// CRobotCmdTestDlg.cpp: 实现文件
//

#include "stdafx.h"
#include "Servo.h"
#include "afxdialogex.h"
#include "CRobotCmdTestDlg.h"

// 日志颜色宏定义
#define LOG_COLOR_NORMAL   RGB(0, 0, 0)         // 普通：黑色
#define LOG_COLOR_SUCCESS  RGB(0, 128, 0)       // 成功：绿色
#define LOG_COLOR_ERROR    RGB(255, 0, 0)       // 错误：红色
#define LOG_COLOR_WARNING  RGB(255, 165, 0)     // 警告：橙色
#define LOG_COLOR_TIME     RGB(0, 0, 255)       // 时间戳：蓝色

// 快捷命令映射表
std::map<CString, QuickCmdFieldMask> g_mapQuickCmd = {
	{_T("SendHome"),             {false, false, false, false, false}},
	{_T("SendTransfer"),         {true,  true,  true,  true,  true }},
	{_T("SendMoveToGet"),        {true,  true,  true,  false, false}},
	{_T("SendMoveToPut"),        {true,  false, false, true,  true }},
	{_T("SendGet"),              {true,  true,  true,  false, false}},
	{_T("SendPut"),              {true,  false, false, true,  true }},
	{_T("SendExchange"),         {true,  true,  true,  true,  true }},
	{_T("SendCommandClear"),     {false, false, false, false, false}},
	{_T("SendBatchGet"),         {true,  true,  true,  false, false}},
	{_T("SendBatchPut"),         {true,  false, false, true,  true }},
	{_T("SendMoveToGetAndHome"), {true,  true,  true,  false, false}},
	{_T("SendMoveToPutAndHome"), {true,  false, false, true,  true }},
	{_T("SendTransferAndHome"),  {true,  true,  true,  true,  true }},
	{_T("SendGetAndPut"),        {true,  true,  true,  true,  true }},
	{_T("SendPutAndHome"),       {true,  false, false, true,  true }}
};

std::map<CString, int> g_mapDeviceSlotCount = {
	{_T("Port1"), 8},
	{_T("Port2"), 8},
	{_T("Port3"), 8},
	{_T("Port4"), 8},
	{_T("RB1"), 1},
	{_T("RB2"), 1},
	{_T("AL"), 1},
	{_T("FLIP"), 1},
	{_T("Bonder1-上产品"), 1},
	{_T("Bonder1-下产品"), 1},
	{_T("Bonder2-上产品"), 1},
	{_T("Bonder2-下产品"), 1},
	{_T("VacBakeA腔"), 1},
	{_T("VacBakeB腔"), 1},
	{_T("BakecCoolingA烘烤"), 1},
	{_T("BakecCoolingA冷却"), 1},
	{_T("BakecCoolingB烘烤"), 1},
	{_T("BakecCoolingB冷却"), 1},
	{_T("Measurement"), 1}
};

// CRobotCmdTestDlg 对话框

IMPLEMENT_DYNAMIC(CRobotCmdTestDlg, CDialogEx)

CRobotCmdTestDlg::CRobotCmdTestDlg(CWnd* pParent /*=nullptr*/)
	: CDialogEx(IDD_DIALOG_ROBOT_CMD_TEST, pParent)
{
	m_pEFEM = nullptr;
}

CRobotCmdTestDlg::~CRobotCmdTestDlg()
{
}

void CRobotCmdTestDlg::SetEFEM(SERVO::CEFEM* pEFEM)
{
	m_pEFEM = pEFEM;
}

void CRobotCmdTestDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialogEx::DoDataExchange(pDX);
	DDX_Control(pDX, IDC_COMBO_CMD_TYPE, m_comboCmdType);
	DDX_Control(pDX, IDC_COMBO_ARM_NO, m_comboArmNo);
	DDX_Control(pDX, IDC_COMBO_GET_POS, m_comboGetPos);
	DDX_Control(pDX, IDC_COMBO_GET_SLOT, m_comboGetSlot);
	DDX_Control(pDX, IDC_COMBO_PUT_POS, m_comboPutPos);
	DDX_Control(pDX, IDC_COMBO_PUT_SLOT, m_comboPutSlot);
	DDX_Control(pDX, IDC_RICHEDIT_LOG, m_editLog);
}

