Display_D_HP/TeamAAS-VM/ViewModels/Product/VisionDynamicAccuracyAnalyzerViewModel.cs

using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using MaterialDesignThemes.Wpf;
using Newtonsoft.Json;
using OxyPlot;
using Prism.Commands;
using Prism.Events;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Regions;
using Prism.Services.Dialogs;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Data;
using System.IO;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP.Core;
using TeamAAS_VP.Core.PLCs;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Resources.Languages;
using TeamAAS_VP.Services;
using static TeamAAS_VP.Core.StabilityAnalyzer;

namespace TeamAAS_VP.ViewModels.Product
{
    public class VisionDynamicAccuracyAnalyzerViewModel : BindableBase, IDialogAware
    {
        IRegionManager _regionManager;
        IEventAggregator _eventAggregator;
        IContainerProvider _container;
        IDialogService _dialogService;
        IFeederService _feederService;
        IRobotService _robotService;
        ICameraService _cameraService;
        ISystemDatabaseService _systemDatabaseService;
        ICalibrationService _calibrationService;
        IConfigService _configService;
        IPlcService _plcService;

        //测试过程中控制取消的CTS
        CancellationTokenSource _cts;

        string manualToWork = "ns=4;s=DB_DriveControl|CylCtrl[6].Cmd.ManuToWork";
        string manualToHome = "ns=4;s=DB_DriveControl|CylCtrl[6].Cmd.ManuToHome";
        string inWork = "ns=4;s=DB_DriveControl|CylCtrl[6].Status.InWork";
        string inHome = "ns=4;s=DB_DriveControl|CylCtrl[6].Status.InHome";


        #region 属性

        private ProductModel _SelectProduct;
        public ProductModel SelectProduct
        {
            get { return _SelectProduct; }
            set { SetProperty(ref _SelectProduct, value); }
        }

        private ICogImage _Image;

        public ICogImage Image
        {
            get { return _Image; }
            set { SetProperty(ref _Image, value); }
        }

        private Cognex.VisionPro.CogGraphicCollection _Graphic;

        public Cognex.VisionPro.CogGraphicCollection Graphic
        {
            get { return _Graphic; }
            set { SetProperty(ref _Graphic, value); }
        }

        private ProcedureModel _SelectProcedure;

        /// <summary>
        /// 选中的流程
        /// </summary>
        public ProcedureModel SelectProcedure
        {
            get { return _SelectProcedure; }
            set
            {
                SetProperty(ref _SelectProcedure, value);
            }
        }

        private ICamera _Camera;

        public ICamera Camera
        {
            get { return _Camera; }
            set { SetProperty(ref _Camera, value); }
        }

        private IRobot _Robot;

        public IRobot Robot
        {
            get { return _Robot; }
            set { SetProperty(ref _Robot, value); }
        }

        private string _Message = "等待开始...";
        public string Message
        {
            get { return _Message; }
            set { SetProperty(ref _Message, value); }
        }

        private bool _IsRunning;

        public bool IsRunning
        {
            get { return _IsRunning; }
            set { SetProperty(ref _IsRunning, value); }
        }

        private CogToolBlock _VisionTool;
        public CogToolBlock VisionTool
        {
            get { return _VisionTool; }
            set { SetProperty(ref _VisionTool, value); }
        }

        private int _RepeatCount = 10;
        /// <summary>
        /// 重复次数
        /// </summary>
        public int RepeatCount
        {
            get { return _RepeatCount; }
            set { SetProperty(ref _RepeatCount, value); }
        }

        private int _CurrentProgress;
        /// <summary>
        /// 当前进度
        /// </summary>
        public int CurrentProgress
        {
            get { return _CurrentProgress; }
            set { SetProperty(ref _CurrentProgress, value); }
        }

        private int _SuccessCount;
        /// <summary>
        /// 成功次数
        /// </summary>
        public int SuccessCount
        {
            get { return _SuccessCount; }
            set { SetProperty(ref _SuccessCount, value); }
        }

        private int _FailCount;
        /// <summary>
        /// 失败次数
        /// </summary>
        public int FailCount
        {
            get { return _FailCount; }
            set { SetProperty(ref _FailCount, value); }
        }

        private double _SuccessRate;
        /// <summary>
        /// 成功率
        /// </summary>
        public double SuccessRate
        {
            get { return _SuccessRate; }
            set { SetProperty(ref _SuccessRate, value); }
        }

        private ObservableCollection<DynamicTestResult> _TestResults;
        /// <summary>
        /// 测试结果列表
        /// </summary>
        public ObservableCollection<DynamicTestResult> TestResults
        {
            get { return _TestResults; }
            set { SetProperty(ref _TestResults, value); }
        }

        private SnackbarMessageQueue _MessageQueue;
        public SnackbarMessageQueue MessageQueue
        {
            get { return _MessageQueue; }
            set { SetProperty(ref _MessageQueue, value); }
        }

        private RPoint _PointA;
        public RPoint PointA
        {
            get { return _PointA; }
            set { SetProperty(ref _PointA, value); }
        }

        private RPoint _PointB;
        public RPoint PointB
        {
            get { return _PointB; }
            set { SetProperty(ref _PointB, value); }
        }

        private ObservableCollection<ProcedureModel> _ProcedureModels;

        /// <summary>
        /// 流程集合
        /// </summary>
        public ObservableCollection<ProcedureModel> ProcedureModels
        {
            get { return _ProcedureModels; }
            set { SetProperty(ref _ProcedureModels, value); }
        }

        private int _MoveSpeed = 100;
        /// <summary>
        /// 移动速度
        /// </summary>
        public int MoveSpeed
        {
            get { return _MoveSpeed; }
            set { SetProperty(ref _MoveSpeed, value); }
        }

        private double _CycleTime;
        /// <summary>
        /// 单次的时长
        /// </summary>
        public double CycleTime
        {
            get { return _CycleTime; }
            set { SetProperty(ref _CycleTime, value); }
        }

        private PrecisionAnalysisResult _precisionResult = new PrecisionAnalysisResult();
        /// <summary>
        /// 精度分析结果
        /// </summary>
        public PrecisionAnalysisResult PrecisionResult
        {
            get { return _precisionResult; }
            set { SetProperty(ref _precisionResult, value); }
        }
        private int _ADelay = 3000;
        /// <summary>
        /// A点延时时间
        /// </summary>
        public int ADelay
        {
            get { return _ADelay; }
            set { SetProperty(ref _ADelay, value); }
        }

        private int _BDelay = 3000;
        /// <summary>
        /// B点延时时间
        /// </summary>
        public int BDelay
        {
            get { return _BDelay; }
            set { SetProperty(ref _BDelay, value); }
        }

        private bool _IsTakePhoto = true;
        /// <summary>
        /// 是否启用拍照
        /// </summary>
        public bool IsTakePhoto
        {
            get { return _IsTakePhoto; }
            set { SetProperty(ref _IsTakePhoto, value); }
        }

        private bool _IsCylCtrl = true;
        /// <summary>
        /// 是否启用气缸IsVertical
        /// </summary>
        public bool IsCylCtrl
        {
            get { return _IsCylCtrl; }
            set { SetProperty(ref _IsCylCtrl, value); }
        }

        private bool _IsVertical = true;
        /// <summary>
        /// 是否启用垂直精度检测
        /// </summary>
        public bool IsVertical
        {
            get { return _IsVertical; }
            set { SetProperty(ref _IsVertical, value); }
        }

        private float _Distance;

        public float Distance
        {
            get { return _Distance; }
            set { SetProperty(ref _Distance, value); }
        }


        #endregion

        #region 命令
        private DelegateCommand _ConfirmCommand;
        public DelegateCommand ConfirmCommand =>
            _ConfirmCommand ?? (_ConfirmCommand = new DelegateCommand(ExecuteConfirmCommand, () => !IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _CancelCommand;
        public DelegateCommand CancelCommand =>
            _CancelCommand ?? (_CancelCommand = new DelegateCommand(ExecuteCancelCommand, () => !IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _StartTestCommand;
        public DelegateCommand StartTestCommand =>
            _StartTestCommand ?? (_StartTestCommand = new DelegateCommand(ExecuteStartTestCommand, CanExecuteStartTestCommand).ObservesProperty(() => IsRunning).ObservesProperty(() => SelectProcedure).ObservesProperty(() => PointA).ObservesProperty(() => PointB));

        private DelegateCommand _StopTestCommand;
        public DelegateCommand StopTestCommand =>
            _StopTestCommand ?? (_StopTestCommand = new DelegateCommand(() => { _cts?.Cancel(); }, () => IsRunning).ObservesProperty(() => IsRunning));

