using System;
using System.Collections.Generic;
using System.Windows;
using Prism.Commands;
using Prism.Events;
using Prism.Mvvm;
using XP.Common.Controls;
using XP.Common.Logging.Interfaces;
using XP.Hardware.MotionControl.Abstractions;
using XP.Hardware.MotionControl.Abstractions.Enums;
using XP.Hardware.MotionControl.Abstractions.Events;
using XP.Hardware.MotionControl.Config;
using XP.Hardware.MotionControl.Services;
using XP.Hardware.Plc.Abstractions;
using XP.Common.Localization;

namespace XP.Hardware.MotionControl.ViewModels
{
    /// <summary>
    /// 轴控制面板 ViewModel | Axis Control Panel ViewModel
    /// 集成摇杆、轴位置输入框、安全参数和使能控制 | Integrates joystick, axis position inputs, safety parameters and enable control
    /// </summary>
    public class AxisControlViewModel : BindableBase
    {
        private readonly IMotionControlService _motionControlService;
        private readonly IMotionSystem _motionSystem;
        private readonly IEventAggregator _eventAggregator;
        private readonly MotionControlConfig _config;
        private readonly IPlcService _plcService;
        private readonly ILoggerService _logger;

        #region 内部状态跟踪 | Internal State Tracking

        /// <summary>直线轴 Jog 活跃状态 | Linear axis jog active states</summary>
        private readonly Dictionary<AxisId, bool> _linearJogActive = new();

        /// <summary>旋转轴 Jog 活跃状态 | Rotary axis jog active states</summary>
        private readonly Dictionary<RotaryAxisId, bool> _rotaryJogActive = new();

        /// <summary>输入框编辑冻结标志 | Input box editing freeze flags</summary>
        private readonly Dictionary<string, bool> _editingFlags = new();

        /// <summary>保存的轴位置数据 | Saved axis position data</summary>
        private SavedPositions _savedPositions;

        #endregion

        #region 构造函数 | Constructor

        public AxisControlViewModel(
            IMotionControlService motionControlService,
            IMotionSystem motionSystem,
            IEventAggregator eventAggregator,
            MotionControlConfig config,
            IPlcService plcService,
            ILoggerService logger)
        {
            _motionControlService = motionControlService ?? throw new ArgumentNullException(nameof(motionControlService));
            _motionSystem = motionSystem ?? throw new ArgumentNullException(nameof(motionSystem));
            _eventAggregator = eventAggregator ?? throw new ArgumentNullException(nameof(eventAggregator));
            _config = config ?? throw new ArgumentNullException(nameof(config));
            _plcService = plcService ?? throw new ArgumentNullException(nameof(plcService));
            _logger = (logger ?? throw new ArgumentNullException(nameof(logger))).ForModule<AxisControlViewModel>();

            // 监听 PLC 连接状态变化 | Listen for PLC connection status changes
            _plcService.PropertyChanged += (s, e) =>
            {
                if (e.PropertyName == nameof(IPlcService.IsConnected))
                    OnPlcConnectionChanged();
            };

            // 初始化旋转轴输入框可见性 | Initialize rotary axis input box visibility
            DetectorSwingVisibility = _config.RotaryAxes.ContainsKey(RotaryAxisId.DetectorSwing)
                && _config.RotaryAxes[RotaryAxisId.DetectorSwing].Enabled
                ? Visibility.Visible : Visibility.Collapsed;
            StageRotationVisibility = _config.RotaryAxes.ContainsKey(RotaryAxisId.StageRotation)
                && _config.RotaryAxes[RotaryAxisId.StageRotation].Enabled
                ? Visibility.Visible : Visibility.Collapsed;
            FixtureRotationVisibility = _config.RotaryAxes.ContainsKey(RotaryAxisId.FixtureRotation)
                && _config.RotaryAxes[RotaryAxisId.FixtureRotation].Enabled
                ? Visibility.Visible : Visibility.Collapsed;

            // 初始化命令 | Initialize commands
            ToggleEnableCommand = new DelegateCommand(ExecuteToggleEnable, () => IsPlcConnected);
            SavePositionsCommand = new DelegateCommand(ExecuteSavePositions);
            RestorePositionsCommand = new DelegateCommand(ExecuteRestorePositions, () => _savedPositions != null && IsPlcConnected);

            // 初始化 Jog 状态跟踪字典 | Initialize jog state tracking dictionaries
            foreach (AxisId axisId in Enum.GetValues(typeof(AxisId)))
                _linearJogActive[axisId] = false;
            foreach (RotaryAxisId axisId in Enum.GetValues(typeof(RotaryAxisId)))
                _rotaryJogActive[axisId] = false;

            // 初始化 PLC 连接状态 | Initialize PLC connection status
            _isPlcConnected = _plcService.IsConnected;