BEGIN_MESSAGE_MAP(CRobotCmdTestDlg, CDialogEx)
	ON_BN_CLICKED(IDC_BUTTON_EXECUTE, &CRobotCmdTestDlg::OnBnClickedButtonExecute)
	ON_CBN_SELCHANGE(IDC_COMBO_CMD_TYPE, &CRobotCmdTestDlg::OnSelchangeComboCmdType)
	ON_CBN_SELCHANGE(IDC_COMBO_GET_POS, &CRobotCmdTestDlg::OnSelchangeComboGetPos)
	ON_CBN_SELCHANGE(IDC_COMBO_PUT_POS, &CRobotCmdTestDlg::OnSelchangeComboPutPos)
END_MESSAGE_MAP()

// CRobotCmdTestDlg 消息处理程序

BOOL CRobotCmdTestDlg::OnInitDialog()
{
	CDialogEx::OnInitDialog();

	// TODO:  在此添加额外的初始化
	// 初始化命令组合列表
	for (const auto& pair : g_mapQuickCmd) {
		m_comboCmdType.AddString(pair.first);
	}
	m_comboCmdType.SetCurSel(0);

	// 初始化 Arm No（1：Arm#1，2：Arm#2）
	m_comboArmNo.AddString(_T("1"));
	m_comboArmNo.AddString(_T("2"));
	m_comboArmNo.SetCurSel(0);

	// 示例设备名称列表
	CStringList eqNameList;
	eqNameList.AddTail(_T("Port1"));
	eqNameList.AddTail(_T("Port2"));
	eqNameList.AddTail(_T("Port3"));
	eqNameList.AddTail(_T("Port4"));
	eqNameList.AddTail(_T("RB1"));	
	eqNameList.AddTail(_T("RB2"));
	eqNameList.AddTail(_T("AL"));
	eqNameList.AddTail(_T("FLIP"));
	eqNameList.AddTail(_T("Bonder1-上产品"));
	eqNameList.AddTail(_T("Bonder1-下产品"));
	eqNameList.AddTail(_T("Bonder2-上产品"));
	eqNameList.AddTail(_T("Bonder2-下产品"));
	eqNameList.AddTail(_T("VacBakeA腔"));
	eqNameList.AddTail(_T("VacBakeB腔"));
	eqNameList.AddTail(_T("BakecCoolingA烘烤"));
	eqNameList.AddTail(_T("BakecCoolingA冷却"));
	eqNameList.AddTail(_T("BakecCoolingB烘烤"));
	eqNameList.AddTail(_T("BakecCoolingB冷却"));
	eqNameList.AddTail(_T("Measurement"));	

	for (POSITION pos = eqNameList.GetHeadPosition(); pos != NULL;) {
		CString item = eqNameList.GetNext(pos);
		m_comboGetPos.AddString(item);
		m_comboPutPos.AddString(item);
	}
	m_comboGetPos.SetCurSel(0);
	m_comboPutPos.SetCurSel(0);

	// 初始化 Slot
	m_comboGetPos.SetCurSel(0);
	m_comboPutPos.SetCurSel(0);
	UpdateSlotList(&m_comboGetPos, &m_comboGetSlot);
	UpdateSlotList(&m_comboPutPos, &m_comboPutSlot);

	// 初始化命令输入控件
	if (!g_mapQuickCmd.empty()) {
		UpdateCommandInputUI(g_mapQuickCmd.begin()->first);
	}

	// 快捷命令执行映射表
	m_mapCmdExec = {
		{_T("SendHome"), [this](int seq, int, int, int, int, int, SERVO::ONWRITED onWritedBlock) {
			return m_pEFEM->robotSendHome(seq, onWritedBlock);
		}},

		{_T("SendTransfer"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
			return m_pEFEM->robotSendTransfer(seq, armNo, getPos, putPos, getSlot, putSlot, onWritedBlock);
		}},

		{_T("SendMoveToGet"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
			return m_pEFEM->robotSendMoveToGet(seq, armNo, pos, slot, onWritedBlock);
		}},

