝批次变更等记录。
        /// </summary>
        /// <param name="svc"></param>
        public void SetSystemDatabaseService(ISystemDatabaseService svc)
        {
            lock (_sync)
            {
                _systemDatabaseService = svc;
            }
        }

        /// <summary>
        /// 将螺丝供料器批次变更记录写入数据库（若已注入 ISystemDatabaseService）。
        /// </summary>
        public async System.Threading.Tasks.Task RecordScrewFeederBatchAsync(ScrewFeederBatchRecord record)
        {
            if (record == null) throw new ArgumentNullException(nameof(record));
            try
            {
                if (_systemDatabaseService != null)
                {
                    await _systemDatabaseService.RecordScrewFeederBatchAsync(record);
                }
            }
            catch
            {
                // 忽略数据库写入错误，记录可添加日志
            }
        }

        /// <summary>
        /// 初始化一个新的 <see cref="ConfigService"/> 实例。
        /// 构造函数不会自动加载配置文件（避免在构造期间进行 I/O 操作）；可调用 <see cref="LoadAll"/> 或 <see cref="LoadAllAsync"/> 显式加载。
        /// </summary>
        public ConfigService()
        {

            //LoadAll();
        }

        /// <summary>
        /// 同步加载所有配置文件至内存（若对应文件不存在，将创建默认空集合/对象并写入文件）。
        /// 线程安全：方法内部对共享资源使用 <see cref="_sync"/> 加锁。
        /// </summary>
        public void LoadAll()
        {
            lock (_sync)
            {
                // 读取各配置，如果文件不存在，则保持 DeviceConfig 默认值
                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
                {
                    // 读取 Feeder清料任务 配置
                    FeederClearanceTasks = FileHelper.ReadJsonFile<ObservableCollection<FeederClearWork>>(ConfigPaths.FeederClearanceTasksConfigurationPath);
                }

                // 读取光源控制器配置
                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>
        /// 异步执行 <see cref="LoadAll"/> 操作。
        /// </summary>
        /// <returns>表示异步加载操作的任务。</returns>
        public Task LoadAllAsync()
        {
            return Task.Run(() => LoadAll());
        }

        /// <summary>
        /// 将内存中的所有配置写回到对应配置文件。
        /// 线程安全：方法内部对写入操作使用 <see cref="_sync"/> 加锁。
        /// </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>
        /// 异步执行 <see cref="SaveAll"/> 操作。
        /// </summary>
        /// <returns>表示异步保存操作的任务。</returns>
        public Task SaveAllAsync()
        {
            return Task.Run(() => SaveAll());
        }

        #region Cameras
        /// <summary>
        /// 获取所有相机配置的只读集合。
        /// 线程安全：在内部加锁以保证并发读取的一致性。
        /// </summary>
        /// <returns>相机配置的只读集合。</returns>
        public IReadOnlyCollection<CameraInfo> GetAllCameras()
        {
            lock (_sync) { return Cameras.ToList().AsReadOnly(); }
        }

        /// <summary>
        /// 根据标识获取单个相机配置信息。
        /// </summary>
        /// <param name="id">相机的 Guid 标识。</param>
        /// <returns>找到则返回对应的 <see cref="CameraInfo"/>，否则返回 <c>null</c>。</returns>
        public CameraInfo GetCamera(Guid id)
        {
            lock (_sync) { return Cameras.FirstOrDefault(c => c.Id == id); }
        }