        //暂停测试命令
        private DelegateCommand _PauseTestCommand;
        public DelegateCommand PauseTestCommand =>
            _PauseTestCommand ?? (_PauseTestCommand = new DelegateCommand(() => { _cts?.Cancel(); }, () => IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _ExportCSVCommand;
        public DelegateCommand ExportCSVCommand =>
            _ExportCSVCommand ?? (_ExportCSVCommand = new DelegateCommand(ExecuteExportCSVCommand, () => !IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _ExportReportCommand;
        public DelegateCommand ExportReportCommand =>
            _ExportReportCommand ?? (_ExportReportCommand = new DelegateCommand(ExecuteExportReportCommand, () => !IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _ClearDataCommand;
        public DelegateCommand ClearDataCommand =>
            _ClearDataCommand ?? (_ClearDataCommand = new DelegateCommand(ExecuteClearDataCommand, () => !IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _TeachPointACommand;
        public DelegateCommand TeachPointACommand =>
            _TeachPointACommand ?? (_TeachPointACommand = new DelegateCommand(ExecuteTeachPointACommand, () => !IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _TeachPointBCommand;
        public DelegateCommand TeachPointBCommand =>
            _TeachPointBCommand ?? (_TeachPointBCommand = new DelegateCommand(ExecuteTeachPointBCommand, () => !IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _ProcedureSelectionChangedCommand;
        public DelegateCommand ProcedureSelectionChangedCommand =>
            _ProcedureSelectionChangedCommand ?? (_ProcedureSelectionChangedCommand = new DelegateCommand(ExecuteProcedureSelectionChangedCommand, () => !IsRunning).ObservesProperty(() => IsRunning).ObservesProperty(() => SelectProcedure));

        private DelegateCommand _SingleTestCommand;
        public DelegateCommand SingleTestCommand =>
            _SingleTestCommand ?? (_SingleTestCommand = new DelegateCommand(ExecuteSingleTestCommand, () => !IsRunning && SelectProcedure != null && PointA != null && PointB != null).ObservesProperty(() => IsRunning).ObservesProperty(() => SelectProcedure).ObservesProperty(() => PointA).ObservesProperty(() => PointB));

        private DelegateCommand _ShowTrendChartCommand;
        public DelegateCommand ShowTrendChartCommand =>
            _ShowTrendChartCommand ?? (_ShowTrendChartCommand = new DelegateCommand(ExecuteShowTrendChartCommand));


        #endregion

        #region 事件

        #endregion

        public VisionDynamicAccuracyAnalyzerViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService,
            IFeederService feederService, IRobotService robotService, ICameraService cameraService, ISystemDatabaseService systemDatabaseService, ICalibrationService calibrationService,
            IConfigService configService, IPlcService plcService)
        {
            _regionManager = regionManager;
            _eventAggregator = ea;
            _container = container;
            _dialogService = dialogService;
            _feederService = feederService;
            _robotService = robotService;
            _cameraService = cameraService;
            _systemDatabaseService = systemDatabaseService;
            MessageQueue = new SnackbarMessageQueue(TimeSpan.FromSeconds(1));
            _calibrationService = calibrationService;
            _configService = configService;
            _plcService = plcService;
        }

        #region 方法
        /// <summary>
        /// 确定
        /// </summary>
        void ExecuteConfirmCommand()
        {
            _cts?.Cancel();

            IDialogParameters parameters = new DialogParameters();
            //parameters.Add("Tool", Tool);
            //parameters.Add("RobotCameraRotationMatrix", RobotCameraRotationMatrix);
            //parameters.Add("Angle", Angle);
            RequestClose?.Invoke(new DialogResult(ButtonResult.OK, parameters));
        }

        /// <summary>
        /// 取消
        /// </summary>
        void ExecuteCancelCommand()
        {
            _cts?.Cancel();
            IDialogParameters parameters = new DialogParameters();
            //parameters.Add("Tool", Tool);
            RequestClose?.Invoke(new DialogResult(ButtonResult.Cancel, parameters));
        }

        /// <summary>
        /// 单次测试
        /// </summary>
        async void ExecuteSingleTestCommand()
        {
            IsRunning = true;
            _cts = new CancellationTokenSource();
            CurrentProgress = 0;
            SuccessCount = 0;
            SuccessRate = 0;
            FailCount = 0;
            Message = "测试进行中...";
            TestResults = new ObservableCollection<DynamicTestResult>();

            try
            {
                //弹窗提示是否进行连续测试
                var result = System.Windows.MessageBox.Show("确定进行单次测试吗？", "提示", System.Windows.MessageBoxButton.YesNo, System.Windows.MessageBoxImage.Question);
                if (result != System.Windows.MessageBoxResult.Yes)
                {
                    return;
                }

                var addressConfig = _configService.GetPlcAddresses();
                var plc = _plcService.GetPlcByNumber(addressConfig.PlcNo) as OpcUaClientPLC;

                if (Robot == null || !Robot.IsConnected)
                {
                    SendTaskMessage("机器人未连接，无法示教！");
                    return;
                }

                if (IsTakePhoto)
                {
                    if (Camera == null || !Camera.IsConnected)
                    {
                        SendTaskMessage("相机未连接，无法示教！");
                        return;
                    }
                }

                //为机器人设置移动速度
                await Robot.CalibParameAsync(new PickInfo(), MoveSpeed, 0, false, 0, 0);


                if (_cts.Token.IsCancellationRequested)
                {
                    Message = "测试已取消！";
                    return;
                }
                DateTime startTime = DateTime.Now;

                if (!IsCylCtrl)
                {
                    //移动机器人至A点
                    bool isSuccess1 = await Robot.CalibMotionAsync(PointA, null);
                    if (!isSuccess1)
                    {
                        SendTaskMessage("机器人移动到A点失败！");
                        return;
                    }
                    await Task.Delay(ADelay);
                    if (_cts.Token.IsCancellationRequested)
                    {
                        Message = "测试已取消！";
                        return;
                    }

                    //移动机器人至B点
                    isSuccess1 = await Robot.CalibMotionAsync(PointB, null);
                    if (!isSuccess1)
                    {
                        SendTaskMessage("机器人移动到B点失败！");
                        return;
                    }
                    await Task.Delay(BDelay);
                    if (_cts.Token.IsCancellationRequested)
                    {
                        Message = "测试已取消！";
                        return;
                    }
                }
                else
                {
                    //气缸升上去
                    await plc.WriteNodeAsync(manualToWork, true);
                    await Task.Delay(BDelay);
                    await plc.ReadNodeAsync<bool>(inWork);

                    if (_cts.Token.IsCancellationRequested)
                    {
                        Message = "测试已取消！";
                        return;
                    }
                }
                if (IsTakePhoto)
                {
                    //相机拍照并处理
                    (bool isSuccess, double pixelX, double pixelY, double angleU, double transformX, double transformY) = await ExecutePhotoEx(CurrentProgress);

                    CycleTime = DateTime.Now.Subtract(startTime).TotalSeconds;

                    if (isSuccess)
                    {
                        SuccessCount++;
                    }
                    else
                    {
                        FailCount++;
                    }
                    TestResults.Add(new DynamicTestResult(CurrentProgress, isSuccess, PointB, CycleTime, pixelX, pixelY, angleU, transformX, transformY));
                    OnTestResultAdded();

                    CurrentProgress++;
                    SuccessRate = (double)SuccessCount / CurrentProgress * 100;
                }
                else
                {
                    CycleTime = DateTime.Now.Subtract(startTime).TotalSeconds;
                    SuccessCount++;
                    CurrentProgress++;
                    SuccessRate = (double)SuccessCount / CurrentProgress * 100;
                }
                if (IsCylCtrl)
                {
                    await plc.WriteNodeAsync(manualToHome, true);
                    await Task.Delay(ADelay);
                    //inHome 气杆在底部  InWork在上面
                    await plc.ReadNodeAsync<bool>(inHome);
                    if (_cts.Token.IsCancellationRequested)
                    {
                        Message = "测试已取消！";
                        return;
                    }
                }
                Message = "测试完成！";
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("视觉动态重复测试时出错！", ex);
            }
            finally
            {
                IsRunning = false;
            }

        }

        /// <summary>
        /// 连续测试
        /// </summary>
        async void ExecuteStartTestCommand()
        {
            IsRunning = true;
            _cts = new CancellationTokenSource();
            CurrentProgress = 0;
            SuccessCount = 0;
            SuccessRate = 0;
            FailCount = 0;
            Message = "测试进行中...";
            int up = 1;
            int down = 0;
            TestResults = new ObservableCollection<DynamicTestResult>();

            try
            {
                //弹窗提示是否进行连续测试
                var result = System.Windows.MessageBox.Show("确定进行连续测试吗？", "提示", System.Windows.MessageBoxButton.YesNo, System.Windows.MessageBoxImage.Question);
                if (result != System.Windows.MessageBoxResult.Yes)
                {
                    return;
                }

                var addressConfig = _configService.GetPlcAddresses();
                var plc = _plcService.GetPlcByNumber(addressConfig.PlcNo) as OpcUaClientPLC;

                if (Robot == null || !Robot.IsConnected)
                {
                    SendTaskMessage("机器人未连接，无法示教！");
                    return;
                }

                if (IsTakePhoto)
                {
                    if (Camera == null || !Camera.IsConnected)
                    {
                        SendTaskMessage("相机未连接，无法示教！");
                        return;
                    }
                }