            // 订阅事件 | Subscribe to events
            _eventAggregator.GetEvent<GeometryUpdatedEvent>().Subscribe(OnGeometryUpdated, ThreadOption.UIThread);
            _eventAggregator.GetEvent<AxisStatusChangedEvent>().Subscribe(OnAxisStatusChanged, ThreadOption.UIThread);

            // 初始化时主动刷新一次轴位置 | Refresh axis positions on initialization
            try
            {
                StageXPosition = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
                StageYPosition = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
                SourceZPosition = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition;
                DetectorZPosition = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition;
                DetectorSwingAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
                StageRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
                FixtureRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
            }
            catch { /* 轴未初始化时忽略 | Ignore when axes not initialized */ }
        }

        #endregion

        #region 摇杆输出属性 | Joystick Output Properties

        private double _dualJoystickOutputX;
        /// <summary>双轴摇杆 X 轴输出 | Dual-axis joystick X output</summary>
        public double DualJoystickOutputX
        {
            get => _dualJoystickOutputX;
            set
            {
                if (SetProperty(ref _dualJoystickOutputX, value))
                    HandleDualJoystickOutput();
            }
        }

        private double _dualJoystickOutputY;
        /// <summary>双轴摇杆 Y 轴输出 | Dual-axis joystick Y output</summary>
        public double DualJoystickOutputY
        {
            get => _dualJoystickOutputY;
            set
            {
                if (SetProperty(ref _dualJoystickOutputY, value))
                    HandleDualJoystickOutput();
            }
        }

        private MouseButtonType _dualJoystickActiveButton;
        /// <summary>双轴摇杆当前激活按键 | Dual-axis joystick active mouse button</summary>
        public MouseButtonType DualJoystickActiveButton
        {
            get => _dualJoystickActiveButton;
            set
            {
                var oldValue = _dualJoystickActiveButton;
                if (SetProperty(ref _dualJoystickActiveButton, value))
                {
                    // 按键释放时停止所有双轴摇杆关联轴 | Stop all dual joystick axes when button released
                    if (value == MouseButtonType.None && oldValue != MouseButtonType.None)
                        StopDualJoystickAxes();
                }
            }
        }

        private double _singleJoystickOutputY;
        /// <summary>单轴摇杆 Y 轴输出 | Single-axis joystick Y output</summary>
        public double SingleJoystickOutputY
        {
            get => _singleJoystickOutputY;
            set
            {
                if (SetProperty(ref _singleJoystickOutputY, value))
                    HandleSingleJoystickOutput();
            }
        }

        private MouseButtonType _singleJoystickActiveButton;
        /// <summary>单轴摇杆当前激活按键 | Single-axis joystick active mouse button</summary>
        public MouseButtonType SingleJoystickActiveButton
        {
            get => _singleJoystickActiveButton;
            set
            {
                var oldValue = _singleJoystickActiveButton;
                if (SetProperty(ref _singleJoystickActiveButton, value))
                {
                    // 按键释放时停止所有单轴摇杆关联轴 | Stop all single joystick axes when button released
                    if (value == MouseButtonType.None && oldValue != MouseButtonType.None)
                        StopSingleJoystickAxes();
                }
            }
        }

        #endregion

        #region 轴位置属性 | Axis Position Properties

        private double _stageXPosition;
        /// <summary>载物台 X 轴位置 | Stage X axis position</summary>
        public double StageXPosition { get => _stageXPosition; set => SetProperty(ref _stageXPosition, value); }

        private double _stageYPosition;
        /// <summary>载物台 Y 轴位置 | Stage Y axis position</summary>
        public double StageYPosition { get => _stageYPosition; set => SetProperty(ref _stageYPosition, value); }

        private double _sourceZPosition;
        /// <summary>射线源 Z 轴位置 | Source Z axis position</summary>
        public double SourceZPosition { get => _sourceZPosition; set => SetProperty(ref _sourceZPosition, value); }

        private double _detectorZPosition;
        /// <summary>探测器 Z 轴位置 | Detector Z axis position</summary>
        public double DetectorZPosition { get => _detectorZPosition; set => SetProperty(ref _detectorZPosition, value); }

        private double _detectorSwingAngle;
        /// <summary>探测器摆动角度 | Detector swing angle</summary>
        public double DetectorSwingAngle { get => _detectorSwingAngle; set => SetProperty(ref _detectorSwingAngle, value); }

        private double _stageRotationAngle;
        /// <summary>载物台旋转角度 | Stage rotation angle</summary>
        public double StageRotationAngle { get => _stageRotationAngle; set => SetProperty(ref _stageRotationAngle, value); }

        private double _fixtureRotationAngle;
        /// <summary>夹具旋转角度 | Fixture rotation angle</summary>
        public double FixtureRotationAngle { get => _fixtureRotationAngle; set => SetProperty(ref _fixtureRotationAngle, value); }