        /// <summary>
        /// 新增或更新相机配置。
        /// - 若传入 <paramref name="camera"/> 为 <c>null</c> 返回 <c>null</c>。
        /// - 若 Id 已存在则替换；否则追加并设置连续的 CameraNo 编号。
        /// 方法结束后会将相机集合持久化到配置文件。
        /// </summary>
        /// <param name="camera">要添加或更新的相机配置。</param>
        /// <returns>已添加或更新的 <see cref="CameraInfo"/>；输入为 <c>null</c> 时返回 <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>
        /// 根据标识移除相机配置并重新编号剩余相机的 CameraNo。
        /// 方法结束后会将相机集合持久化到配置文件。
        /// </summary>
        /// <param name="id">要移除的相机 Guid。</param>
        /// <returns>若找到并成功移除返回 <c>true</c>，否则返回 <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);
                //重新编号
                int no = 1;
                //对所有相机按CameraNo排序
                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>
        /// 检查是否包含指定 Id 的相机配置。
        /// </summary>
        /// <param name="id">相机的 Guid。</param>
        /// <returns>存在返回 <c>true</c>，否则返回 <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>
        /// 获取所有机器人配置的只读集合。
        /// </summary>
        /// <returns>机器人配置的只读集合。</returns>
        public IReadOnlyCollection<RobotInfo> GetAllRobots() { lock (_sync) { return Robots.ToList().AsReadOnly(); } }

        /// <summary>
        /// 根据标识获取单个机器人配置。
        /// </summary>
        /// <param name="id">机器人的 Guid 标识。</param>
        /// <returns>找到则返回对应的 <see cref="RobotInfo"/>，否则返回 <c>null</c>。</returns>
        public RobotInfo GetRobot(Guid id) { lock (_sync) { return Robots.FirstOrDefault(r => r.Id == id); } }

        /// <summary>
        /// 新增或更新机器人配置，操作后持久化至配置文件。
        /// 新增时为机器人分配连续的 RobotNo 编号。
        /// </summary>
        /// <param name="robot">要添加或更新的机器人配置。</param>
        /// <returns>已添加或更新的 <see cref="RobotInfo"/>；输入为 <c>null</c> 时返回 <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>
        /// 根据标识移除机器人配置并重新编号剩余机器人。
        /// 操作后持久化配置文件。
        /// </summary>
        /// <param name="id">要移除的机器人 Guid。</param>
        /// <returns>移除成功返回 <c>true</c>，否则返回 <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);
                //重新编号
                int no = 1;
                //对所有机器人按RobotNo排序
                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>
        /// 判断是否包含指定 Id 的机器人配置。
        /// </summary>
        /// <param name="id">机器人的 Guid。</param>
        /// <returns>存在返回 <c>true</c>，否则返回 <c>false</c>。</returns>
        public bool ContainsRobot(Guid id) { lock (_sync) { return Robots.Any(r => r.Id == id); } }

        /// <summary>
        /// 修改指定机器人 Id的步进距离并持久化机器人配置。
        /// </summary>
        /// <param name="id">机器人唯一标识符。</param>
        /// <param name="stepDistance">步进距离。</param>
        /// <returns>更新成功返回 <c>true</c>，找不到机器人返回 <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>
        /// 获取指定机器人 Id 的步进距离。
        /// </summary>
        /// <param name="id">机器人 Guid。</param>
        /// <returns>若找到则返回对应的步进距离，否则返回默认值 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>
        /// 获取所有供料器配置的只读集合。
        /// </summary>
        /// <returns>供料器配置的只读集合。</returns>
        public IReadOnlyCollection<FeederInfo> GetAllFeeders() { lock (_sync) { return Feeders.ToList().AsReadOnly(); } }

        /// <summary>
        /// 根据标识获取单个供料器配置。
        /// </summary>
        /// <param name="id">供料器的 Guid 标识。</param>
        /// <returns>找到则返回对应的 <see cref="FeederInfo"/>，否则返回 <c>null</c>。</returns>
        public FeederInfo GetFeeder(Guid id) { lock (_sync) { return Feeders.FirstOrDefault(f => f.Id == id); } }