                //为机器人设置移动速度
                await Robot.CalibParameAsync(new PickInfo(), MoveSpeed, 0, false, 0, 0);

                while (CurrentProgress < RepeatCount)
                {
                    if (_cts.Token.IsCancellationRequested)
                    {
                        Message = "测试已取消！";
                        break;
                    }
                    DateTime startTime = DateTime.Now;

                    if (IsVertical)
                    {
                        if (CurrentProgress == 0)
                        {
                            await Robot.JumpAsync(PointB, null);
                        }
                        RPoint verticalPosition = PointB.Clone();
                        if (CurrentProgress > (RepeatCount / 2))
                        {
                            verticalPosition.Z += up++ * Distance;
                        }
                        else
                        {
                            verticalPosition.Z -= down++ * Distance;
                        }
                        //移动机器人至B点
                        bool isSuccess1 = await Robot.GoAsync(verticalPosition);
                        if (!isSuccess1)
                        {
                            SendTaskMessage("机器人移动到B点失败！");
                            return;
                        }
                        await Task.Delay(BDelay);
                        if (_cts.Token.IsCancellationRequested)
                        {
                            Message = "测试已取消！";
                            break;
                        }
                    }
                    else if (!IsCylCtrl)
                    {
                        IsVertical = false;
                        //移动机器人至A点
                        bool isSuccess1 = await Robot.CalibMotionAsync(PointA, null);
                        if (!isSuccess1)
                        {
                            SendTaskMessage("机器人移动到A点失败！");
                            return;
                        }
                        await Task.Delay(ADelay);
                        if (_cts.Token.IsCancellationRequested)
                        {
                            Message = "测试已取消！";
                            break;
                        }

                        //移动机器人至B点
                        isSuccess1 = await Robot.CalibMotionAsync(PointB, null);
                        if (!isSuccess1)
                        {
                            SendTaskMessage("机器人移动到B点失败！");
                            return;
                        }
                        await Task.Delay(BDelay);
                        if (_cts.Token.IsCancellationRequested)
                        {
                            Message = "测试已取消！";
                            break;
                        }
                    }
                    else
                    {
                        //气缸升上去
                        await plc.WriteNodeAsync(manualToWork, true);
                        await Task.Delay(BDelay);
                        await plc.ReadNodeAsync<bool>(inWork);

                        if (_cts.Token.IsCancellationRequested)
                        {
                            Message = "测试已取消！";
                            break;
                        }
                    }
                    if (IsTakePhoto)
                    {
                        //相机拍照并处理
                        (bool isSuccess, double pixelX, double pixelY, double angleU, double transformX, double transformY) = await ExecutePhotoEx(CurrentProgress);

                        CycleTime = DateTime.Now.Subtract(startTime).TotalSeconds;

                        if (isSuccess)
                        {
                            SuccessCount++;
                        }
                        else
                        {
                            FailCount++;
                        }
                        TestResults.Add(new DynamicTestResult(CurrentProgress, isSuccess, PointB, CycleTime, pixelX, pixelY, angleU, transformX, transformY));
                        OnTestResultAdded();

                        CurrentProgress++;
                        SuccessRate = (double)SuccessCount / CurrentProgress * 100;
                    }
                    else
                    {
                        CycleTime = DateTime.Now.Subtract(startTime).TotalSeconds;
                        SuccessCount++;
                        CurrentProgress++;
                        SuccessRate = (double)SuccessCount / CurrentProgress * 100;
                    }
                    if (IsCylCtrl)
                    {
                        await plc.WriteNodeAsync(manualToHome, true);
                        await Task.Delay(ADelay);
                        //inHome 气杆在底部  InWork在上面
                        await plc.ReadNodeAsync<bool>(inHome);
                        if (_cts.Token.IsCancellationRequested)
                        {
                            Message = "测试已取消！";
                            break;
                        }
                    }
                    SendTaskMessage($"测试进行中... {CurrentProgress}/{RepeatCount}");
                }
                if (CurrentProgress >= RepeatCount)
                {
                    Message = "测试完成！";
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("视觉动态重复测试时出错！", ex);
            }
            finally
            {
                IsRunning = false;
            }
        }

        bool CanExecuteStartTestCommand()
        {
            return !IsRunning && SelectProcedure != null && PointA != null && PointB != null;
        }

        /// <summary>
        /// 清除数据
        /// </summary>
        void ExecuteClearDataCommand()
        {
            if (TestResults != null)
            {
                TestResults.Clear();
            }
        }

        /// <summary>
        /// 导出测试报告
        /// 使用 iTextSharp 生成 PDF，包含：标题、测试摘要、数据表格、每列稳定性分析结果
        /// 详细伪代码：
        /// 1. 校验 TestResults 是否存在且有数据，若无则提示并返回。
        /// 2. 弹出保存对话框，获取 PDF 保存路径，若取消则返回。
        /// 3. 使用 iTextSharp 创建 Document 和 PdfWriter，打开文档流。
        /// 4. 尝试从系统字体目录加载中文字体（多候选），若加载失败使用回退字体。
        /// 5. 写入标题（居中大号字体）和测试摘要信息（表格格式：导出时间、目标次数、当前进度、成功/失败次数、成功率）。
        /// 6. 创建一个 PdfPTable，列为固定的测试结果字段（Index, Timestamp, IsPhotoSuccess, PointB.X/Y/Z, CycleTime, PixelX, PixelY, AngleU, TransformX, TransformY）。
        ///    - 写入表头（加粗）
        ///    - 遍历 TestResults，每行按列顺序写入值（数值按 InvariantCulture 格式化，空值写空字符串）
        /// 7. 新页，写入“分析结果”标题。
        /// 8. 对于需要分析的维度（TransformX, TransformY, AngleU）：
        ///    - 从 TestResults 过滤出 IsPhotoSuccess 为 true 的样本并收集对应维度值（double）
        ///    - 若样本数为0，写明无法计算；否则调用 StabilityAnalyzer.AnalyzeStability(values) 获取 StabilityMetrics
        ///    - 将 StabilityMetrics 的公开属性写成两列表（属性名 / 值）写入 PDF
        /// 9. 关闭并释放文档、writer、流，提示导出成功；捕获异常记录日志并提示失败。
        /// 10. 使用 SendTaskMessage 在 UI 上通知结果。
        /// </summary>
        void ExecuteExportReportCommand()
        {
            try
            {
                if (TestResults == null || TestResults.Count == 0)
                {
                    SendTaskMessage("无测试数据，无法导出报告。");
                    return;
                }

                var dlg = new Microsoft.Win32.SaveFileDialog
                {
                    DefaultExt = "pdf",
                    Filter = "PDF 文件 (*.pdf)|*.pdf|所有文件 (*.*)|*.*",
                    FileName = "TestReport.pdf",
                    Title = "保存测试报告为 PDF"
                };

                bool? dlgResult = dlg.ShowDialog();
                if (dlgResult != true)
                    return;

                string path = dlg.FileName;

                // 创建文档（A4, 边距）
                var doc = new iTextSharp.text.Document(iTextSharp.text.PageSize.A4, 36, 36, 54, 54);
                using (var fs = System.IO.File.Create(path))
                {
                    var writer = iTextSharp.text.pdf.PdfWriter.GetInstance(doc, fs);
                    doc.Open();

                    // 字体加载，优先中文系统字体
                    iTextSharp.text.Font titleFont;
                    iTextSharp.text.Font headerFont;
                    iTextSharp.text.Font normalFont;

                    iTextSharp.text.pdf.BaseFont baseFont = null;
                    try
                    {
                        var fontsFolder = Environment.GetFolderPath(Environment.SpecialFolder.Fonts);
                        var candidates = new[]
                        {
                            "msyh.ttf",
                            "msyhbd.ttf",
                            "simsun.ttc,0",
                            "simsun.ttc,1",
                            "Microsoft YaHei.ttf",
                            "msyh.ttc,0",
                            "msyh.ttc,1",
                            "simhei.ttf"
                        };
                        foreach (var f in candidates)
                        {
                            var path1 = Path.Combine(fontsFolder, f);
                            try
                            {
                                baseFont = iTextSharp.text.pdf.BaseFont.CreateFont(
                                    path1,
                                    iTextSharp.text.pdf.BaseFont.IDENTITY_H,
                                    iTextSharp.text.pdf.BaseFont.EMBEDDED
                                );
                                if (baseFont != null)
                                    break;
                            }
                            catch
                            {
                                continue;
                            }
                        }
                    }
                    catch
                    {
                        baseFont = null;
                    }

                    if (baseFont != null)
                    {
                        titleFont = new iTextSharp.text.Font(baseFont, 16, iTextSharp.text.Font.BOLD, iTextSharp.text.BaseColor.BLACK);
                        headerFont = new iTextSharp.text.Font(baseFont, 10, iTextSharp.text.Font.BOLD, iTextSharp.text.BaseColor.BLACK);
                        normalFont = new iTextSharp.text.Font(baseFont, 10, iTextSharp.text.Font.NORMAL, iTextSharp.text.BaseColor.BLACK);
                    }
                    else
                    {
                        titleFont = iTextSharp.text.FontFactory.GetFont(iTextSharp.text.FontFactory.HELVETICA, 16, iTextSharp.text.Font.BOLD, iTextSharp.text.BaseColor.BLACK);
                        headerFont = iTextSharp.text.FontFactory.GetFont(iTextSharp.text.FontFactory.HELVETICA, 10, iTextSharp.text.Font.BOLD, iTextSharp.text.BaseColor.BLACK);
                        normalFont = iTextSharp.text.FontFactory.GetFont(iTextSharp.text.FontFactory.HELVETICA, 10, iTextSharp.text.Font.NORMAL, iTextSharp.text.BaseColor.BLACK);
                    }