        #endregion

        #region 旋转轴可见性 | Rotary Axis Visibility

        private Visibility _detectorSwingVisibility;
        /// <summary>探测器摆动输入框可见性 | Detector swing input box visibility</summary>
        public Visibility DetectorSwingVisibility { get => _detectorSwingVisibility; private set => SetProperty(ref _detectorSwingVisibility, value); }

        private Visibility _stageRotationVisibility;
        /// <summary>载物台旋转输入框可见性 | Stage rotation input box visibility</summary>
        public Visibility StageRotationVisibility { get => _stageRotationVisibility; private set => SetProperty(ref _stageRotationVisibility, value); }

        private Visibility _fixtureRotationVisibility;
        /// <summary>夹具旋转输入框可见性 | Fixture rotation input box visibility</summary>
        public Visibility FixtureRotationVisibility { get => _fixtureRotationVisibility; private set => SetProperty(ref _fixtureRotationVisibility, value); }

        #endregion

        #region 安全参数属性 | Safety Parameter Properties

        private double _safetyHeight;
        /// <summary>探测器安全高度限定值 | Detector safety height limit</summary>
        public double SafetyHeight { get => _safetyHeight; set => SetProperty(ref _safetyHeight, value); }

        private double _calibrationValue;
        /// <summary>校准自动计算值 | Calibration auto-calculated value</summary>
        public double CalibrationValue { get => _calibrationValue; set => SetProperty(ref _calibrationValue, value); }

        #endregion

        #region 使能与状态属性 | Enable and Status Properties

        private bool _isJoystickEnabled = true;
        /// <summary>摇杆使能状态 | Joystick enable state</summary>
        public bool IsJoystickEnabled { get => _isJoystickEnabled; set => SetProperty(ref _isJoystickEnabled, value); }

        private bool _isPlcConnected;
        /// <summary>PLC 连接状态 | PLC connection status</summary>
        public bool IsPlcConnected { get => _isPlcConnected; set => SetProperty(ref _isPlcConnected, value); }

        private string _errorMessage;
        /// <summary>错误提示信息 | Error message</summary>
        public string ErrorMessage { get => _errorMessage; set => SetProperty(ref _errorMessage, value); }

        #endregion

        #region 命令 | Commands

        /// <summary>切换使能开关命令 | Toggle enable switch command</summary>
        public DelegateCommand ToggleEnableCommand { get; }

        /// <summary>保存当前轴位置命令 | Save current axis positions command</summary>
        public DelegateCommand SavePositionsCommand { get; }

        /// <summary>恢复保存的轴位置命令 | Restore saved axis positions command</summary>
        public DelegateCommand RestorePositionsCommand { get; }

        #endregion

        #region 事件回调 | Event Callbacks

        /// <summary>
        /// 几何参数更新回调，刷新轴实际位置 | Geometry updated callback, refresh axis actual positions
        /// </summary>
        private void OnGeometryUpdated(GeometryData data)
        {
            try
            {
                if (!IsEditing(nameof(StageXPosition)))
                    StageXPosition = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
                if (!IsEditing(nameof(StageYPosition)))
                    StageYPosition = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
                if (!IsEditing(nameof(SourceZPosition)))
                    SourceZPosition = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition;
                if (!IsEditing(nameof(DetectorZPosition)))
                    DetectorZPosition = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition;
                if (!IsEditing(nameof(DetectorSwingAngle)))
                    DetectorSwingAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
                if (!IsEditing(nameof(StageRotationAngle)))
                    StageRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
                if (!IsEditing(nameof(FixtureRotationAngle)))
                    FixtureRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
            }
            catch { /* 轴未初始化时忽略 | Ignore when axes not initialized */ }
        }

        /// <summary>
        /// 轴状态变化回调，更新对应轴位置 | Axis status changed callback, update corresponding axis position
        /// </summary>
        private void OnAxisStatusChanged(AxisStatusChangedData data)
        {
            try
            {
                switch (data.AxisId)
                {
                    case AxisId.StageX:
                        if (!IsEditing(nameof(StageXPosition)))
                            StageXPosition = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
                        break;
                    case AxisId.StageY:
                        if (!IsEditing(nameof(StageYPosition)))
                            StageYPosition = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
                        break;
                    case AxisId.SourceZ:
                        if (!IsEditing(nameof(SourceZPosition)))
                            SourceZPosition = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition;
                        break;
                    case AxisId.DetectorZ:
                        if (!IsEditing(nameof(DetectorZPosition)))
                            DetectorZPosition = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition;
                        break;
                }
            }
            catch { /* 轴未初始化时忽略 | Ignore when axes not initialized */ }
        }