        /// <summary>
        /// 新增或更新供料器配置，操作后持久化至配置文件。
        /// 新增时为供料器分配连续的 FeederNo 编号。
        /// </summary>
        /// <param name="feeder">要添加或更新的供料器配置。</param>
        /// <returns>已添加或更新的 <see cref="FeederInfo"/>；输入为 <c>null</c> 时返回 <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>
        /// 根据标识移除供料器配置并重新编号剩余供料器。
        /// 操作后持久化配置文件。
        /// </summary>
        /// <param name="id">要移除的供料器 Guid。</param>
        /// <returns>移除成功返回 <c>true</c>，否则返回 <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);
                //重新编号
                int no = 1;
                //对所有供料器按FeederNo排序
                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>
        /// 判断是否包含指定 Id 的供料器配置。
        /// </summary>
        /// <param name="id">供料器 Guid。</param>
        /// <returns>存在返回 <c>true</c>，否则返回 <c>false</c>。</returns>
        public bool ContainsFeeder(Guid id) { lock (_sync) { return Feeders.Any(f => f.Id == id); } }
        #endregion

        #region PLC
        /// <summary>
        /// 获取所有 PLC 配置的只读集合。
        /// </summary>
        /// <returns>PLC 配置的只读集合。</returns>
        public IReadOnlyCollection<PlcInfo> GetAllPlcs() { lock (_sync) { return Plcs.ToList().AsReadOnly(); } }

        /// <summary>
        /// 根据标识获取单个 PLC 配置。
        /// </summary>
        /// <param name="id">PLC 的 Guid 标识。</param>
        /// <returns>匹配的 <see cref="PlcInfo"/> 实例，找不到返回 <c>null</c>。</returns>
        public PlcInfo GetPlc(Guid id) { lock (_sync) { return Plcs.FirstOrDefault(p => p.Id == id); } }

        /// <summary>
        /// 新增或更新 PLC 配置，操作后持久化至配置文件；新增时分配连续 PlcNo 编号。
        /// </summary>
        /// <param name="plc">要添加或更新的 PLC 配置。</param>
        /// <returns>已添加或更新的 <see cref="PlcInfo"/>；输入为 <c>null</c> 时返回 <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>
        /// 根据标识移除 PLC 配置并重新编号剩余 PLC。
        /// 操作后持久化配置文件。
        /// </summary>
        /// <param name="id">要移除的 PLC Guid。</param>
        /// <returns>移除成功返回 <c>true</c>，否则返回 <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);
                //重新编号
                int no = 1;
                //对所有PLC按PlcNo排序
                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>
        /// 判断是否包含指定 Id 的 PLC 配置。
        /// </summary>
        /// <param name="id">PLC 的 Guid。</param>
        /// <returns>存在返回 <c>true</c>，否则返回 <c>false</c>。</returns>
        public bool ContainsPlc(Guid id) { lock (_sync) { return Plcs.Any(p => p.Id == id); } }
        #endregion

        #region BgTcp
        /// <summary>
        /// 获取 BG TCP/IP 通信配置（内存对象，可能为 null）。
        /// </summary>
        /// <returns>当前的 <see cref="BgTcpIP"/> 配置对象。</returns>
        public BgTcpIP GetBgTcp() { lock (_sync) { return BgCommunicate; } }

        /// <summary>
        /// 设置 BG TCP/IP 通信配置（仅更新内存对象，不会自动持久化）。
        /// 若需持久化请调用 <see cref="SaveBgTcp"/>。
        /// </summary>
        /// <param name="cfg">新的 <see cref="BgTcpIP"/> 配置对象。</param>
        public void SetBgTcp(BgTcpIP cfg) { lock (_sync) { BgCommunicate = cfg; } }

        /// <summary>
        /// 将当前内存中的 BG TCP/IP 配置持久化到配置文件。
        /// </summary>
        public void SaveBgTcp() { lock (_sync) { FileHelper.WriteJsonFile(BgCommunicate, ConfigPaths.BgTcpIpConfigurationPath); } }
        #endregion

        #region BgModbus
        /// <summary>
        /// 获取 BG Modbus TCP 通信配置（内存对象）。
        /// </summary>
        /// <returns>当前的 <see cref="BgModbusTcp"/> 配置对象。</returns>
        public BgModbusTcp GetBgModbusTcp() { lock (_sync) { return BgModbusCommunicate; } }