                    // 标题
                    var title = new iTextSharp.text.Paragraph("视觉动态精度测试报告", titleFont)
                    {
                        Alignment = iTextSharp.text.Element.ALIGN_CENTER,
                        SpacingAfter = 12f
                    };
                    doc.Add(title);

                    // 测试摘要
                    var metaTable = new iTextSharp.text.pdf.PdfPTable(2) { WidthPercentage = 100f };
                    metaTable.SetWidths(new float[] { 1f, 2f });

                    void AddMeta(string name, string value)
                    {
                        var cellName = new iTextSharp.text.pdf.PdfPCell(new iTextSharp.text.Phrase(name, headerFont)) { Border = 0, PaddingBottom = 6f };
                        var cellVal = new iTextSharp.text.pdf.PdfPCell(new iTextSharp.text.Phrase(value, normalFont)) { Border = 0, PaddingBottom = 6f };
                        metaTable.AddCell(cellName);
                        metaTable.AddCell(cellVal);
                    }

                    // include device info (line, station, fixture id) but exclude MES flags/urls
                    var device = _configService?.GetDeviceInfo();
                    if (device != null)
                    {
                        AddMeta("线别", device.Line ?? string.Empty);
                        AddMeta("站别", device.Station ?? string.Empty);
                        AddMeta("机台号", device.FixtureId ?? string.Empty);
                    }

                    AddMeta("导出时间", DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"));
                    AddMeta("测试次数(目标)", RepeatCount.ToString(System.Globalization.CultureInfo.InvariantCulture));
                    AddMeta("当前进度", $"{CurrentProgress} / {RepeatCount}");
                    AddMeta("成功次数", SuccessCount.ToString(System.Globalization.CultureInfo.InvariantCulture));
                    AddMeta("失败次数", FailCount.ToString(System.Globalization.CultureInfo.InvariantCulture));
                    AddMeta("成功率(%)", SuccessRate.ToString("F2", System.Globalization.CultureInfo.InvariantCulture));
                    doc.Add(metaTable);

                    doc.Add(new iTextSharp.text.Paragraph(" ")); // 空行

                    // 数据表格列定义
                    var headers = new[]
                    {
                        "Index",
                        "Timestamp",
                        "IsPhotoSuccess",
                        "PointB.X",
                        "PointB.Y",
                        "PointB.Z",
                        "CycleTime(s)",
                        "PixelX",
                        "PixelY",
                        "AngleU",
                        "TransformX",
                        "TransformY"
                    };

                    var table = new iTextSharp.text.pdf.PdfPTable(headers.Length) { WidthPercentage = 100f };
                    foreach (var h in headers)
                    {
                        var cell = new iTextSharp.text.pdf.PdfPCell(new iTextSharp.text.Phrase(h, headerFont))
                        {
                            HorizontalAlignment = iTextSharp.text.Element.ALIGN_CENTER,
                            BackgroundColor = new iTextSharp.text.BaseColor(230, 230, 230),
                            Padding = 4f
                        };
                        table.AddCell(cell);
                    }

                    // 写入每一行数据
                    foreach (var r in TestResults)
                    {
                        string sIndex = r.Index.ToString(System.Globalization.CultureInfo.InvariantCulture);
                        string sTime = r.Timestamp.ToString("o", System.Globalization.CultureInfo.InvariantCulture);
                        string sSucc = r.IsPhotoSuccess ? "True" : "False";

                        string sPx = "";
                        string sPy = "";
                        string sPz = "";
                        if (r.PointB != null)
                        {
                            sPx = Convert.ToString(r.PointB.X, System.Globalization.CultureInfo.InvariantCulture);
                            sPy = Convert.ToString(r.PointB.Y, System.Globalization.CultureInfo.InvariantCulture);
                            sPz = Convert.ToString(r.PointB.Z, System.Globalization.CultureInfo.InvariantCulture);
                        }

                        string sCycle = Convert.ToString(r.CycleTime, System.Globalization.CultureInfo.InvariantCulture);
                        string sPixelX = Convert.ToString(r.PixelX, System.Globalization.CultureInfo.InvariantCulture);
                        string sPixelY = Convert.ToString(r.PixelY, System.Globalization.CultureInfo.InvariantCulture);
                        string sAngle = Convert.ToString(r.AngleU, System.Globalization.CultureInfo.InvariantCulture);
                        string sTx = Convert.ToString(r.TransformX, System.Globalization.CultureInfo.InvariantCulture);
                        string sTy = Convert.ToString(r.TransformY, System.Globalization.CultureInfo.InvariantCulture);

                        var rowVals = new[] { sIndex, sTime, sSucc, sPx, sPy, sPz, sCycle, sPixelX, sPixelY, sAngle, sTx, sTy };
                        foreach (var v in rowVals)
                        {
                            var cell = new iTextSharp.text.pdf.PdfPCell(new iTextSharp.text.Phrase(v ?? "", normalFont)) { Padding = 4f };
                            table.AddCell(cell);
                        }
                    }
                    doc.Add(table);

                    // 新页，写入分析结果
                    doc.NewPage();
                    var analysisTitle = new iTextSharp.text.Paragraph("分析结果", titleFont) { SpacingAfter = 8f };
                    doc.Add(analysisTitle);

                    var dims = new[]
                    {
                        new { Name = "TransformX", Values = TestResults.Where(t => t.IsPhotoSuccess).Select(t => t.TransformX).ToArray() },
                        new { Name = "TransformY", Values = TestResults.Where(t => t.IsPhotoSuccess).Select(t => t.TransformY).ToArray() },
                        new { Name = "AngleU",     Values = TestResults.Where(t => t.IsPhotoSuccess).Select(t => t.AngleU).ToArray() }
                    };

                    foreach (var dim in dims)
                    {
                        try
                        {
                            var header = new iTextSharp.text.Paragraph(dim.Name, headerFont) { SpacingBefore = 6f, SpacingAfter = 4f };
                            doc.Add(header);

                            if (dim.Values == null || dim.Values.Length == 0)
                            {
                                doc.Add(new iTextSharp.text.Paragraph("样本数为 0，无法计算。", normalFont));
                                continue;
                            }

                            StabilityMetrics metrics = StabilityAnalyzer.AnalyzeStability(dim.Values);

                            var metricsTable = new iTextSharp.text.pdf.PdfPTable(2) { WidthPercentage = 60f, SpacingAfter = 6f };
                            metricsTable.SetWidths(new float[] { 1f, 1f });

                            var props = metrics.GetType().GetProperties(System.Reflection.BindingFlags.Public | System.Reflection.BindingFlags.Instance);
                            foreach (var p in props)
                            {
                                object pv = p.GetValue(metrics);
                                string pvStr;
                                if (pv == null) pvStr = "";
                                else if (pv is double) pvStr = ((double)pv).ToString("G", System.Globalization.CultureInfo.InvariantCulture);
                                else pvStr = pv.ToString();

                                var pc = new iTextSharp.text.pdf.PdfPCell(new iTextSharp.text.Phrase(p.Name, normalFont)) { Padding = 4f };
                                var vc = new iTextSharp.text.pdf.PdfPCell(new iTextSharp.text.Phrase(pvStr, normalFont)) { Padding = 4f };
                                metricsTable.AddCell(pc);
                                metricsTable.AddCell(vc);
                            }
                            doc.Add(metricsTable);
                        }
                        catch (Exception exCol)
                        {
                            LogHelper.WriteLogError($"导出报告时处理维度[{dim.Name}]出错", exCol);
                            doc.Add(new iTextSharp.text.Paragraph($"处理维度 {dim.Name} 时出错: {exCol.Message}", normalFont));
                        }
                    }

                    doc.Close();
                    writer.Close();
                }

                SendTaskMessage($"已导出测试报告到：{path}");
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("导出测试报告时出错", ex);
                SendTaskMessage($"导出测试报告失败：{ex.Message}");
            }
        }