        #endregion

        #region 编辑状态辅助 | Editing State Helpers

        /// <summary>
        /// 检查指定输入框是否正在编辑 | Check if specified input box is being edited
        /// </summary>
        /// <param name="propertyName">属性名称 | Property name</param>
        /// <returns>是否正在编辑 | Whether editing</returns>
        private bool IsEditing(string propertyName)
        {
            return _editingFlags.TryGetValue(propertyName, out var editing) && editing;
        }

        #endregion

        #region 异常保护 | Exception Protection

        /// <summary>
        /// 安全执行：捕获异常避免 UI 崩溃 | Safe execution: catches exceptions to prevent UI crash
        /// </summary>
        private void SafeRun(Action action)
        {
            try { action(); }
            catch (Exception ex)
            {
                _logger.Error(ex, "运动控制操作异常：{Message} | Motion control operation error: {Message}", ex.Message);
                ErrorMessage = ex.Message;
            }
        }

        #endregion

        #region 命令状态刷新 | Command State Refresh

        /// <summary>
        /// 刷新所有命令的 CanExecute 状态 | Refresh CanExecute state of all commands
        /// </summary>
        private void RaiseCommandCanExecuteChanged()
        {
            ToggleEnableCommand.RaiseCanExecuteChanged();
            SavePositionsCommand.RaiseCanExecuteChanged();
            RestorePositionsCommand.RaiseCanExecuteChanged();
        }

        /// <summary>
        /// PLC 连接状态变化处理：断开时停止所有 Jog 并禁用操作，重连时清除错误
        /// PLC connection state change handler: stop all jog and disable operations on disconnect, clear error on reconnect
        /// </summary>
        private void OnPlcConnectionChanged()
        {
            IsPlcConnected = _plcService.IsConnected;
            RaiseCommandCanExecuteChanged();

            if (!_plcService.IsConnected)
            {
                // PLC 断开：停止所有活跃的 Jog 操作 | PLC disconnected: stop all active jog operations
                foreach (var axisId in _linearJogActive.Keys)
                {
                    if (_linearJogActive[axisId])
                    {
                        _linearJogActive[axisId] = false;
                        _logger.Debug("PLC 断开，直线轴 Jog 已标记停止：{AxisId} | PLC disconnected, linear axis jog marked stopped: {AxisId}", axisId);
                    }
                }
                foreach (var axisId in _rotaryJogActive.Keys)
                {
                    if (_rotaryJogActive[axisId])
                    {
                        _rotaryJogActive[axisId] = false;
                        _logger.Debug("PLC 断开，旋转轴 Jog 已标记停止：{AxisId} | PLC disconnected, rotary axis jog marked stopped: {AxisId}", axisId);
                    }
                }

                // 禁用摇杆 | Disable joystick
                IsJoystickEnabled = false;

                // 显示连接断开提示 | Show disconnection message
                ErrorMessage = LocalizationHelper.Get("MC_PlcNotConnected");

                _logger.Warn("PLC 连接断开，已停止所有 Jog 并禁用运动控制 | PLC disconnected, all jog stopped and motion control disabled");
            }
            else
            {
                // PLC 重连：清除错误信息（不自动启用摇杆，需用户手动开启）
                // PLC reconnected: clear error message (don't auto-enable joystick, user must manually enable)
                ErrorMessage = null;

                _logger.Info("PLC 连接已恢复 | PLC connection restored");
            }
        }

        #endregion

        #region 使能开关与保存/恢复命令 | Enable Toggle and Save/Restore Commands

        /// <summary>
        /// 切换摇杆使能状态，并发送使能状态到 PLC | Toggle joystick enable state and send to PLC
        /// </summary>
        private void ExecuteToggleEnable()
        {
            IsJoystickEnabled = !IsJoystickEnabled;
            _logger.Info("摇杆使能状态切换：{Enabled} | Joystick enable toggled: {Enabled}", IsJoystickEnabled);
            // TODO: 发送使能状态到 PLC（根据实际 PLC 信号定义）| Send enable state to PLC (based on actual PLC signal definition)
        }

        /// <summary>
        /// 保存当前 6 个轴位置到内部变量 | Save current 6 axis positions to internal variable
        /// </summary>
        private void ExecuteSavePositions()
        {
            _savedPositions = new SavedPositions
            {
                StageX = StageXPosition,
                StageY = StageYPosition,
                SourceZ = SourceZPosition,
                DetectorZ = DetectorZPosition,
                DetectorSwing = DetectorSwingAngle,
                StageRotation = StageRotationAngle,
                FixtureRotation = FixtureRotationAngle
            };
            RestorePositionsCommand.RaiseCanExecuteChanged();
            _logger.Info("轴位置已保存 | Axis positions saved");
        }