        /// <summary>
        /// 设置 BG Modbus TCP 通信配置（仅更新内存对象，不会自动持久化）。
        /// </summary>
        /// <param name="cfg">新的 <see cref="BgModbusTcp"/> 配置对象。</param>
        public void SetBgModbusTcp(BgModbusTcp cfg) { lock (_sync) { BgModbusCommunicate = cfg; } }

        /// <summary>
        /// 将当前内存中的 BG Modbus TCP 配置持久化到配置文件。
        /// </summary>
        public void SaveBgModbusTcp() { lock (_sync) { FileHelper.WriteJsonFile(BgModbusCommunicate, ConfigPaths.BgModbusTcpConfigurationPath); } }
        #endregion

        #region 系统参数
        /// <summary>
        /// 获取系统设置（从配置文件读取）。
        /// 线程安全：方法内部加锁以保证读取一致性。
        /// </summary>
        /// <returns>读取到的 <see cref="SystemConfiguration"/> 对象；若文件不存在则返回默认的新实例。</returns>
        public SystemConfiguration GetSystemConfiguration()
        {
            lock (_sync)
            {
                var config = new SystemConfiguration();
                if (File.Exists(ConfigPaths.SystemConfigurationPath))
                {
                    config = FileHelper.ReadJsonFile<SystemConfiguration>(ConfigPaths.SystemConfigurationPath);
                }
                return config;
            }
        }

        /// <summary>
        /// 保存系统设置到配置文件（会覆盖现有文件）。
        /// </summary>
        /// <param name="systemConfiguration">要保存的系统配置对象。</param>
        public void SaveSystemConfiguration(SystemConfiguration systemConfiguration)
        {
            lock (_sync)
            {
                FileHelper.WriteJsonFile(systemConfiguration, ConfigPaths.SystemConfigurationPath);
            }
        }

        /// <summary>
        /// 获取当前语言
        /// </summary>
        /// <returns></returns>
        public Language GetCurrentLanguage()
        {
            lock (_sync)
            {
                var config = GetSystemConfiguration();
                return config.CurrentLanguage;
            }
        }

        /// <summary>
        /// 设置当前语言
        /// </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");
                }
                else if (language == Enums.Language.Vietnamese)
                {
                    var culture = new CultureInfo("vi");
                    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清料任务
        /// <summary>
        /// 获取所有清料任务的只读集合。
        /// </summary>
        /// <returns>清料任务的只读集合。</returns>
        public IReadOnlyCollection<FeederClearWork> GetAllClearanceTasks() { lock (_sync) { return FeederClearanceTasks.ToList().AsReadOnly(); } }

        /// <summary>
        /// 新增或更新清料任务，新增时为任务分配递增的 TaskCode，完成后持久化配置文件。
        /// </summary>
        /// <param name="task">要添加或更新的清料任务对象。</param>
        /// <returns>已添加或更新的 <see cref="FeederClearWork"/>；输入为 <c>null</c> 时返回 <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
                {
                    // 设置任务编号为当前最大编号加1
                    task.TaskCode = FeederClearanceTasks.Count > 0 ? FeederClearanceTasks.Max(t => t.TaskCode) + 1 : 1;
                    FeederClearanceTasks.Add(task);
                }
            }
            FileHelper.WriteJsonFile(FeederClearanceTasks, ConfigPaths.FeederClearanceTasksConfigurationPath);
            return task;
        }

        /// <summary>
        /// 根据标识移除清料任务并持久化配置文件。
        /// </summary>
        /// <param name="id">要移除的清料任务 Guid。</param>
        /// <returns>若找到并移除返回 <c>true</c>，否则返回 <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>
        /// 清除所有清料任务并持久化空集合到配置文件。
        /// </summary>
        public void ClearAllClearanceTasks()
        {
            lock (_sync)
            {
                FeederClearanceTasks.Clear();
            }
            FileHelper.WriteJsonFile(FeederClearanceTasks, ConfigPaths.FeederClearanceTasksConfigurationPath);
        }

