FootwearTest-20260602/Footwear Test methodsfor wholeshoe Slipresistanceperformance/ViewModels/MainWindowViewModel.cs

using Avalonia;
using Avalonia.Controls.ApplicationLifetimes;
using Avalonia.Platform.Storage;
using Avalonia.Threading;
using CommunityToolkit.Mvvm.ComponentModel;
using CommunityToolkit.Mvvm.Input;
using Footwear_Test_methodsfor_wholeshoe_Slipresistanceperformance.Models;
using Footwear_Test_methodsfor_wholeshoe_Slipresistanceperformance.Services;
using LiveChartsCore;
using LiveChartsCore.Defaults;
using LiveChartsCore.SkiaSharpView;
using LiveChartsCore.SkiaSharpView.Painting;
using Serilog;
using SkiaSharp;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Diagnostics;
using System.Globalization;
using System.IO;
using System.Linq;
using System.Text.Json;
using System.Threading.Tasks;

namespace Footwear_Test_methodsfor_wholeshoe_Slipresistanceperformance.ViewModels
{
    public partial class MainWindowViewModel : ViewModelBase, IDisposable
    {
        private const double SampleIntervalSeconds = 1.0 / 50.0;
        private const double DynamicWindowStartSeconds = 0.3;
        private const double DynamicWindowEndSeconds = 0.6;
        private const double StaticPeakSearchEndSeconds = DynamicWindowEndSeconds;
        private const double StaticPeakMinimumRiseN = 1.0;
        private const double StaticPeakDropToleranceN = 0.5;
        private const double SlidingStartDisplacementThresholdMm = 0.05;
        private const double MinimumAnalysisLoadRatio = 0.8;
        private const int StaticPeakDropConfirmationPointCount = 3;
        private const int MinimumDynamicWindowPointCount = 10;
        private const int StandardTrialCount = 3;
        private const string DefaultPlcPortName = "COM3";
        private const string DefaultAdcPortName = "COM4";
        private const string LegacyPlcPortName = "COM7";
        private const string LegacyAdcPortName = "COM8";
        private static readonly TimeSpan ResetButtonPendingTimeout = TimeSpan.FromMilliseconds(800);
        private static readonly TimeSpan RealtimeCurveTraceInterval = TimeSpan.FromSeconds(1);

        private readonly SlipResistanceDeviceService deviceService = new();
        private readonly SlipExcelExportService excelExportService = new();
        private readonly DispatcherTimer refreshTimer;
        private readonly Stopwatch runStopwatch = new();
        private readonly List<SlipDataPoint> currentRun = [];
        private readonly ObservableCollection<ObservablePoint> verticalLoadPoints = [];
        private readonly ObservableCollection<ObservablePoint> horizontalFrictionPoints = [];
        private readonly ObservableCollection<ObservablePoint> frictionCoefficientPoints = [];
        private readonly ObservableCollection<ObservablePoint> displacementPoints = [];

        private bool isLoadingDeviceSettings;
        private bool wasRunning;
        private bool isResetButtonPending;
        private bool hasObservedResetDeviceBusy;
        private DateTime resetButtonPendingStartedAt = DateTime.MinValue;
        private string activePlcPortName = string.Empty;
        private string activeAdcPortName = string.Empty;
        private int activeBaudRate;
        private List<SlipDataPoint> lastCompletedRun = [];
        private DateTime lastRealtimeCurveTraceLoggedAt = DateTime.MinValue;
        private double runStartDisplacementMm;
        private double slidingStartDisplacementMm;
        private double? slidingStartTimeSeconds;
        private int activeRunLubricantIndex;

        [ObservableProperty]
        private string testNumber = $"SLIP-{DateTime.Now:yyyyMMdd-HHmm}";

        [ObservableProperty]
        private string operatorName = string.Empty;

        [ObservableProperty]
        private string methodName = "GB/T 3903.6-2024";

        [ObservableProperty]
        private string reportName = string.Empty;

        [ObservableProperty]
        private string sampleFeature = "整鞋样品 / 瓷砖接触面 / 水平测试";

        [ObservableProperty]
        private string currentStatus = "设备连接中，等待 PLC 与 ADC 实时数据";

        [ObservableProperty]
        private int uploadProgress;

        [ObservableProperty]
        private string manualDistance = "0";

        [ObservableProperty]
        private int selectedSampleIndex;

        [ObservableProperty]
        private bool isSettingsDialogOpen;

        [ObservableProperty]
        private string manualSpeed = "0.00";

        [ObservableProperty]
        private string manualDisplacement = "0.00";

        [ObservableProperty]
        private string testSpeed = "0.30";

        [ObservableProperty]
        private string normalPressureZero = "0";

        [ObservableProperty]
        private string normalPressureCoefficient = "0.00";

        [ObservableProperty]
        private string frictionZero1 = "0";