        /// <summary>
        /// 从保存的数据恢复到输入框，并发送移动命令 | Restore saved data to input boxes and send move commands
        /// </summary>
        private void ExecuteRestorePositions()
        {
            if (_savedPositions == null) return;

            // 恢复到输入框 | Restore to input boxes
            StageXPosition = _savedPositions.StageX;
            StageYPosition = _savedPositions.StageY;
            SourceZPosition = _savedPositions.SourceZ;
            DetectorZPosition = _savedPositions.DetectorZ;
            DetectorSwingAngle = _savedPositions.DetectorSwing;
            StageRotationAngle = _savedPositions.StageRotation;
            FixtureRotationAngle = _savedPositions.FixtureRotation;

            // 发送移动命令 | Send move commands
            SafeRun(() =>
            {
                _motionControlService.MoveToTarget(AxisId.StageX, _savedPositions.StageX);
                _motionControlService.MoveToTarget(AxisId.StageY, _savedPositions.StageY);
                _motionControlService.MoveToTarget(AxisId.SourceZ, _savedPositions.SourceZ);
                _motionControlService.MoveToTarget(AxisId.DetectorZ, _savedPositions.DetectorZ);
                _motionControlService.MoveRotaryToTarget(RotaryAxisId.DetectorSwing, _savedPositions.DetectorSwing);
                _motionControlService.MoveRotaryToTarget(RotaryAxisId.StageRotation, _savedPositions.StageRotation);
                _motionControlService.MoveRotaryToTarget(RotaryAxisId.FixtureRotation, _savedPositions.FixtureRotation);
            });
            _logger.Info("轴位置已恢复并发送移动命令 | Axis positions restored and move commands sent");
        }

        #endregion

        #region 摇杆 Jog 映射逻辑 | Joystick Jog Mapping Logic

        /// <summary>
        /// 处理双轴摇杆输出变化，根据当前激活按键映射到对应轴的 Jog 操作
        /// Handle dual joystick output changes, map to corresponding axis jog based on active button
        /// </summary>
        private void HandleDualJoystickOutput()
        {
            switch (DualJoystickActiveButton)
            {
                case MouseButtonType.Left:
                    // 左键：X→StageX Jog，Y→StageY Jog | Left button: X→StageX Jog, Y→StageY Jog
                    UpdateLinearJog(AxisId.StageX, DualJoystickOutputX);
                    UpdateLinearJog(AxisId.StageY, DualJoystickOutputY);
                    break;

                case MouseButtonType.Right:
                    // 右键：X→DetectorSwing Jog，Y→StageRotation 或 FixtureRotation Jog
                    // Right button: X→DetectorSwing Jog, Y→StageRotation or FixtureRotation Jog
                    UpdateRotaryJog(RotaryAxisId.DetectorSwing, DualJoystickOutputX);
                    var rotationAxisId = GetEnabledRotationAxisId();
                    if (rotationAxisId.HasValue)
                        UpdateRotaryJog(rotationAxisId.Value, DualJoystickOutputY);
                    break;
            }
        }

        /// <summary>
        /// 处理单轴摇杆输出变化，根据当前激活按键映射到对应轴的 Jog 操作
        /// Handle single joystick output changes, map to corresponding axis jog based on active button
        /// </summary>
        private void HandleSingleJoystickOutput()
        {
            switch (SingleJoystickActiveButton)
            {
                case MouseButtonType.Left:
                    // 左键：Y→SourceZ Jog | Left button: Y→SourceZ Jog
                    UpdateLinearJog(AxisId.SourceZ, SingleJoystickOutputY);
                    break;

                case MouseButtonType.Right:
                    // 右键：Y→DetectorZ Jog | Right button: Y→DetectorZ Jog
                    UpdateLinearJog(AxisId.DetectorZ, SingleJoystickOutputY);
                    break;
            }
        }

        /// <summary>
        /// 更新直线轴 Jog 状态：启动、更新速度或停止
        /// Update linear axis jog state: start, update speed, or stop
        /// </summary>
        /// <param name="axisId">直线轴标识 | Linear axis identifier</param>
        /// <param name="output">摇杆输出值（-1.0 ~ 1.0）| Joystick output value (-1.0 ~ 1.0)</param>
        private void UpdateLinearJog(AxisId axisId, double output)
        {
            if (output != 0)
            {
                var speedPercent = Math.Abs(output) * 100;
                var positive = output > 0;