        /// <summary>
        /// 判断是否包含指定 Id 的清料任务。
        /// </summary>
        /// <param name="id">清料任务 Guid。</param>
        /// <returns>存在返回 <c>true</c>，否则返回 <c>false</c>。</returns>
        public bool ContainsClearanceTask(Guid id)
        {
            lock (_sync) { return FeederClearanceTasks.Any(t => t.Id == id); }

        }

        /// <summary>
        /// 根据标识获取单个清料任务信息。
        /// </summary>
        /// <param name="id">清料任务 Guid。</param>
        /// <returns>匹配的 <see cref="FeederClearWork"/>，找不到返回 <c>null</c>。</returns>
        public FeederClearWork GetClearanceTask(Guid id)
        {
            lock (_sync) { return FeederClearanceTasks.FirstOrDefault(t => t.Id == id); }
        }

        /// <summary>
        /// 判断是否包含指定任务编号的清料任务。
        /// </summary>
        /// <param name="taskNumber">任务编号（TaskCode）。</param>
        /// <returns>存在返回 <c>true</c>，否则返回 <c>false</c>。</returns>
        public bool ContainsClearanceTaskByNumber(int taskNumber)
        {
            lock (_sync) { return FeederClearanceTasks.Any(t => t.TaskCode == taskNumber); }
        }

        /// <summary>
        /// 根据任务编号获取单个清料任务信息。
        /// </summary>
        /// <param name="taskNumber">任务编号（TaskCode）。</param>
        /// <returns>匹配的 <see cref="FeederClearWork"/>，找不到返回 <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>
        /// 获取所有光源控制器配置的只读集合。
        /// 线程安全：在内部使用 <see cref="_sync"/> 进行锁定以保证并发访问安全。
        /// </summary>
        /// <returns>按当前内存中存储顺序返回的只读 <see cref="LightControllerConfig"/> 集合。</returns>
        public IReadOnlyCollection<LightControllerConfig> GetAllLightControllers()
        {
            lock (_sync) { return LightControllers.ToList().AsReadOnly(); }
        }

        /// <summary>
        /// 根据控制器标识获取单个光源控制器配置。
        /// 线程安全：该方法对内存集合进行只读访问并在内部加锁。
        /// </summary>
        /// <param name="id">控制器的整数标识（Id）。</param>
        /// <returns>匹配的 <see cref="LightControllerConfig"/> 实例，找不到则返回 <c>null</c>。</returns>
        public LightControllerConfig GetLightController(int id)
        {
            lock (_sync) { return LightControllers.FirstOrDefault(c => c.Id == id); }
        }

        /// <summary>
        /// 新增或更新光源控制器配置。
        /// - 若 <paramref name="controller"/> 为 <c>null</c> 返回 <c>null</c>。
        /// - 更新时以 Id 匹配现有项并替换。
        /// - 新增时分配连续的控制器 Id，并为控制器内的每个通道分配全局通道编号（GlobalIndex）。
        /// 线程安全：在内部使用 <see cref="_sync"/> 锁定集合。
        /// </summary>
        /// <param name="controller">要添加或更新的 <see cref="LightControllerConfig"/> 实例。</param>
        /// <returns>已添加或更新的 <see cref="LightControllerConfig"/> 实例；输入为 <c>null</c> 时返回 <c>null</c>。</returns>
        /// <exception cref="ArgumentException">当要添加/更新的控制器名称与现有其他控制器重复时抛出。</exception>
        public LightControllerConfig AddOrUpdateLightController(LightControllerConfig controller)
        {
            if (controller == null) return null;
            lock (_sync)
            {
                // 名称不得与其他控制器重复（同名但不同 Id 不允许）
                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)
                {
                    // 更新现有控制器（按索引替换）
                    var idx = LightControllers.IndexOf(exist);
                    LightControllers[idx] = controller;
                }
                else
                {
                    // 新增控制器
                    // 分配控制器编号为当前最大 Id + 1（若集合为空则为 1）
                    controller.Id = LightControllers.Count > 0 ? LightControllers.Max(c => c.Id) + 1 : 1;