		{_T("SendMoveToPut"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
			return m_pEFEM->robotSendMoveToPut(seq, armNo, pos, slot, onWritedBlock);
		}},

		{_T("SendGet"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
			return m_pEFEM->robotSendGet(seq, armNo, pos, slot, onWritedBlock);
		}},

		{_T("SendPut"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
			return m_pEFEM->robotSendPut(seq, armNo, pos, slot, onWritedBlock);
		}},

		{_T("SendExchange"), [this](int seq, int armNo, int pos, int, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
			return m_pEFEM->robotSendExchange(seq, armNo, pos, getSlot, putSlot, onWritedBlock);
		}},

		{_T("SendCommandClear"), [this](int seq, int, int, int, int, int, SERVO::ONWRITED onWritedBlock) {
			return m_pEFEM->robotSendCommandClear(seq, onWritedBlock);
		}},

		{_T("SendBatchGet"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
			return m_pEFEM->robotSendBatchGet(seq, pos, slot, onWritedBlock);
		}},

		{_T("SendBatchPut"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
			return m_pEFEM->robotSendBatchPut(seq, pos, slot, onWritedBlock);
		}},

		{_T("SendMoveToGetAndHome"), [this](int seq, int armNo, int pos, int, int slot, int, SERVO::ONWRITED onWritedBlock) {
			return m_pEFEM->robotSendMoveToGetAndHome(seq, armNo, pos, slot, onWritedBlock);
		}},

		{_T("SendMoveToPutAndHome"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
			return m_pEFEM->robotSendMoveToPutAndHome(seq, armNo, pos, slot, onWritedBlock);
		}},

		{_T("SendTransferAndHome"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
			return m_pEFEM->robotSendTransferAndHome(seq, armNo, getPos, putPos, getSlot, putSlot, onWritedBlock);
		}},

		{_T("SendGetAndPut"), [this](int seq, int armNo, int getPos, int putPos, int getSlot, int putSlot, SERVO::ONWRITED onWritedBlock) {
			return m_pEFEM->robotSendGetAndPut(seq, armNo, getPos, putPos, getSlot, putSlot, onWritedBlock);
		}},

		{_T("SendPutAndHome"), [this](int seq, int armNo, int, int pos, int, int slot, SERVO::ONWRITED onWritedBlock) {
			return m_pEFEM->robotSendPutAndHome(seq, armNo, pos, slot, onWritedBlock);
		}}
	};

	// 初始化日志框
	AppendLogLineRichStyled(_T("准备就绪..."), LOG_COLOR_SUCCESS);

	return TRUE;  // return TRUE unless you set the focus to a control
	// 异常: OCX 属性页应返回 FALSE
}

void CRobotCmdTestDlg::UpdateCommandInputUI(const CString& cmdName)
{
	auto it = g_mapQuickCmd.find(cmdName);
	if (it == g_mapQuickCmd.end()) {
		AppendLogLineRichStyled(_T("未知的命令类型"), LOG_COLOR_ERROR);
		return;
	}

	const QuickCmdFieldMask& mask = it->second;
	m_comboArmNo.SetCurSel(0);
	m_comboArmNo.EnableWindow(mask.useArm);
	m_comboGetPos.SetCurSel(0);
	m_comboGetPos.EnableWindow(mask.useGetPos);
	m_comboGetSlot.SetCurSel(0);
	m_comboGetSlot.EnableWindow(mask.useGetSlot);
	m_comboPutPos.SetCurSel(0);
	m_comboPutPos.EnableWindow(mask.usePutPos);
	m_comboPutSlot.SetCurSel(0);
	m_comboPutSlot.EnableWindow(mask.usePutSlot);
}

void CRobotCmdTestDlg::AppendLogLineBatchBegin()
{
	m_editLog.SetRedraw(FALSE);
	m_editLog.SetEventMask(0); // 防止触发不必要的通知
}

void CRobotCmdTestDlg::AppendLogLineBatchEnd()
{
	m_editLog.SetRedraw(TRUE);
	m_editLog.Invalidate();  // 强制重绘
	m_editLog.SetEventMask(ENM_CHANGE | ENM_SELCHANGE);
}

void CRobotCmdTestDlg::TrimRichEditLineLimit(int maxLines)
{
	int lineCount = m_editLog.GetLineCount();
	if (lineCount <= maxLines) {
		return;
	}

