FlyShotHost/src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs

using System.Text.Json;
using System.Text.Json.Nodes;
using Flyshot.Core.Config;
using Flyshot.Core.Domain;
using Microsoft.Extensions.Logging;

namespace Flyshot.ControllerClientCompat;

/// <summary>
/// 定义已上传飞拍轨迹的持久化存储契约。
/// </summary>
public interface IFlyshotTrajectoryStore
{
    /// <summary>
    /// 将单条轨迹持久化到本地 JSON，同时更新所属机器人配置段。
    /// </summary>
    /// <param name="robotName">当前已初始化的机器人名称。</param>
    /// <param name="settings">当前机器人级兼容配置。</param>
    /// <param name="trajectory">要保存的已上传轨迹。</param>
    void Save(string robotName, CompatibilityRobotSettings settings, ControllerClientCompatUploadedTrajectory trajectory);

    /// <summary>
    /// 从本地 JSON 删除指定名称的轨迹。
    /// </summary>
    /// <param name="robotName">当前已初始化的机器人名称。</param>
    /// <param name="trajectoryName">要删除的轨迹名称。</param>
    void Delete(string robotName, string trajectoryName);

    /// <summary>
    /// 加载指定机器人名下所有已持久化的轨迹，并回传保存时的机器人配置。
    /// </summary>
    /// <param name="robotName">当前已初始化的机器人名称。</param>
    /// <param name="settings">输出保存时的机器人配置；若文件不存在或解析失败则为 null。</param>
    /// <returns>按轨迹名称索引的已上传轨迹集合。</returns>
    IReadOnlyDictionary<string, ControllerClientCompatUploadedTrajectory> LoadAll(string robotName, out CompatibilityRobotSettings? settings);
}

/// <summary>
/// 使用与旧版 RobotConfig.json 一致的 JSON 格式在运行目录 Config 中持久化飞拍轨迹和机器人配置。
/// </summary>
public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
{
    private readonly ControllerClientCompatOptions _options;
    private readonly RobotConfigLoader _configLoader;
    private readonly ILogger<JsonFlyshotTrajectoryStore>? _logger;

    /// <summary>
    /// 初始化基于 JSON 文件的轨迹存储。
    /// </summary>
    /// <param name="options">兼容层基础配置，用于定位运行配置根目录。</param>
    /// <param name="configLoader">旧版 RobotConfig.json 加载器，用于反序列化已保存的轨迹。</param>
    /// <param name="logger">日志记录器；允许 null。</param>
    public JsonFlyshotTrajectoryStore(ControllerClientCompatOptions options, RobotConfigLoader configLoader, ILogger<JsonFlyshotTrajectoryStore>? logger = null)
    {
        _options = options ?? throw new ArgumentNullException(nameof(options));
        _configLoader = configLoader ?? throw new ArgumentNullException(nameof(configLoader));
        _logger = logger;
    }

    /// <inheritdoc />
    public void Save(string robotName, CompatibilityRobotSettings settings, ControllerClientCompatUploadedTrajectory trajectory)
    {
        ArgumentNullException.ThrowIfNull(settings);
        ArgumentNullException.ThrowIfNull(trajectory);

        _logger?.LogInformation(
            "TrajectoryStore 保存轨迹: robot={RobotName}, name={TrajectoryName}, waypoints={WaypointCount}",
            robotName,
            trajectory.Name,
            trajectory.Waypoints.Count);

        var path = ResolveStorePath(robotName);
        var directory = Path.GetDirectoryName(path)!;
        Directory.CreateDirectory(directory);

        JsonObject root;
        if (File.Exists(path))
        {
            var existingJson = File.ReadAllText(path);
            root = JsonNode.Parse(existingJson)?.AsObject() ?? new JsonObject();
        }
        else
        {
            root = new JsonObject();
        }

        // 更新 robot 配置段，保持与旧版 RobotConfig.json 字段名一致。
        root["robot"] = SerializeRobotSettings(settings);

        // 确保 flying_shots 节点存在。
        if (!root.TryGetPropertyValue("flying_shots", out var flyingShotsNode) || flyingShotsNode is not JsonObject flyingShotsObj)
        {
            flyingShotsObj = new JsonObject();
            root["flying_shots"] = flyingShotsObj;
        }

        flyingShotsObj[trajectory.Name] = SerializeTrajectory(trajectory);

        var writeOptions = new JsonSerializerOptions
        {
            WriteIndented = true,
            PropertyNamingPolicy = JsonNamingPolicy.SnakeCaseLower
        };
        File.WriteAllText(path, root.ToJsonString(writeOptions));

        _logger?.LogInformation("TrajectoryStore 轨迹已保存到 {Path}", path);
    }

    /// <inheritdoc />
    public void Delete(string robotName, string trajectoryName)
    {
        if (string.IsNullOrWhiteSpace(trajectoryName))
        {
            throw new ArgumentException("轨迹名称不能为空。", nameof(trajectoryName));
        }