                    // 计算下一个全局通道索引：在所有已存在控制器的通道 GlobalIndex 上取最大值并加1
                    int nextGlobal = 0;
                    if (LightControllers.SelectMany(c => c.ChannelConfigs).Any())
                    {
                        nextGlobal = LightControllers.SelectMany(c => c.ChannelConfigs).Max(ch => ch.GlobalIndex) + 1;
                    }

                    // 遍历新增控制器的通道，若通道的 GlobalIndex 无效（<0）或与现有通道冲突，则重新分配
                    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);
                }
            }
            // 持久化更新后的光源控制器配置
            FileHelper.WriteJsonFile(LightControllers, ConfigPaths.LightControllersConfigurationPath);
            return controller;
        }

        /// <summary>
        /// 根据 Id 移除光源控制器配置并对剩余控制器重新编号（从 1 开始连续编号）。
        /// 操作后持久化配置文件。
        /// </summary>
        /// <param name="id">要移除的控制器 Id。</param>
        /// <returns>如果成功移除返回 <c>true</c>，否则返回 <c>false</c>（比如未找到该 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);

                // 重新按 Id 排序并从 1 开始重新编号，以保持连续性
                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>
        /// 判断是否包含指定 Id 的光源控制器。
        /// </summary>
        /// <param name="id">控制器 Id。</param>
        /// <returns>存在返回 <c>true</c>，否则返回 <c>false</c>。</returns>
        public bool ContainsLightController(int id) { lock (_sync) { return LightControllers.Any(c => c.Id == id); } }

        /// <summary>
        /// 获取所有光源通道的只读集合，按 GlobalIndex 升序返回。
        /// </summary>
        /// <returns>按 GlobalIndex 排序的 <see cref="ChannelConfig"/> 只读集合。</returns>
        public IReadOnlyCollection<ChannelConfig> GetAllLightChannels()
        {
            lock (_sync) { return LightControllers.SelectMany(c => c.ChannelConfigs).OrderBy(ch => ch.GlobalIndex).ToList().AsReadOnly(); }
        }

        /// <summary>
        /// 根据全局通道索引获取单个通道配置。
        /// </summary>
        /// <param name="globalIndex">通道的全局索引（GlobalIndex）。</param>
        /// <returns>匹配的 <see cref="ChannelConfig"/> 实例，找不到则返回 <c>null</c>。</returns>
        public ChannelConfig GetLightChannelByGlobalIndex(int globalIndex)
        {
            lock (_sync) { return LightControllers.SelectMany(c => c.ChannelConfigs).FirstOrDefault(ch => ch.GlobalIndex == globalIndex); }
        }

        /// <summary>
        /// 判断是否存在指定全局通道索引的通道配置。
        /// </summary>
        /// <param name="globalIndex">全局通道索引。</param>
        /// <returns>存在返回 <c>true</c>，否则返回 <c>false</c>。</returns>
        public bool ContainsLightChannelByGlobalIndex(int globalIndex)
        {
            lock (_sync) { return LightControllers.SelectMany(c => c.ChannelConfigs).Any(ch => ch.GlobalIndex == globalIndex); }
        }

        /// <summary>
        /// 更新指定全局通道的默认亮度（DefaultBrightness），并持久化光源控制器配置。
        /// </summary>
        /// <param name="globalIndex">目标通道的全局索引（GlobalIndex）。</param>
        /// <param name="brightness">要设置的亮度值。</param>
        /// <returns>更新成功返回 <c>true</c>；找不到对应通道返回 <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>
        /// 获取电批配置（单设备）。
        /// </summary>
        /// <returns>当前的 <see cref="ScrewDriverConfig"/>，若未加载则返回 null。</returns>
        public ScrewDriverConfig GetScrewDriverConfig()
        {
            lock (_sync) { return _screwDriverConfig; }
        }

        /// <summary>
        /// 设置并持久化电批配置（单设备）。
        /// </summary>
        /// <param name="cfg">新的配置对象，不能为空。</param>
        public void SetScrewDriverConfig(ScrewDriverConfig cfg)
        {
            if (cfg == null) throw new ArgumentNullException(nameof(cfg));
            lock (_sync)
            {
                _screwDriverConfig = cfg;
                FileHelper.WriteJsonFile(_screwDriverConfig, ConfigPaths.ScrewDriverConfigurationPath);
            }
        }