                if (!_linearJogActive[axisId])
                {
                    // 从零变为非零：先设速度再启动 Jog | Zero to non-zero: set speed then start jog
                    SafeRun(() =>
                    {
                        _motionControlService.SetJogSpeed(axisId, speedPercent);
                        _motionControlService.JogStart(axisId, positive);
                        _linearJogActive[axisId] = true;
                        _logger.Debug("直线轴 Jog 启动：{AxisId}，方向={Direction}，速度={Speed}% | Linear axis jog started: {AxisId}, direction={Direction}, speed={Speed}%",
                            axisId, positive ? "正向" : "反向", speedPercent);
                    });
                }
                else
                {
                    // 已在 Jog 中：仅更新速度 | Already jogging: update speed only
                    SafeRun(() =>
                    {
                        _motionControlService.SetJogSpeed(axisId, speedPercent);
                        _logger.Debug("直线轴 Jog 速度更新：{AxisId}，速度={Speed}% | Linear axis jog speed updated: {AxisId}, speed={Speed}%",
                            axisId, speedPercent);
                    });
                }
            }
            else
            {
                // 从非零变为零：停止 Jog | Non-zero to zero: stop jog
                if (_linearJogActive[axisId])
                {
                    SafeRun(() =>
                    {
                        _motionControlService.JogStop(axisId);
                        _linearJogActive[axisId] = false;
                        _logger.Debug("直线轴 Jog 停止：{AxisId} | Linear axis jog stopped: {AxisId}", axisId);
                    });
                }
            }
        }

        /// <summary>
        /// 更新旋转轴 Jog 状态：启动、更新速度或停止
        /// Update rotary axis jog state: start, update speed, or stop
        /// </summary>
        /// <param name="axisId">旋转轴标识 | Rotary axis identifier</param>
        /// <param name="output">摇杆输出值（-1.0 ~ 1.0）| Joystick output value (-1.0 ~ 1.0)</param>
        private void UpdateRotaryJog(RotaryAxisId axisId, double output)
        {
            if (output != 0)
            {
                var speedPercent = Math.Abs(output) * 100;
                var positive = output > 0;

                if (!_rotaryJogActive[axisId])
                {
                    // 从零变为非零：先设速度再启动 Jog | Zero to non-zero: set speed then start jog
                    SafeRun(() =>
                    {
                        _motionControlService.SetJogRotarySpeed(axisId, speedPercent);
                        _motionControlService.JogRotaryStart(axisId, positive);
                        _rotaryJogActive[axisId] = true;
                        _logger.Debug("旋转轴 Jog 启动：{AxisId}，方向={Direction}，速度={Speed}% | Rotary axis jog started: {AxisId}, direction={Direction}, speed={Speed}%",
                            axisId, positive ? "正向" : "反向", speedPercent);
                    });
                }
                else
                {
                    // 已在 Jog 中：仅更新速度 | Already jogging: update speed only
                    SafeRun(() =>
                    {
                        _motionControlService.SetJogRotarySpeed(axisId, speedPercent);
                        _logger.Debug("旋转轴 Jog 速度更新：{AxisId}，速度={Speed}% | Rotary axis jog speed updated: {AxisId}, speed={Speed}%",
                            axisId, speedPercent);
                    });
                }
            }
            else
            {
                // 从非零变为零：停止 Jog | Non-zero to zero: stop jog
                if (_rotaryJogActive[axisId])
                {
                    SafeRun(() =>
                    {
                        _motionControlService.JogRotaryStop(axisId);
                        _rotaryJogActive[axisId] = false;
                        _logger.Debug("旋转轴 Jog 停止：{AxisId} | Rotary axis jog stopped: {AxisId}", axisId);
                    });
                }
            }
        }

        /// <summary>
        /// 停止双轴摇杆控制的所有轴 Jog | Stop all axes controlled by dual joystick
        /// </summary>
        private void StopDualJoystickAxes()
        {
            // 左键关联轴：StageX、StageY | Left button axes: StageX, StageY
            UpdateLinearJog(AxisId.StageX, 0);
            UpdateLinearJog(AxisId.StageY, 0);

            // 右键关联轴：DetectorSwing、StageRotation/FixtureRotation | Right button axes: DetectorSwing, StageRotation/FixtureRotation
            UpdateRotaryJog(RotaryAxisId.DetectorSwing, 0);
            var rotationAxisId = GetEnabledRotationAxisId();
            if (rotationAxisId.HasValue)
                UpdateRotaryJog(rotationAxisId.Value, 0);
        }

        /// <summary>
        /// 停止单轴摇杆控制的所有轴 Jog | Stop all axes controlled by single joystick
        /// </summary>
        private void StopSingleJoystickAxes()
        {
            // 左键关联轴：SourceZ | Left button axis: SourceZ
            UpdateLinearJog(AxisId.SourceZ, 0);

            // 右键关联轴：DetectorZ | Right button axis: DetectorZ
            UpdateLinearJog(AxisId.DetectorZ, 0);
        }