        /// <summary>
        /// 导出测试数据为CSV文件
        /// </summary>
        void ExecuteExportCSVCommand()
        {
            try
            {
                if (TestResults == null || TestResults.Count == 0)
                {
                    SendTaskMessage("无测试数据，无法导出。");
                    return;
                }

                var dlg = new Microsoft.Win32.SaveFileDialog
                {
                    DefaultExt = "csv",
                    Filter = "CSV 文件 (*.csv)|*.csv|所有文件 (*.*)|*.*",
                    FileName = "TestResults.csv",
                    Title = "保存测试结果为 CSV"
                };

                bool? dlgResult = dlg.ShowDialog();
                if (dlgResult != true)
                    return;

                string path = dlg.FileName;
                var sb = new System.Text.StringBuilder();

                // 辅助：CSV 字段转义
                Func<string, string> EscapeCsv = (s) =>
                {
                    if (s == null) return "";
                    bool mustQuote = s.Contains(",") || s.Contains("\"") || s.Contains("\r") || s.Contains("\n");
                    string esc = s.Replace("\"", "\"\"");
                    return mustQuote ? $"\"{esc}\"" : esc;
                };
                // include device info at top of CSV
                var device = _configService?.GetDeviceInfo() ?? _configService?.GetDeviceInfo();
                if (device != null)
                {
                    sb.AppendLine("设备信息");
                    sb.AppendLine($"线别,{EscapeCsv(device.Line)}");
                    sb.AppendLine($"站别,{EscapeCsv(device.Station)}");
                    sb.AppendLine($"机台号,{EscapeCsv(device.FixtureId)}");
                    sb.AppendLine();
                }

                // 写入表头
                var headers = new[]
                {
                    "Index",
                    "Timestamp",
                    "IsPhotoSuccess",
                    "PointB.X",
                    "PointB.Y",
                    "PointB.Z",
                    "CycleTime",
                    "PixelX",
                    "PixelY",
                    "AngleU",
                    "TransformX",
                    "TransformY"
                };
                sb.AppendLine(string.Join(",", headers.Select(h => EscapeCsv(h))));

                // 写入数据行
                foreach (var r in TestResults)
                {
                    var cols = new List<string>();

                    cols.Add(EscapeCsv(r.Index.ToString()));
                    cols.Add(EscapeCsv(r.Timestamp.ToString("o"))); // ISO 8601 格式
                    cols.Add(EscapeCsv(r.IsPhotoSuccess ? "True" : "False"));

                    if (r.PointB != null)
                    {
                        // 假设 RPoint 有 X,Y,Z 属性（若命名不同需调整）
                        cols.Add(EscapeCsv(Convert.ToString(r.PointB.X, System.Globalization.CultureInfo.InvariantCulture)));
                        cols.Add(EscapeCsv(Convert.ToString(r.PointB.Y, System.Globalization.CultureInfo.InvariantCulture)));
                        cols.Add(EscapeCsv(Convert.ToString(r.PointB.Z, System.Globalization.CultureInfo.InvariantCulture)));
                    }
                    else
                    {
                        cols.Add("");
                        cols.Add("");
                        cols.Add("");
                    }

                    cols.Add(EscapeCsv(Convert.ToString(r.CycleTime, System.Globalization.CultureInfo.InvariantCulture)));
                    cols.Add(EscapeCsv(Convert.ToString(r.PixelX, System.Globalization.CultureInfo.InvariantCulture)));
                    cols.Add(EscapeCsv(Convert.ToString(r.PixelY, System.Globalization.CultureInfo.InvariantCulture)));
                    cols.Add(EscapeCsv(Convert.ToString(r.AngleU, System.Globalization.CultureInfo.InvariantCulture)));
                    cols.Add(EscapeCsv(Convert.ToString(r.TransformX, System.Globalization.CultureInfo.InvariantCulture)));
                    cols.Add(EscapeCsv(Convert.ToString(r.TransformY, System.Globalization.CultureInfo.InvariantCulture)));

                    sb.AppendLine(string.Join(",", cols));
                }

                // 在末尾追加分析结果
                sb.AppendLine();
                sb.AppendLine("分析结果");
                sb.AppendLine("维度,指标,值");

                // 要分析的维度：TransformX, TransformY, AngleU
                var dims = new[]
                {
                    new { Name = "TransformX", Values = TestResults.Where(t => t.IsPhotoSuccess).Select(t => t.TransformX).ToArray() },
                    new { Name = "TransformY", Values = TestResults.Where(t => t.IsPhotoSuccess).Select(t => t.TransformY).ToArray() },
                    new { Name = "AngleU",    Values = TestResults.Where(t => t.IsPhotoSuccess).Select(t => t.AngleU).ToArray() }
                };

                foreach (var dim in dims)
                {
                    try
                    {
                        if (dim.Values == null || dim.Values.Length == 0)
                        {
                            sb.AppendLine($"{EscapeCsv(dim.Name)},{EscapeCsv("样本数")},{EscapeCsv("0")}");
                            continue;
                        }

                        // 调用稳定性分析
                        StabilityMetrics metrics = StabilityAnalyzer.AnalyzeStability(dim.Values);

                        // 反射写入公开属性
                        var props = metrics.GetType().GetProperties(System.Reflection.BindingFlags.Public | System.Reflection.BindingFlags.Instance);
                        foreach (var p in props)
                        {
                            object pv = p.GetValue(metrics);
                            string pvStr;
                            if (pv == null) pvStr = "";
                            else if (pv is double) pvStr = Convert.ToString((double)pv, System.Globalization.CultureInfo.InvariantCulture);
                            else pvStr = pv.ToString();

                            sb.AppendLine($"{EscapeCsv(dim.Name)},{EscapeCsv(p.Name)},{EscapeCsv(pvStr)}");
                        }
                    }
                    catch (Exception exCol)
                    {
                        LogHelper.WriteLogError($"导出分析结果时处理维度[{dim.Name}]出错", exCol);
                        sb.AppendLine($"{EscapeCsv(dim.Name)},{EscapeCsv("Error")},{EscapeCsv(exCol.Message)}");
                    }
                }

                // 写入文件（UTF8，无 BOM）
                System.IO.File.WriteAllText(path, sb.ToString(), System.Text.Encoding.UTF8);

                SendTaskMessage($"已导出测试结果到：{path}");
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("导出CSV时出错", ex);
                SendTaskMessage($"导出CSV失败：{ex.Message}");
            }
        }

        /// <summary>
        /// 选中视觉流程改变时
        /// </summary>
        void ExecuteProcedureSelectionChangedCommand()
        {
            if (SelectProcedure == null)
            {
                return;
            }

            //获取相机
            Camera = _cameraService.GetCamera(SelectProcedure.CameraId);
            VisionTool = SelectProcedure.ToolBlock;
        }

        /// <summary>
        /// 示教点B
        /// </summary>
        void ExecuteTeachPointBCommand()
        {
            if (Robot == null || !Robot.IsConnected)
            {
                SendTaskMessage("机器人未连接，无法示教！");
                return;
            }

            try
            {
                var position = Robot.GetRobotPos();
                if (position != null)
                {
                    PointB = position.Clone();
                    SendTaskMessage($"已示教点B：X={PointB.X:F2} Y={PointB.Y:F2} Z={PointB.Z:F2}");
                }
                else
                {
                    SendTaskMessage("获取机器人当前位置失败，无法示教点B！");
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("示教点B时出错！", ex);
                SendTaskMessage($"示教点B时出错：{ex.Message}");
            }
        }

        /// <summary>
        /// 示教点A
        /// </summary>
        void ExecuteTeachPointACommand()
        {
            if (Robot == null || !Robot.IsConnected)
            {
                SendTaskMessage("机器人未连接，无法示教！");
                return;
            }

            try
            {
                var position = Robot.GetRobotPos();
                if (position != null)
                {
                    PointA = position.Clone();
                    SendTaskMessage($"已示教点A：X={PointA.X:F2} Y={PointA.Y:F2} Z={PointA.Z:F2}");
                }
                else
                {
                    SendTaskMessage("获取机器人当前位置失败，无法示教点A！");
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("示教点A时出错！", ex);
                SendTaskMessage($"示教点A时出错：{ex.Message}");
            }
        }

        /// <summary>
        /// 显示趋势图
        /// </summary>
        void ExecuteShowTrendChartCommand()
        {

        }

        /// <summary>
        /// 执行相机拍照并运行 ToolBlock,返回是否成功并通过 out 参数返回 Outputs、图像和图形集合。
        /// </summary>
        /// <param name="index"></param>
        /// <returns></returns>
        public Task<(bool isSuccess, double pixelX, double pixelY, double angleU, double transformX, double transformY)> ExecutePhotoEx(int index)
        {
            return Task.Run(() =>
            {
                CogToolBlockTerminalCollection outputCollection;
                List<object> result = new List<object>();
                result.Add(index);
                try
                {
                    // 1. 采集图像
                    bool succed = Camera.SetExposureTime(SelectProcedure.ExposureTime);
                    if (!succed)
                    {
                        SendTaskMessage("相机曝光设置失败");
                    }
                    succed = Camera.SetGain(SelectProcedure.Gain);
                    if (!succed)
                    {
                        SendTaskMessage("相机增益设置失败");
                    }
                    DateTime nowtime = DateTime.Now;
                    LogHelper.WriteLogInfo("开始采集图像");
                    var image = Camera.Grab();
                    if (image == null)
                    {