        /// <summary>
        /// 仅将当前内存中的电批配置保存到文件。
        /// </summary>
        public void SaveScrewDriverConfig()
        {
            lock (_sync)
            {
                if (_screwDriverConfig != null)
                    FileHelper.WriteJsonFile(_screwDriverConfig, ConfigPaths.ScrewDriverConfigurationPath);
            }
        }
        #endregion

        #region Screw Feeders (material)
        /// <summary>
        /// 获取所有螺丝供料器配置的只读集合。
        /// </summary>
        public IReadOnlyCollection<ScrewFeederInfo> GetAllScrewFeeders() { lock (_sync) { return ScrewFeeders.ToList().AsReadOnly(); } }

        /// <summary>
        /// 根据 Id 获取单个螺丝供料器配置。
        /// </summary>
        public ScrewFeederInfo GetScrewFeeder(Guid id) { lock (_sync) { return ScrewFeeders.FirstOrDefault(s => s.Id == id); } }

        /// <summary>
        /// 新增或更新螺丝供料器配置。
        /// 新增时若未指定 FeederNumber 则分配为当前数量+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>
        /// 移除螺丝供料器配置。
        /// </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>
        /// 获取指定供料器编号的剩余螺丝数量（找不到返回 -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>
        /// 获取指定供料器编号的低量报警状态（找不到返回 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>
        /// 为指定供料器编号递减指定数量，若数量不足返回 false
        /// </summary>
        public bool DecrementScrewCountByFeederNumber(int feederNumber, int decrement = 1)
        {
            lock (_sync)
            {
                var f = ScrewFeeders.FirstOrDefault(s => s.FeederNumber == feederNumber);
                if (f == null) return false;
                if (decrement <= 0) decrement = 1;
                if (f.RemainingCount < decrement) return false;
                f.RemainingCount -= decrement;
                // check alarm
                CheckAndTriggerLowLevelAlarm(f);
                FileHelper.WriteJsonFile(ScrewFeeders, ConfigPaths.ScrewFeedersConfigurationPath);
                return true;
            }
        }

        /// <summary>
        /// 清除指定供料器编号的螺丝信息（批次号置空，剩余数量置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>
        /// 为指定供料器编号设置批次号，并在原有剩余数量上增加一包（PackSize）
        /// </summary>
        public void SetBatchForFeederNumber(int feederNumber, string batchNumber)
        {
            if (string.IsNullOrWhiteSpace(batchNumber)) return;

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

                // 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
                }

                // fire-and-forget recording (ConfigService will forward to DB service if set)
                _ = RecordScrewFeederBatchAsync(record);
            }
            catch
            {
                // ignore any error creating/recording the batch record
            }
        }
        #endregion

        #region 用户登录刷卡器
        /// <summary>
        /// 获取刷卡器配置
        /// </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
                    {
                        // 若读取失败，创建默认配置并覆盖文件（与项目中其他配置策略一致）
                        _cardReaderConfig = new SerialPortConfig();
                        try { FileHelper.WriteJsonFile(_cardReaderConfig, ConfigPaths.CardReaderConfigurationPath); } catch { }
                    }
                }
                else
                {
                    _cardReaderConfig = new SerialPortConfig();
                    try { FileHelper.WriteJsonFile(_cardReaderConfig, ConfigPaths.CardReaderConfigurationPath); } catch { }
                }

                return _cardReaderConfig;
            }
        }

        /// <summary>
        /// 保存刷卡器配置
        /// </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
                {
                    // 忽略持久化错误（与项目中其它保存方法一致），可在需要时添加日志记录
                }
            }
        }
        #endregion

        /// <summary>
        /// 释放资源并保存当前内存中的所有配置到文件。
        /// </summary>
        public void Dispose()
        {
            SaveAll();
            GC.SuppressFinalize(this);
        }
    }
}