SSPC-Tester/SSPCTester.UI/Services/SafetyMonitorService.cs

using Microsoft.Extensions.Logging;
using Microsoft.Extensions.Options;
using SSPCTester.Devices.Config;
using SSPCTester.Devices.Interfaces;

namespace SSPCTester.UI.Services;

public sealed class SafetyMonitorService : IDisposable
{
    private readonly ISafetyDio _safetyDio;
    private readonly IPowerSupply _power;
    private readonly ILoad _load;
    private readonly DeviceOptions _options;
    private readonly UiLogSink _log;
    private readonly ILogger<SafetyMonitorService> _logger;
    private readonly SemaphoreSlim _gate = new(1, 1);
    private Timer? _timer;
    private bool _handlingEmergency;
    private bool _disposed;

    public SafetyMonitorService(
        ISafetyDio safetyDio,
        IPowerSupply power,
        ILoad load,
        IOptions<DeviceOptions> options,
        UiLogSink log,
        ILogger<SafetyMonitorService> logger)
    {
        _safetyDio = safetyDio;
        _power = power;
        _load = load;
        _options = options.Value;
        _log = log;
        _logger = logger;
    }

    public bool IsEmergencyActive { get; private set; }
    public bool IsAlarmOutputOn { get; private set; }
    public string StatusText { get; private set; } = "未启动";
    public string DetailText { get; private set; } = "设备安全监控未启动";
    public event EventHandler? StatusChanged;

    public void Start()
    {
        if (_timer is not null) return;

        var options = _options.Pci2312;
        if (!options.Enabled)
        {
            SetStatus(false, false, "未启用", "PCI2312 安全监控未启用");
            return;
        }

        int interval = Math.Clamp(options.PollIntervalMs, 50, 10_000);
        _timer = new Timer(OnTimer, null, TimeSpan.Zero, TimeSpan.FromMilliseconds(interval));
        SetStatus(false, false, "监控中", "正在监控 PCI2312 急停输入");
    }

    public async Task ResetAsync(CancellationToken ct = default)
    {
        var options = _options.Pci2312;
        if (await IsEmergencyInputActiveAsync(options, ct).ConfigureAwait(false))
        {
            SetStatus(true, IsAlarmOutputOn, "急停触发", "急停输入仍处于接通状态，无法复位报警灯");
            return;
        }

        await SetAlarmOutputAsync(false, ct).ConfigureAwait(false);
        SetStatus(false, false, "监控中", "急停已复位，正在监控 PCI2312 输入");
        _handlingEmergency = false;
    }

    private void OnTimer(object? state)
    {
        if (_disposed || _handlingEmergency) return;
        _ = PollAsync();
    }

    private async Task PollAsync()
    {
        if (!await _gate.WaitAsync(0).ConfigureAwait(false)) return;
        try
        {
            var options = _options.Pci2312;
            if (!options.Enabled) return;

            if (options.AutoConnect && !_safetyDio.IsConnected)
                await _safetyDio.ConnectAsync().ConfigureAwait(false);

            bool active = await IsEmergencyInputActiveAsync(options, CancellationToken.None).ConfigureAwait(false);
            if (active)
                await HandleEmergencyAsync().ConfigureAwait(false);
            else if (!IsEmergencyActive)
                SetStatus(false, IsAlarmOutputOn, "监控中", $"DI{options.EmergencyInputChannel} 未触发");
        }
        catch (Exception ex)
        {
            _logger.LogWarning(ex, "Safety monitor poll failed.");
            SetStatus(IsEmergencyActive, IsAlarmOutputOn, "监控异常", ex.Message);
        }
        finally
        {
            _gate.Release();
        }
    }

    private async Task HandleEmergencyAsync()
    {
        if (_handlingEmergency) return;
        _handlingEmergency = true;
        SetStatus(true, IsAlarmOutputOn, "急停触发", "正在执行安全关断");
        _log.Add(UiLogLevel.Error, "检测到急停输入接通，开始执行报警灯、电源、负载关断。");

        try
        {
            await SetAlarmOutputAsync(true, CancellationToken.None).ConfigureAwait(false);
            await TryShutdownPowerAsync().ConfigureAwait(false);
            await TryShutdownLoadAsync().ConfigureAwait(false);
            SetStatus(true, true, "急停触发", "报警灯已接通，电源输出和负载输入已发送关闭指令");
        }
        catch (Exception ex)
        {
            _logger.LogError(ex, "Emergency shutdown failed.");
            _log.Add(UiLogLevel.Error, $"急停关断执行异常：{ex.Message}");
            SetStatus(true, IsAlarmOutputOn, "急停异常", ex.Message);
        }
    }

    private async Task TryShutdownPowerAsync()
    {
        try
        {
            if (!_power.IsConnected && _options.PowerSupply.AutoConnect)
                await _power.ConnectAsync().ConfigureAwait(false);
            if (_power.IsConnected)
                await _power.OutputAsync(false).ConfigureAwait(false);
            _log.Add(UiLogLevel.Warning, "UDP5080 电源输出已发送关闭指令。");
        }
        catch (Exception ex)
        {
            _logger.LogWarning(ex, "Power shutdown failed.");
            _log.Add(UiLogLevel.Error, $"UDP5080 电源关闭失败：{ex.Message}");
        }
    }

    private async Task TryShutdownLoadAsync()
    {
        try
        {
            if (!_load.IsConnected && _options.Load.AutoConnect)
                await _load.ConnectAsync().ConfigureAwait(false);
            if (_load.IsConnected)
                await _load.InputAsync(false).ConfigureAwait(false);
            _log.Add(UiLogLevel.Warning, "IT8702P 负载输入已发送关闭指令。");
        }
        catch (Exception ex)
        {
            _logger.LogWarning(ex, "Load shutdown failed.");
            _log.Add(UiLogLevel.Error, $"IT8702P 负载关闭失败：{ex.Message}");
        }
    }

    private async Task<bool> IsEmergencyInputActiveAsync(Pci2312Options options, CancellationToken ct)
    {
        bool value = await _safetyDio.ReadInputAsync(options.EmergencyInputChannel, ct).ConfigureAwait(false);
        return options.EmergencyInputActiveHigh ? value : !value;
    }

    private async Task SetAlarmOutputAsync(bool on, CancellationToken ct)
    {
        var options = _options.Pci2312;
        bool outputValue = options.AlarmOutputActiveHigh ? on : !on;
        await _safetyDio.WriteOutputAsync(options.AlarmOutputChannel, outputValue, ct).ConfigureAwait(false);
        IsAlarmOutputOn = on;
    }

    private void SetStatus(bool emergencyActive, bool alarmOutputOn, string statusText, string detailText)
    {
        IsEmergencyActive = emergencyActive;
        IsAlarmOutputOn = alarmOutputOn;
        StatusText = statusText;
        DetailText = detailText;
        StatusChanged?.Invoke(this, EventArgs.Empty);
    }

    public void Dispose()
    {
        _disposed = true;
        _timer?.Dispose();
        _gate.Dispose();
    }
}