                        SendTaskMessage(Lang.图像采集失败);
                        outputCollection = null;
                        return (false, 0d, 0d, 0d, 0d, 0d);
                    }
                    //Image = image;
                    VisionTool.Inputs["InputImage"].Value = image;
                    //LogHelper.WriteLogInfo(string.Format(Lang.采集图像完成用时0ms, (DateTime.Now - nowtime).Milliseconds));

                    // 2. 为ToolBlock传入其他输入终端
                    //if (InputTerminal != null)
                    //{
                    //    LogHelper.WriteLogInfo(Lang.为ToolBlock传入输入终端);
                    //    foreach (var item in InputTerminal)
                    //    {
                    //        if (VisionTool.Inputs.Contains(item.Key))
                    //        {
                    //            LogHelper.WriteLogInfo($"传入[{item.Key}]={item.Value}");
                    //            VisionTool.Inputs[item.Key].Value = item.Value;
                    //        }
                    //        else
                    //        {
                    //            LogHelper.WriteLogInfo($"创建并传入[{item.Key}]={item.Value}");
                    //            VisionTool.Inputs.Add(new CogToolBlockTerminal(item.Key, item.Value));
                    //        }
                    //    }
                    //}
                    Image = VisionTool.Inputs["InputImage"].Value as ICogImage;
                    // 3. 运行视觉工具
                    LogHelper.WriteLogInfo("开始运行视觉工具");
                    VisionTool.Run();      //运行ToolBlock

                    if (VisionTool.RunStatus.Result == CogToolResultConstants.Accept)
                    {
                        SendTaskMessage(Lang.视觉流程执行耗时.Replace("{0}", SelectProcedure.Name).Replace("{1}", $"{VisionTool.RunStatus.ProcessingTime:F1}"));
                        outputCollection = VisionTool.Outputs;     //获取输出终端集合
                        Graphic = outputCollection["Graphic"].Value as CogGraphicCollection;
                        if (!outputCollection.Contains("Found"))
                        {
                            SendTaskMessage(Lang.未找到视觉输出结果);
                            return (false, 0d, 0d, 0d, 0d, 0d);
                        }

                        // 2. 获取视觉输出结果
                        bool Found = (bool)(outputCollection["Found"].Value);
                        if (!Found)
                        {
                            SendTaskMessage(Lang.拍照NG);
                            return (false, 0d, 0d, 0d, 0d, 0d);
                        }

                        //SendTaskMessage(Lang.拍照OK, MessageLevel.Debug);

                        // 3. 获取视觉输出结果

                        string points = (string)(outputCollection["Point"].Value);
                        string[] strpoints = points.Split(';');
                        //先将pos按照逗号进行分隔，拿到数组
                        var posParts = strpoints[0].Split(',');
                        double _pixel_x = double.Parse(posParts[0]);
                        double _pixel_y = double.Parse(posParts[1]);
                        double _pixel_u = double.Parse(posParts[2]);

                        //获取相机校准
                        var calib = _calibrationService.GetCalibration(SelectProcedure.CalibrationId);
                        if (calib == null)
                        {
                            return (true, _pixel_x, _pixel_y, _pixel_u, 0, 0); ;
                        }

                        //获取机器人当前坐标系
                        RPoint rPoint = Robot.GetRobotPos();
                        double[] point = new double[3];
                        point[0] = rPoint.X;
                        point[1] = rPoint.Y;
                        point[2] = rPoint.U;
                        if (calib.CameraMount == CameraMount.FixedUp || calib.CameraMount == CameraMount.FixedDown)
                        {
                            point = null;
                        }

                        //转换点位-像素转换成机器人绝对坐标
                        var calibResult = _calibrationService.ConvertPixelToPosition((_pixel_x, _pixel_y, _pixel_u), point, calib, RobotBrand.XYZ_Platform);
                        if (!calibResult.IsSucceed)
                        {
                            return (false, _pixel_x, _pixel_y, _pixel_u, 0d, 0d);
                        }
                        return (true, _pixel_x, _pixel_y, _pixel_u, calibResult.X, calibResult.Y); ;
                    }
                    else
                    {
                        SendTaskMessage(Lang.视觉流程执行出错耗时.Replace("{0}", SelectProcedure.Name).Replace("{1}", $"{VisionTool.RunStatus.ProcessingTime:F1}"));
                        SendTaskMessage(VisionTool.RunStatus.Message);
                        outputCollection = null;
                        Graphic = outputCollection["Graphic"].Value as CogGraphicCollection;
                        return (false, 0d, 0d, 0d, 0d, 0d);
                    }
                }
                catch (Exception ex)
                {
                    SendTaskMessage(ex.Message);
                    LogHelper.WriteLogError("执行相机取图并执行视觉工具组时出错", ex);
                    outputCollection = null;
                    return (false, 0d, 0d, 0d, 0d, 0d);
                }
            });
        }

        public void SendTaskMessage(string msg)
        {
            App.Current.Dispatcher.Invoke(() =>
            {
                MessageQueue.Clear();
                MessageQueue.Enqueue(msg);
            });
        }

        // 规格限制（根据实际情况设置）
        private double _xLSL = -0.02;  // X下规格限
        private double _xUSL = 0.02;   // X上规格限
        private double _yLSL = -0.02;  // Y下规格限
        private double _yUSL = 0.02;   // Y上规格限
        private double _angleLSL = -1.0;  // 角度下规格限
        private double _angleUSL = 1.0;   // 角度上规格限

        /// <summary>
        /// 计算所有精度指标
        /// </summary>
        public void CalculatePrecisionMetrics()
        {
            if (TestResults == null || TestResults.Count < 2)
                return;

            // 过滤成功的测试结果
            var successResults = TestResults.Where(r => r.IsPhotoSuccess).ToList();
            if (successResults.Count < 2)
                return;

            // 提取数据
            var transformXs = successResults.Select(r => r.TransformX).ToList();
            var transformYs = successResults.Select(r => r.TransformY).ToList();
            var angleUs = successResults.Select(r => r.AngleU).ToList();

            // 计算X方向指标
            var xMetrics = CalculateMetrics(transformXs, _xLSL, _xUSL);
            PrecisionResult.XMean = xMetrics.Mean;
            PrecisionResult.XPrecision = xMetrics.StdDeviation;
            PrecisionResult.XThreeSigmaRange = xMetrics.ThreeSigmaRange;
            PrecisionResult.XRange = xMetrics.Range;
            PrecisionResult.XKurtosis = xMetrics.Kurtosis;
            PrecisionResult.XCpk = xMetrics.Cpk;

            // 计算Y方向指标
            var yMetrics = CalculateMetrics(transformYs, _yLSL, _yUSL);
            PrecisionResult.YMean = yMetrics.Mean;
            PrecisionResult.YPrecision = yMetrics.StdDeviation;
            PrecisionResult.YThreeSigmaRange = yMetrics.ThreeSigmaRange;
            PrecisionResult.YRange = yMetrics.Range;
            PrecisionResult.YKurtosis = yMetrics.Kurtosis;
            PrecisionResult.YCpk = yMetrics.Cpk;

            // 计算角度指标
            var angleMetrics = CalculateMetrics(angleUs, _angleLSL, _angleUSL);
            PrecisionResult.AngleMean = angleMetrics.Mean;
            PrecisionResult.AnglePrecision = angleMetrics.StdDeviation;
            PrecisionResult.AngleThreeSigmaRange = angleMetrics.ThreeSigmaRange;
            PrecisionResult.AngleRange = angleMetrics.Range;
            PrecisionResult.AngleCpk = angleMetrics.Cpk;

            // 计算综合精度
            PrecisionResult.OverallPrecision = Math.Sqrt(
                Math.Pow(PrecisionResult.XPrecision, 2) +
                Math.Pow(PrecisionResult.YPrecision, 2));
            PrecisionResult.OverallThreeSigmaRange = PrecisionResult.OverallPrecision * 3;

            // 使用最差的CPK作为整体评级
            var minCpk = Math.Min(Math.Min(PrecisionResult.XCpk, PrecisionResult.YCpk), PrecisionResult.AngleCpk);
            PrecisionResult.ProcessRating = PrecisionResult.GetCpkRating(minCpk);
        }

        /// <summary>
        /// 计算单个维度的所有指标
        /// </summary>
        private DimensionMetrics CalculateMetrics(List<double> values, double lsl, double usl)
        {
            if (values == null || values.Count < 2)
                return new DimensionMetrics();

            var metrics = new DimensionMetrics
            {
                Mean = values.Average(),
                StdDeviation = CalculateStandardDeviation(values),
                Range = values.Max() - values.Min(),
                Kurtosis = CalculateKurtosis(values)
            };

            metrics.ThreeSigmaRange = metrics.StdDeviation * 3;
            metrics.Cpk = CalculateCpk(values, lsl, usl);

            return metrics;
        }

        /// <summary>
        /// 计算标准差
        /// </summary>
        private double CalculateStandardDeviation(List<double> values)
        {
            if (values.Count < 2)
                return 0;

            var mean = values.Average();
            var sumSq = values.Sum(v => Math.Pow(v - mean, 2));
            return Math.Sqrt(sumSq / (values.Count - 1));
        }