        [ObservableProperty]
        private string frictionCoefficient1 = "0.00";

        [ObservableProperty]
        private string frictionZero2 = "0";

        [ObservableProperty]
        private string frictionCoefficient2 = "0.00";

        [ObservableProperty]
        private string plcPortName = DefaultPlcPortName;

        [ObservableProperty]
        private string adcPortName = DefaultAdcPortName;

        [ObservableProperty]
        private int baudRate = 115200;

        [ObservableProperty]
        private int selectedShoeSizeIndex;

        [ObservableProperty]
        private int selectedLubricantIndex;

        [ObservableProperty]
        private int selectedModeIndex = 2;

        [ObservableProperty]
        private int selectedSurfaceIndex;

        [ObservableProperty]
        private string targetLoadText = "400 N";

        [ObservableProperty]
        private string actualLoadText = "0.0 N";

        [ObservableProperty]
        private string deviceStatus = "离线";

        [ObservableProperty]
        private string activeMode = "水平测试模式";

        [ObservableProperty]
        private string resultSummary = "等待 3 次有效试验";

        [ObservableProperty]
        private string testButtonText = "测试";

        [ObservableProperty]
        private string resetButtonText = "复位";

        [ObservableProperty]
        private int completedTestCount;

        [ObservableProperty]
        private int dryTestCount;

        [ObservableProperty]
        private int wetTestCount;

        [ObservableProperty]
        private int frostTestCount;

        [ObservableProperty]
        private string staticCoefficient = "0.00";

        [ObservableProperty]
        private string dynamicCoefficient = "0.00";

        [ObservableProperty]
        private string verticalPressure = "0.0";

        [ObservableProperty]
        private string horizontalForce = "0.0";

        [ObservableProperty]
        private string frictionCoefficient = "0.000";

        [ObservableProperty]
        private string distance = "0.0";

        public string TestSpeedText => $"{TestSpeed} m/s";
        public string SampleRateText { get; } = "50 Hz";
        public string BatchNumber { get; } = DateTime.Now.ToString("yyyy-MM-dd", CultureInfo.InvariantCulture);
        public string UploadProgressText => $"{UploadProgress}%";
        public string StandardReference { get; } = "GB/T 3903.6-2024：实时采集、静/动摩擦系数、三次平均与重测判定";

        public ObservableCollection<TestSample> Samples { get; } = [];

        public DrawMarginFrame ChartFrame { get; } = new()
        {
            Fill = new SolidColorPaint(SKColor.Parse("#FFFFFF")),
            Stroke = new SolidColorPaint(SKColor.Parse("#CBD5E1")) { StrokeThickness = 1.4f }
        };

        public SolidColorPaint LegendTextPaint { get; } = new(SKColor.Parse("#334155"));

        public ISeries[] Series { get; }

        public Axis[] XAxes { get; } =
        [
            new Axis
            {
                Name = "时间(s)",
                MinLimit = 0,
                MinStep = 0.05,
                SeparatorsPaint = new SolidColorPaint(SKColor.Parse("#D7E0EA")) { StrokeThickness = 1 },
                SubseparatorsPaint = new SolidColorPaint(SKColor.Parse("#EEF3F8")) { StrokeThickness = 1 },
                SubseparatorsCount = 4,
                LabelsPaint = new SolidColorPaint(SKColor.Parse("#475569")),
                NamePaint = new SolidColorPaint(SKColor.Parse("#334155")),
                TextSize = 12,
                NameTextSize = 13,
                Padding = new LiveChartsCore.Drawing.Padding(4, 3, 4, 3)
            }
        ];

        public Axis[] YAxes { get; } =
        [
            new Axis
            {
                Name = "压力(N)/距离(mm)",
                MinLimit = 0,
                MaxLimit = 800,
                MinStep = 50,
                ForceStepToMin = true,
                SeparatorsPaint = new SolidColorPaint(SKColor.Parse("#D7E0EA")) { StrokeThickness = 1 },
                SubseparatorsPaint = new SolidColorPaint(SKColor.Parse("#EEF3F8")) { StrokeThickness = 1 },
                SubseparatorsCount = 4,
                LabelsPaint = new SolidColorPaint(SKColor.Parse("#475569")),
                NamePaint = new SolidColorPaint(SKColor.Parse("#334155")),
                TextSize = 11,
                NameTextSize = 12,
                Padding = new LiveChartsCore.Drawing.Padding(2, 2, 3, 2)
            },
            new Axis
            {
                Name = "摩擦系数",
                Position = LiveChartsCore.Measure.AxisPosition.End,
                MinLimit = 0,
                MaxLimit = 1.5,
                MinStep = 0.1,
                ForceStepToMin = true,
                LabelsPaint = new SolidColorPaint(SKColor.Parse("#7E22CE")),
                NamePaint = new SolidColorPaint(SKColor.Parse("#7E22CE")),
                SeparatorsPaint = null,
                TextSize = 11,
                NameTextSize = 12,
                Padding = new LiveChartsCore.Drawing.Padding(3, 2, 2, 2)
            }
        ];

        public MainWindowViewModel()
        {
            Log.Information("初始化主页面 ViewModel");
            Series =
            [
                CreateLineSeries("垂直压力(N)", verticalLoadPoints, "#DC2626", 0),
                CreateLineSeries("水平拉力(N)", horizontalFrictionPoints, "#16A34A", 0),
                CreateLineSeries("摩擦系数", frictionCoefficientPoints, "#C026D3", 1),
                CreateLineSeries("距离(mm)", displacementPoints, "#2563EB", 0)
            ];