        _logger?.LogInformation("TrajectoryStore 删除轨迹: robot={RobotName}, name={TrajectoryName}", robotName, trajectoryName);

        var path = ResolveStorePath(robotName);
        if (!File.Exists(path))
        {
            _logger?.LogWarning("TrajectoryStore 删除失败: 文件不存在 {Path}", path);
            return;
        }

        var existingJson = File.ReadAllText(path);
        var root = JsonNode.Parse(existingJson)?.AsObject();
        if (root is null)
        {
            _logger?.LogWarning("TrajectoryStore 删除失败: 无法解析 JSON {Path}", path);
            return;
        }

        if (root.TryGetPropertyValue("flying_shots", out var flyingShotsNode) && flyingShotsNode is JsonObject flyingShotsObj)
        {
            var removed = flyingShotsObj.Remove(trajectoryName);
            if (removed)
            {
                var writeOptions = new JsonSerializerOptions
                {
                    WriteIndented = true,
                    PropertyNamingPolicy = JsonNamingPolicy.SnakeCaseLower
                };
                File.WriteAllText(path, root.ToJsonString(writeOptions));
                _logger?.LogInformation("TrajectoryStore 轨迹已删除: {TrajectoryName}", trajectoryName);
            }
            else
            {
                _logger?.LogWarning("TrajectoryStore 删除失败: 轨迹不存在 {TrajectoryName}", trajectoryName);
            }
        }
    }

    /// <inheritdoc />
    public IReadOnlyDictionary<string, ControllerClientCompatUploadedTrajectory> LoadAll(string robotName, out CompatibilityRobotSettings? settings)
    {
        var path = ResolveStorePath(robotName);
        if (!File.Exists(path))
        {
            _logger?.LogInformation("TrajectoryStore 无持久化数据: {Path}", path);
            settings = null;
            return new Dictionary<string, ControllerClientCompatUploadedTrajectory>(StringComparer.Ordinal);
        }

        try
        {
            _logger?.LogInformation("TrajectoryStore 正在加载: {Path}", path);

            var loaded = _configLoader.Load(path, _options.ResolveConfigRoot());
            settings = loaded.Robot;

            var dict = new Dictionary<string, ControllerClientCompatUploadedTrajectory>(StringComparer.Ordinal);
            foreach (var program in loaded.Programs)
            {
                var traj = new ControllerClientCompatUploadedTrajectory(
                    name: program.Value.Name,
                    waypoints: program.Value.Waypoints.Select(static wp => wp.Positions),
                    shotFlags: program.Value.ShotFlags,
                    offsetValues: program.Value.OffsetValues,
                    addressGroups: program.Value.AddressGroups.Select(static g => g.Addresses));
                dict[program.Key] = traj;
            }

            _logger?.LogInformation(
                "TrajectoryStore 加载完成: robot={RobotName}, 轨迹数={Count}, useDo={UseDo}, ioKeepCycles={IoKeepCycles}",
                robotName,
                dict.Count,
                settings?.UseDo,
                settings?.IoKeepCycles);

            return dict;
        }
        catch (Exception ex)
        {
            _logger?.LogError(ex, "TrajectoryStore 加载失败: {Path}", path);
            settings = null;
            return new Dictionary<string, ControllerClientCompatUploadedTrajectory>(StringComparer.Ordinal);
        }
    }

    /// <summary>
    /// 把机器人兼容配置序列化为 JSON 对象，字段名与旧版 RobotConfig.json 一致。
    /// </summary>
    private static JsonObject SerializeRobotSettings(CompatibilityRobotSettings settings)
    {
        return new JsonObject
        {
            ["use_do"] = JsonValue.Create(settings.UseDo),
            ["io_addr"] = JsonSerializer.SerializeToNode(settings.IoAddresses),
            ["io_keep_cycles"] = JsonValue.Create(settings.IoKeepCycles),
            ["acc_limit"] = JsonValue.Create(settings.AccLimitScale),
            ["jerk_limit"] = JsonValue.Create(settings.JerkLimitScale),
            ["adapt_icsp_try_num"] = JsonValue.Create(settings.AdaptIcspTryNum)
        };
    }

    /// <summary>
    /// 把已上传轨迹序列化为 JSON 对象，字段名与旧版 RobotConfig.json 的 flying_shots 节点一致。
    /// </summary>
    private static JsonObject SerializeTrajectory(ControllerClientCompatUploadedTrajectory trajectory)
    {
        return new JsonObject
        {
            ["traj_waypoints"] = JsonSerializer.SerializeToNode(trajectory.Waypoints),
            ["shot_flags"] = JsonSerializer.SerializeToNode(trajectory.ShotFlags),
            ["offset_values"] = JsonSerializer.SerializeToNode(trajectory.OffsetValues),
            ["addr"] = JsonSerializer.SerializeToNode(trajectory.AddressGroups)
        };
    }

    /// <summary>
    /// 解析当前机器人对应的持久化文件路径。
    /// </summary>
    private string ResolveStorePath(string robotName)
    {
        var storeDir = Path.Combine(_options.ResolveConfigRoot(), "TrajectoryStore");
        return Path.Combine(storeDir, $"{robotName}_trajectories.json");
    }
}