	// 获取多余行的字符数范围
	int charIndex = m_editLog.LineIndex(maxLines);
	m_editLog.SetSel(0, charIndex); // 选中多余内容
	m_editLog.ReplaceSel(_T(""));   // 删除
}

void CRobotCmdTestDlg::AppendLogLineRichStyled(const CString& content, COLORREF color /*= RGB(0, 0, 0)*/)
{
	// 时间戳
	CString timestamp;
	CTime now = CTime::GetCurrentTime();
	timestamp.Format(_T("[%02d:%02d:%02d] "), now.GetHour(), now.GetMinute(), now.GetSecond());

	// 插入点移到最后（也可以设为 0 表示顶部）
	m_editLog.SetSel(-1, -1);

	// 插入时间（蓝色）
	CHARFORMAT2 cfTime = {};
	cfTime.cbSize = sizeof(cfTime);
	cfTime.dwMask = CFM_COLOR;
	cfTime.crTextColor = LOG_COLOR_TIME;
	m_editLog.SetSelectionCharFormat(cfTime);
	m_editLog.ReplaceSel(timestamp);

	// 插入日志正文（传入颜色）
	CHARFORMAT2 cfMsg = {};
	cfMsg.cbSize = sizeof(cfMsg);
	cfMsg.dwMask = CFM_COLOR;
	cfMsg.crTextColor = color;
	m_editLog.SetSelectionCharFormat(cfMsg);
	m_editLog.ReplaceSel(content + _T("\r\n"));

	// 限制最大行数
	TrimRichEditLineLimit(100);
}

void CRobotCmdTestDlg::HighlightAllMatches(const CString& strSearch, COLORREF clrHighlight)
{
	if (strSearch.IsEmpty()) {
		return;
	}

	long nStart = 0;
	long nEnd = m_editLog.GetTextLength();
	FINDTEXTEX ft = { 0 };
	ft.chrg.cpMin = 0;
	ft.chrg.cpMax = nEnd;
	ft.lpstrText = strSearch.GetString();

	// 高亮前不清除全文颜色，避免历史多色混淆
	while (m_editLog.FindText(FR_DOWN, &ft) != -1) {
		m_editLog.SetSel(ft.chrgText.cpMin, ft.chrgText.cpMax);

		CHARFORMAT2 cf = {};
		cf.cbSize = sizeof(cf);
		cf.dwMask = CFM_COLOR;
		cf.crTextColor = clrHighlight;
		m_editLog.SetSelectionCharFormat(cf);

		// 下次搜索从后面开始
		ft.chrg.cpMin = ft.chrgText.cpMax;
	}
	m_editLog.SetSel(-1, 0);
}

void CRobotCmdTestDlg::UpdateSlotList(CComboBox* pComboDevice, CComboBox* pComboSlot)
{
	if (pComboDevice == nullptr || pComboSlot == nullptr) {
		return;
	}

	int nSelIndex = pComboDevice->GetCurSel();
	if (nSelIndex < 0) {
		return;
	}

	CString strDeviceName;
	pComboDevice->GetLBText(nSelIndex, strDeviceName);

	int nMaxSlot = 1; // 默认槽位数
	auto it = g_mapDeviceSlotCount.find(strDeviceName);
	if (it != g_mapDeviceSlotCount.end()) {
		nMaxSlot = it->second;
	}
	else {
		CString strLog;
		strLog.Format(_T("设备 %s 未定义槽位数，使用默认值 1"), strDeviceName.GetString());
		AppendLogLineRichStyled(strLog, LOG_COLOR_WARNING);
	}