        /// <summary>
        /// 计算峰度
        /// </summary>
        private double CalculateKurtosis(List<double> values)
        {
            if (values.Count < 4)
                return 0;

            var mean = values.Average();
            var n = values.Count;
            var sum4 = values.Sum(v => Math.Pow(v - mean, 4));
            var sum2 = values.Sum(v => Math.Pow(v - mean, 2));

            if (sum2 == 0)
                return 0;

            return (n * sum4) / Math.Pow(sum2, 2) - 3;
        }

        /// <summary>
        /// 计算CPK
        /// </summary>
        private double CalculateCpk(List<double> values, double lsl, double usl)
        {
            if (values.Count < 2 || usl <= lsl)
                return 0;

            var stdDev = CalculateStandardDeviation(values);
            if (stdDev == 0)
                return double.MaxValue;

            var mean = values.Average();
            var cpu = (usl - mean) / (3 * stdDev);
            var cpl = (mean - lsl) / (3 * stdDev);

            return Math.Min(cpu, cpl);
        }

        /// <summary>
        /// 单个维度的指标
        /// </summary>
        private class DimensionMetrics
        {
            public double Mean { get; set; }
            public double StdDeviation { get; set; }
            public double ThreeSigmaRange { get; set; }
            public double Range { get; set; }
            public double Kurtosis { get; set; }
            public double Cpk { get; set; }
        }

        /// <summary>
        /// 在添加测试结果后自动更新精度分析
        /// </summary>
        private void OnTestResultAdded()
        {
            CalculatePrecisionMetrics();
            RaisePropertyChanged(nameof(PrecisionResult));
        }

        /// <summary>
        /// 设置规格限制
        /// </summary>
        public void SetSpecificationLimits(double xLSL, double xUSL, double yLSL, double yUSL, double angleLSL, double angleUSL)
        {
            _xLSL = xLSL;
            _xUSL = xUSL;
            _yLSL = yLSL;
            _yUSL = yUSL;
            _angleLSL = angleLSL;
            _angleUSL = angleUSL;

            // 重新计算精度指标
            CalculatePrecisionMetrics();
        }

        /// <summary>
        /// 基于3σ自动设置规格限制
        /// </summary>
        public void AutoSetSpecificationLimits()
        {
            if (TestResults == null || TestResults.Count < 2)
                return;

            var successResults = TestResults.Where(r => r.IsPhotoSuccess).ToList();
            if (successResults.Count < 2)
                return;

            var transformXs = successResults.Select(r => r.TransformX).ToList();
            var transformYs = successResults.Select(r => r.TransformY).ToList();
            var angleUs = successResults.Select(r => r.AngleU).ToList();

            var xStd = CalculateStandardDeviation(transformXs);
            var yStd = CalculateStandardDeviation(transformYs);
            var angleStd = CalculateStandardDeviation(angleUs);

            var xMean = transformXs.Average();
            var yMean = transformYs.Average();
            var angleMean = angleUs.Average();

            // 使用平均值±3σ作为自动规格限
            SetSpecificationLimits(
                xLSL: xMean - 3 * xStd,
                xUSL: xMean + 3 * xStd,
                yLSL: yMean - 3 * yStd,
                yUSL: yMean + 3 * yStd,
                angleLSL: angleMean - 3 * angleStd,
                angleUSL: angleMean + 3 * angleStd
            );
        }

        #endregion

        #region 继承
        public string Title { get; set; } = "视觉静态精度分析仪";

        public event Action<IDialogResult> RequestClose;

        public bool CanCloseDialog()
        {
            return true;
        }

        public void OnDialogClosed()
        {
            _cts?.Cancel();
            SaveConfig();
        }

        public void OnDialogOpened(IDialogParameters parameters)
        {
            SelectProduct = parameters.GetValue<ProductModel>("SelectProduct");
            Robot = parameters.GetValue<IRobot>("Robot");
            ProcedureModels = new ObservableCollection<ProcedureModel>();
            foreach (var item in SelectProduct.CameraProcedures)
            {
                foreach (var item1 in item.ProcedureModels)
                {
                    ProcedureModels.Add(item1);
                }
            }
            LoadConfig();
        }
        #endregion

        /// <summary>
        /// 加载配置
        /// </summary>
        private void LoadConfig()
        {
            //配置文件路径:FilePath.ProductsPath//productName//VisionDynamicAccuracyAnalyzerConfig.json
            string configPath = Path.Combine(FilePath.ProductsPath, SelectProduct.Name, "VisionDynamicAccuracyAnalyzerConfig.json");
            if (File.Exists(configPath))
            {
                try
                {
                    string json = File.ReadAllText(configPath);
                    var ConfigModel = JsonConvert.DeserializeObject<VisionDynamicAccuracyAnalyzerConfigModel>(json);
                    //加载点位界面参数
                    this.PointA = ConfigModel.PointA;
                    this.PointB = ConfigModel.PointB;
                    this.MoveSpeed = ConfigModel.RobotMoveSpeed;
                    this.RepeatCount = ConfigModel.TestCount;
                    this.ADelay = ConfigModel.ADelay;
                    this.BDelay = ConfigModel.BDelay;
                    this.IsCylCtrl = ConfigModel.IsCylCtrl;
                    this.IsTakePhoto = ConfigModel.IsTakePhoto;
                    this.IsVertical = ConfigModel.IsVertical;
                    this.Distance = ConfigModel.Distance;

                    //加载选中视觉流程
                    var procedure = ProcedureModels.FirstOrDefault(p => p.Id == ConfigModel.SelectProcedureId);
                    if (procedure != null)
                    {
                        this.SelectProcedure = procedure;
                        this.Camera = _cameraService.GetCamera(SelectProcedure.CameraId);
                    }

                }
                catch (Exception ex)
                {
                    LogHelper.WriteLogError("加载视觉动态精度分析仪配置时出错", ex);
                }
            }
        }

        /// <summary>
        /// 保存配置
        /// </summary>
        private void SaveConfig()
        {
            try
            {
                //配置文件路径:FilePath.ProductsPath//productName//VisionDynamicAccuracyAnalyzerConfig.json
                string configPath = Path.Combine(FilePath.ProductsPath, SelectProduct.Name, "VisionDynamicAccuracyAnalyzerConfig.json");
                var ConfigModel = new VisionDynamicAccuracyAnalyzerConfigModel
                {
                    PointA = this.PointA,
                    PointB = this.PointB,
                    SelectProcedureId = this.SelectProcedure?.Id ?? Guid.Empty,
                    SelectProcedureName = this.SelectProcedure?.Name ?? "",
                    RobotMoveSpeed = this.MoveSpeed,
                    TestCount = this.RepeatCount,
                    ADelay = this.ADelay,
                    BDelay = this.BDelay,
                    IsCylCtrl = this.IsCylCtrl,
                    IsTakePhoto = this.IsTakePhoto,
                    IsVertical = this.IsVertical,
                    Distance = this.Distance,
                };
                //如果配置文件夹不存在则创建
                var configDir = Path.GetDirectoryName(configPath);
                if (!Directory.Exists(configDir))
                {
                    Directory.CreateDirectory(configDir);
                }

                string json = JsonConvert.SerializeObject(ConfigModel, Formatting.Indented);
                File.WriteAllText(configPath, json);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("保存视觉动态精度分析仪配置时出错", ex);
            }
        }

        //配置参数模型
        public class VisionDynamicAccuracyAnalyzerConfigModel : BindableBase
        {
            private int _RobotMoveSpeed = 100;
            /// <summary>
            /// 机器人移动速度
            /// </summary>
            public int RobotMoveSpeed
            {
                get { return _RobotMoveSpeed; }
                set { SetProperty(ref _RobotMoveSpeed, value); }
            }
            private int _TestCount = 10;
            /// <summary>
            /// 测试次数
            /// </summary>
            public int TestCount
            {
                get { return _TestCount; }
                set { SetProperty(ref _TestCount, value); }
            }

            //点位A
            private RPoint _PointA;
            /// <summary>
            /// 点位A
            /// </summary>
            public RPoint PointA
            {
                get { return _PointA; }
                set { SetProperty(ref _PointA, value); }
            }