        /// <summary>
        /// 获取当前启用的旋转轴标识（StageRotation 或 FixtureRotation 二选一）
        /// Get the currently enabled rotation axis ID (StageRotation or FixtureRotation, one of two)
        /// </summary>
        /// <returns>启用的旋转轴标识，若均未启用则返回 null | Enabled rotary axis ID, or null if none enabled</returns>
        private RotaryAxisId? GetEnabledRotationAxisId()
        {
            if (_config.RotaryAxes.ContainsKey(RotaryAxisId.StageRotation)
                && _config.RotaryAxes[RotaryAxisId.StageRotation].Enabled)
                return RotaryAxisId.StageRotation;

            if (_config.RotaryAxes.ContainsKey(RotaryAxisId.FixtureRotation)
                && _config.RotaryAxes[RotaryAxisId.FixtureRotation].Enabled)
                return RotaryAxisId.FixtureRotation;

            return null;
        }

        #endregion

        #region 输入框编辑与目标位置 | Input Box Editing and Target Position

        /// <summary>
        /// 设置指定输入框的编辑状态 | Set editing state for specified input box
        /// GotFocus 时设为 true 冻结实时更新，LostFocus 时设为 false 恢复更新
        /// Set to true on GotFocus to freeze live updates, false on LostFocus to resume
        /// </summary>
        /// <param name="propertyName">属性名称 | Property name</param>
        /// <param name="isEditing">是否正在编辑 | Whether editing</param>
        public void SetEditing(string propertyName, bool isEditing)
        {
            _editingFlags[propertyName] = isEditing;
        }

        /// <summary>
        /// 确认输入框编辑，发送目标位置移动命令 | Confirm input box edit, send target position move command
        /// Enter 键触发，调用 MoveToTarget/MoveRotaryToTarget 后恢复实时更新
        /// Triggered by Enter key, calls MoveToTarget/MoveRotaryToTarget then resumes live updates
        /// </summary>
        /// <param name="propertyName">属性名称 | Property name</param>
        public void ConfirmPosition(string propertyName)
        {
            var value = GetPropertyValue(propertyName);
            SafeRun(() =>
            {
                var result = SendMoveCommand(propertyName, value);
                if (result.Success)
                    _logger.Info("目标位置已发送：{Property}={Value} | Target position sent: {Property}={Value}", propertyName, value);
                else
                    _logger.Warn("目标位置发送失败：{Property}={Value}，原因={Reason} | Target position send failed: {Property}={Value}, reason={Reason}", propertyName, value, result.ErrorMessage);
            });
            _editingFlags[propertyName] = false;
        }

        /// <summary>
        /// 取消输入框编辑，恢复实时更新并显示当前实际值 | Cancel input box edit, resume live updates and show actual value
        /// Escape 键或 LostFocus 触发 | Triggered by Escape key or LostFocus
        /// </summary>
        /// <param name="propertyName">属性名称 | Property name</param>
        public void CancelEditing(string propertyName)
        {
            _editingFlags[propertyName] = false;
            RestoreActualValue(propertyName);
        }

        /// <summary>
        /// 步进移动：上下箭头改变数值并直接发送移动命令，不进入编辑冻结
        /// Step move: arrow keys change value and send move command directly, without entering editing freeze
        /// </summary>
        /// <param name="propertyName">属性名称 | Property name</param>
        /// <param name="delta">步进增量（默认 ±0.1）| Step delta (default ±0.1)</param>
        public void StepPosition(string propertyName, double delta)
        {
            var currentValue = GetPropertyValue(propertyName);
            var newValue = currentValue + delta;
            SetPropertyValue(propertyName, newValue);
            SafeRun(() =>
            {
                var result = SendMoveCommand(propertyName, newValue);
                if (!result.Success)
                    _logger.Warn("步进移动失败：{Property}，原因={Reason} | Step move failed: {Property}, reason={Reason}", propertyName, result.ErrorMessage);
            });
        }

        /// <summary>
        /// 根据属性名称发送对应轴的移动命令 | Send move command for corresponding axis based on property name
        /// </summary>
        /// <param name="propertyName">属性名称 | Property name</param>
        /// <param name="value">目标值 | Target value</param>
        /// <returns>操作结果 | Operation result</returns>
        private MotionResult SendMoveCommand(string propertyName, double value)
        {
            switch (propertyName)
            {
                case nameof(StageXPosition):
                    return _motionControlService.MoveToTarget(AxisId.StageX, value);
                case nameof(StageYPosition):
                    return _motionControlService.MoveToTarget(AxisId.StageY, value);
                case nameof(SourceZPosition):
                    return _motionControlService.MoveToTarget(AxisId.SourceZ, value);
                case nameof(DetectorZPosition):
                    return _motionControlService.MoveToTarget(AxisId.DetectorZ, value);
                case nameof(DetectorSwingAngle):
                    return _motionControlService.MoveRotaryToTarget(RotaryAxisId.DetectorSwing, value);
                case nameof(StageRotationAngle):
                    return _motionControlService.MoveRotaryToTarget(RotaryAxisId.StageRotation, value);
                case nameof(FixtureRotationAngle):
                    return _motionControlService.MoveRotaryToTarget(RotaryAxisId.FixtureRotation, value);
                default:
                    return MotionResult.Fail($"未知的属性名称：{propertyName} | Unknown property name: {propertyName}");
            }
        }