	// 清空并添加槽号
	pComboSlot->ResetContent();
	for (int i = 1; i <= nMaxSlot; ++i) {
		CString str;
		str.Format(_T("%d"), i);
		pComboSlot->AddString(str);
	}

	pComboSlot->SetCurSel(0);
	pComboSlot->EnableWindow(1 != nMaxSlot);
}

void CRobotCmdTestDlg::UpdateArmList(CComboBox* pComboDevice, CComboBox* pComboArm)
{
	if (pComboDevice == nullptr || pComboArm == nullptr) {
		return;
	}

	int nSelIndex = pComboDevice->GetCurSel();
	if (nSelIndex < 0) {
		return;
	}

	CString strDeviceName;
	pComboDevice->GetLBText(nSelIndex, strDeviceName);
	if (IsDualArmSupported(strDeviceName)) {
		pComboArm->EnableWindow(TRUE);
	}
	else {
		pComboArm->EnableWindow(FALSE);
	}

	pComboArm->SetCurSel(0);
}

bool CRobotCmdTestDlg::IsDualArmSupported(const CString& strDeviceName)
{
	// 注意匹配规则是否区分“-上产品”、“-下产品”等后缀
	if (strDeviceName.Find(_T("FLIP")) >= 0) return true;
	if (strDeviceName.Find(_T("Bonder1")) >= 0) return true;
	if (strDeviceName.Find(_T("Bonder2")) >= 0) return true;
	return false;
}

void CRobotCmdTestDlg::OnBnClickedButtonExecute()
{
	// TODO: 在此添加控件通知处理程序代码
	int sel = m_comboCmdType.GetCurSel();
	if (sel == CB_ERR) {
		AppendLogLineRichStyled(_T("未选择命令类型"), LOG_COLOR_ERROR);
		return;
	}

	CString cmdName;
	m_comboCmdType.GetLBText(sel, cmdName);

	// 参数收集
	int armNo = m_comboArmNo.GetCurSel() + 1;
	int getPos = m_comboGetPos.GetCurSel() + 1;
	int getSlot = m_comboGetSlot.GetCurSel() + 1;
	int putPos = m_comboPutPos.GetCurSel() + 1;
	int putSlot = m_comboPutSlot.GetCurSel() + 1;

	// 查找函数并执行
	auto it = m_mapCmdExec.find(cmdName);
	if (it != m_mapCmdExec.end() && nullptr != m_pEFEM) {
		int ret = it->second(1, armNo, getPos, putPos, getSlot, putSlot, [&](int code) -> int {
			if (code == WOK) {
				AppendLogLineRichStyled(_T("已收到Robot回应！"), LOG_COLOR_SUCCESS);
			}
			else {
				AppendLogLineRichStyled(_T("未收到Robot回应！"), LOG_COLOR_ERROR);
			}

			return 0;
		});

		CString log;
		if (ret == 0) {
			log.Format(_T("执行命令 %s 成功"), cmdName.GetString());
			AppendLogLineRichStyled(log, LOG_COLOR_SUCCESS);
		}
		else {
			log.Format(_T("执行命令 %s 参数错误"), cmdName.GetString());
			AppendLogLineRichStyled(log, LOG_COLOR_ERROR);
		}
	}
	else {
		CString log;
		log.Format(_T("命令 %s 不存在或 EFEM 未初始化"), cmdName.GetString());
		AppendLogLineRichStyled(log, LOG_COLOR_ERROR);
	}
}

void CRobotCmdTestDlg::OnSelchangeComboCmdType()
{
	int nSel = m_comboCmdType.GetCurSel();
	if (nSel < 0) {
		return;
	}

	CString str;
	m_comboCmdType.GetLBText(nSel, str);
	UpdateCommandInputUI(str);

	str.Format(_T("切换当前命令类型：%s"), str);
	AppendLogLineRichStyled(str, LOG_COLOR_NORMAL);
}

void CRobotCmdTestDlg::OnSelchangeComboGetPos()
{
	// TODO: 在此添加控件通知处理程序代码
	UpdateSlotList(&m_comboGetPos, &m_comboGetSlot);
	UpdateArmList(&m_comboGetPos, &m_comboArmNo);
}

void CRobotCmdTestDlg::OnSelchangeComboPutPos()
{
	// TODO: 在此添加控件通知处理程序代码
	UpdateSlotList(&m_comboPutPos, &m_comboPutSlot);
	UpdateArmList(&m_comboPutPos, &m_comboArmNo);
}