            //点位B
            private RPoint _PointB;
            /// <summary>
            /// 点位B
            /// </summary>
            public RPoint PointB
            {
                get { return _PointB; }
                set { SetProperty(ref _PointB, value); }
            }

            private Guid _SelectProcedureId;
            /// <summary>
            /// 选中的视觉流程ID
            /// </summary>
            public Guid SelectProcedureId
            {
                get { return _SelectProcedureId; }
                set { SetProperty(ref _SelectProcedureId, value); }
            }

            private string _SelectProcedureName;
            /// <summary>
            /// 选中的视觉流程Name
            /// </summary>
            public string SelectProcedureName
            {
                get { return _SelectProcedureName; }
                set { SetProperty(ref _SelectProcedureName, value); }
            }

            private int _ADelay;

            public int ADelay
            {
                get { return _ADelay; }
                set { _ADelay = value; }
            }

            private int _BDelay;

            public int BDelay
            {
                get { return _BDelay; }
                set { _BDelay = value; }
            }

            private bool _IsCylCtrl;

            public bool IsCylCtrl
            {
                get { return _IsCylCtrl; }
                set { _IsCylCtrl = value; }
            }

            private bool _IsTakePhoto;

            public bool IsTakePhoto
            {
                get { return _IsTakePhoto; }
                set { _IsTakePhoto = value; }
            }

            private bool _IsVertical = true;
            /// <summary>
            /// 是否启用垂直精度检测
            /// </summary>
            public bool IsVertical
            {
                get { return _IsVertical; }
                set { SetProperty(ref _IsVertical, value); }
            }

            private float _Distance;

            public float Distance
            {
                get { return _Distance; }
                set { SetProperty(ref _Distance, value); }
            }



        }

    }

    public class DynamicTestResult : BindableBase
    {
        private int _Index;
        /// <summary>
        /// 序号
        /// </summary>
        public int Index
        {
            get { return _Index; }
            set { SetProperty(ref _Index, value); }
        }

        private DateTime _Timestamp;
        /// <summary>
        /// 时间戳
        /// </summary>
        public DateTime Timestamp
        {
            get { return _Timestamp; }
            set { SetProperty(ref _Timestamp, value); }
        }

        private bool _isPhotoSuccess;
        /// <summary>
        /// 拍照结果
        /// </summary>
        public bool IsPhotoSuccess
        {
            get { return _isPhotoSuccess; }
            set { SetProperty(ref _isPhotoSuccess, value); }
        }

        private RPoint _PointB;
        /// <summary>
        /// 机器人拍照的坐标
        /// </summary>
        public RPoint PointB
        {
            get { return _PointB; }
            set { SetProperty(ref _PointB, value); }
        }

        private double _CycleTime;
        /// <summary>
        /// 单次节拍
        /// </summary>
        public double CycleTime
        {
            get { return _CycleTime; }
            set { SetProperty(ref _CycleTime, value); }
        }

        private double _PixelX;
        /// <summary>
        /// 像素X
        /// </summary>
        public double PixelX
        {
            get { return _PixelX; }
            set { SetProperty(ref _PixelX, value); }
        }

        private double _PixelY;
        /// <summary>
        /// 像素Y
        /// </summary>
        public double PixelY
        {
            get { return _PixelY; }
            set { SetProperty(ref _PixelY, value); }
        }

        private double _AngleU;
        /// <summary>
        /// 像素U
        /// </summary>
        public double AngleU
        {
            get { return _AngleU; }
            set { SetProperty(ref _AngleU, value); }
        }

        private double _TransformX;
        /// <summary>
        /// 转换后的机器人坐标X
        /// </summary>
        public double TransformX
        {
            get { return _TransformX; }
            set { SetProperty(ref _TransformX, value); }
        }

        private double _TransformY;
        /// <summary>
        /// 转换后的机器人坐标Y
        /// </summary>
        public double TransformY
        {
            get { return _TransformY; }
            set { SetProperty(ref _TransformY, value); }
        }

        public DynamicTestResult()
        { }

        public DynamicTestResult(int index, bool isPhotoSuccess, RPoint pointB, double cycleTime, double pixelX, double pixelY, double angleU, double transformX, double transformY)
        {
            Index = index;
            Timestamp = DateTime.Now;
            IsPhotoSuccess = isPhotoSuccess;
            PointB = pointB;
            CycleTime = cycleTime;
            PixelX = pixelX;
            PixelY = pixelY;
            AngleU = angleU;
            TransformX = transformX;
            TransformY = transformY;
        }

    }

    /// <summary>
    /// 精度分析结果
    /// </summary>
    public class PrecisionAnalysisResult : BindableBase
    {
        private double _xPrecision;
        /// <summary>
        /// X方向精度（标准差）
        /// </summary>
        public double XPrecision
        {
            get { return _xPrecision; }
            set { SetProperty(ref _xPrecision, value); }
        }

        private double _yPrecision;
        /// <summary>
        /// Y方向精度（标准差）
        /// </summary>
        public double YPrecision
        {
            get { return _yPrecision; }
            set { SetProperty(ref _yPrecision, value); }
        }

        private double _anglePrecision;
        /// <summary>
        /// 角度精度（标准差）
        /// </summary>
        public double AnglePrecision
        {
            get { return _anglePrecision; }
            set { SetProperty(ref _anglePrecision, value); }
        }

        private double _xThreeSigmaRange;
        /// <summary>
        /// X方向3σ范围
        /// </summary>
        public double XThreeSigmaRange
        {
            get { return _xThreeSigmaRange; }
            set { SetProperty(ref _xThreeSigmaRange, value); }
        }

        private double _yThreeSigmaRange;
        /// <summary>
        /// Y方向3σ范围
        /// </summary>
        public double YThreeSigmaRange
        {
            get { return _yThreeSigmaRange; }
            set { SetProperty(ref _yThreeSigmaRange, value); }
        }

        private double _angleThreeSigmaRange;
        /// <summary>
        /// 角度3σ范围
        /// </summary>
        public double AngleThreeSigmaRange
        {
            get { return _angleThreeSigmaRange; }
            set { SetProperty(ref _angleThreeSigmaRange, value); }
        }

        private double _xMean;
        /// <summary>
        /// X方向平均值
        /// </summary>
        public double XMean
        {
            get { return _xMean; }
            set { SetProperty(ref _xMean, value); }
        }

        private double _yMean;
        /// <summary>
        /// Y方向平均值
        /// </summary>
        public double YMean
        {
            get { return _yMean; }
            set { SetProperty(ref _yMean, value); }
        }

        private double _angleMean;
        /// <summary>
        /// 角度平均值
        /// </summary>
        public double AngleMean
        {
            get { return _angleMean; }
            set { SetProperty(ref _angleMean, value); }
        }

        private double _xRange;
        /// <summary>
        /// X方向极差
        /// </summary>
        public double XRange
        {
            get { return _xRange; }
            set { SetProperty(ref _xRange, value); }
        }

        private double _yRange;
        /// <summary>
        /// Y方向极差
        /// </summary>
        public double YRange
        {
            get { return _yRange; }
            set { SetProperty(ref _yRange, value); }
        }

        private double _angleRange;
        /// <summary>
        /// 角度极差
        /// </summary>
        public double AngleRange
        {
            get { return _angleRange; }
            set { SetProperty(ref _angleRange, value); }
        }

        private double _xKurtosis;
        /// <summary>
        /// X方向峰度
        /// </summary>
        public double XKurtosis
        {
            get { return _xKurtosis; }
            set { SetProperty(ref _xKurtosis, value); }
        }

        private double _yKurtosis;
        /// <summary>
        /// Y方向峰度
        /// </summary>
        public double YKurtosis
        {
            get { return _yKurtosis; }
            set { SetProperty(ref _yKurtosis, value); }
        }

        private double _xCpk;
        /// <summary>
        /// X方向CPK
        /// </summary>
        public double XCpk
        {
            get { return _xCpk; }
            set { SetProperty(ref _xCpk, value); }
        }

        private double _yCpk;
        /// <summary>
        /// Y方向CPK
        /// </summary>
        public double YCpk
        {
            get { return _yCpk; }
            set { SetProperty(ref _yCpk, value); }
        }

        private double _angleCpk;
        /// <summary>
        /// 角度CPK
        /// </summary>
        public double AngleCpk
        {
            get { return _angleCpk; }
            set { SetProperty(ref _angleCpk, value); }
        }

        private double _overallPrecision;
        /// <summary>
        /// 综合精度（XY合成标准差）
        /// </summary>
        public double OverallPrecision
        {
            get { return _overallPrecision; }
            set { SetProperty(ref _overallPrecision, value); }
        }

        private double _overallThreeSigmaRange;
        /// <summary>
        /// 综合3σ范围
        /// </summary>
        public double OverallThreeSigmaRange
        {
            get { return _overallThreeSigmaRange; }
            set { SetProperty(ref _overallThreeSigmaRange, value); }
        }

        private string _processRating;
        /// <summary>
        /// 过程能力评级
        /// </summary>
        public string ProcessRating
        {
            get { return _processRating; }
            set { SetProperty(ref _processRating, value); }
        }

        /// <summary>
        /// 获取CPK评级描述
        /// </summary>
        public string GetCpkRating(double cpk)
        {
            if (cpk >= 1.67)
                return "卓越";
            else if (cpk >= 1.33)
                return "良好";
            else if (cpk >= 1.00)
                return "可接受";
            else if (cpk >= 0.67)
                return "不足";
            else
                return "严重不足";
        }
    }
}