        /// <summary>
        /// 根据属性名称获取当前绑定值 | Get current bound value by property name
        /// </summary>
        private double GetPropertyValue(string propertyName)
        {
            switch (propertyName)
            {
                case nameof(StageXPosition): return StageXPosition;
                case nameof(StageYPosition): return StageYPosition;
                case nameof(SourceZPosition): return SourceZPosition;
                case nameof(DetectorZPosition): return DetectorZPosition;
                case nameof(DetectorSwingAngle): return DetectorSwingAngle;
                case nameof(StageRotationAngle): return StageRotationAngle;
                case nameof(FixtureRotationAngle): return FixtureRotationAngle;
                default: return 0;
            }
        }

        /// <summary>
        /// 根据属性名称设置绑定值 | Set bound value by property name
        /// </summary>
        private void SetPropertyValue(string propertyName, double value)
        {
            switch (propertyName)
            {
                case nameof(StageXPosition): StageXPosition = value; break;
                case nameof(StageYPosition): StageYPosition = value; break;
                case nameof(SourceZPosition): SourceZPosition = value; break;
                case nameof(DetectorZPosition): DetectorZPosition = value; break;
                case nameof(DetectorSwingAngle): DetectorSwingAngle = value; break;
                case nameof(StageRotationAngle): StageRotationAngle = value; break;
                case nameof(FixtureRotationAngle): FixtureRotationAngle = value; break;
            }
        }

        /// <summary>
        /// 恢复输入框为轴的当前实际值 | Restore input box to axis actual value
        /// </summary>
        private void RestoreActualValue(string propertyName)
        {
            try
            {
                switch (propertyName)
                {
                    case nameof(StageXPosition):
                        StageXPosition = _motionSystem.GetLinearAxis(AxisId.StageX).ActualPosition;
                        break;
                    case nameof(StageYPosition):
                        StageYPosition = _motionSystem.GetLinearAxis(AxisId.StageY).ActualPosition;
                        break;
                    case nameof(SourceZPosition):
                        SourceZPosition = _motionSystem.GetLinearAxis(AxisId.SourceZ).ActualPosition;
                        break;
                    case nameof(DetectorZPosition):
                        DetectorZPosition = _motionSystem.GetLinearAxis(AxisId.DetectorZ).ActualPosition;
                        break;
                    case nameof(DetectorSwingAngle):
                        DetectorSwingAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.DetectorSwing).ActualAngle;
                        break;
                    case nameof(StageRotationAngle):
                        StageRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation).ActualAngle;
                        break;
                    case nameof(FixtureRotationAngle):
                        FixtureRotationAngle = _motionSystem.GetRotaryAxis(RotaryAxisId.FixtureRotation).ActualAngle;
                        break;
                }
            }
            catch { /* 轴未初始化时忽略 | Ignore when axes not initialized */ }
        }

        #endregion

        #region 安全参数逻辑 | Safety Parameter Logic

        /// <summary>
        /// 确认探测器安全高度限定值 | Confirm detector safety height limit value
        /// Enter 键触发，保存当前值 | Triggered by Enter key, saves current value
        /// </summary>
        public void ConfirmSafetyHeight()
        {
            _logger.Info("探测器安全高度限定值已保存：{Value} | Detector safety height limit saved: {Value}", SafetyHeight);
        }

        /// <summary>
        /// 确认校准自动计算值 | Confirm calibration auto-calculated value
        /// Enter 键触发，保存当前值 | Triggered by Enter key, saves current value
        /// </summary>
        public void ConfirmCalibrationValue()
        {
            _logger.Info("校准自动计算值已保存：{Value} | Calibration auto-calculated value saved: {Value}", CalibrationValue);
        }

        #endregion

        #region 内部数据类 | Internal Data Classes

        /// <summary>
        /// 保存的轴位置数据 | Saved axis position data
        /// </summary>
        private class SavedPositions
        {
            public double StageX { get; set; }
            public double StageY { get; set; }
            public double SourceZ { get; set; }
            public double DetectorZ { get; set; }
            public double DetectorSwing { get; set; }
            public double StageRotation { get; set; }
            public double FixtureRotation { get; set; }
        }

        #endregion
    }
}