            LoadDeviceSettings();
            UpdateTargetLoad();
            RestartDeviceConnection();
            _ = LoadPlcParametersAsync();

            refreshTimer = new DispatcherTimer { Interval = TimeSpan.FromMilliseconds(20) };
            refreshTimer.Tick += (_, _) => RefreshFromDevice();
            refreshTimer.Start();
        }

        [RelayCommand]
        private async Task Clear()
        {
            ApplyConnectionSettings();
            BeginResetButtonFeedback();

            try
            {
                await deviceService.PulseResetAsync();
                CurrentStatus = "已按老代码逻辑发送复位指令 M90";
            }
            catch (Exception ex)
            {
                Log.Error(ex, "设备指令失败：已按老代码逻辑发送复位指令 M90");
                CurrentStatus = $"设备指令失败：{ex.Message}";
                ClearResetButtonFeedback();
                UpdateResetButtonText(deviceService.CurrentSnapshot);
            }
        }

        [RelayCommand]
        private void Preload()
        {
            CurrentStatus = "请在 0.2 s 内施加目标垂直载荷，载荷达到后启动滑动测试";
        }

        [RelayCommand]
        private async Task StartTest()
        {
            ApplyConnectionSettings();
            var device = deviceService.CurrentSnapshot;
            if (device.IsTestRunning)
            {
                await RunDeviceCommand(deviceService.PulseStopTestAsync(), "已按老代码逻辑发送停止指令 M83");
                return;
            }

            if (!ValidateAdcCoefficientsBeforeTest())
            {
                return;
            }

            await RunDeviceCommand(deviceService.PulseStartTestAsync(), "已按老代码逻辑发送测试启动指令 M80，等待 M81 运行状态");
        }

        [RelayCommand]
        private async Task StopTest()
        {
            await RunDeviceCommand(deviceService.PulseStopTestAsync(), "已发送测试停止指令 M83");
        }

        [RelayCommand]
        private async Task ExportReport()
        {
            var points = currentRun.Count > 0 ? currentRun.ToList() : lastCompletedRun;
            if (points.Count == 0)
            {
                Log.Warning("请求导出 Excel 时没有可导出的实时采样数据：TestNumber={TestNumber}", TestNumber);
                CurrentStatus = "没有可导出的实时采样数据，请先完成一次测试";
                return;
            }

            try
            {
                CurrentStatus = "请选择 Excel 报告保存目录";
                var exportDirectory = await SelectExportDirectoryAsync();
                if (exportDirectory is null)
                {
                    Log.Information("用户取消 Excel 导出目录选择：TestNumber={TestNumber}, PointCount={PointCount}", TestNumber, points.Count);
                    CurrentStatus = "已取消 Excel 导出";
                    return;
                }

                var report = new SlipReportExport(
                    TestNumber,
                    OperatorName,
                    MethodName,
                    ReportName,
                    SampleFeature,
                    CurrentShoeSize(),
                    CurrentLubricant(),
                    CurrentMode(),
                    CurrentSurface(),
                    TargetLoadText,
                    ActualLoadText,
                    TestSpeedText,
                    StandardReference,
                    Samples.ToList(),
                    points);

                var path = excelExportService.Export(report, exportDirectory);
                UploadProgress = 100;
                CurrentStatus = $"Excel 已导出：{path}";
            }
            catch (Exception ex)
            {
                Log.Error(ex, "Excel 导出失败：TestNumber={TestNumber}, PointCount={PointCount}", TestNumber, points.Count);
                CurrentStatus = $"Excel 导出失败：{ex.Message}";
            }
        }

        private async Task<string?> SelectExportDirectoryAsync()
        {
            var storageProvider = GetStorageProvider();
            if (storageProvider is null || !storageProvider.CanPickFolder)
            {
                var defaultDirectory = SlipExcelExportService.GetDefaultExportDirectory();
                Log.Warning("当前平台无法打开 Excel 导出目录选择器，将使用默认目录：Path={Path}", defaultDirectory);
                return defaultDirectory;
            }

            var folders = await storageProvider.OpenFolderPickerAsync(new FolderPickerOpenOptions
            {
                Title = "选择报告保存目录",
                AllowMultiple = false,
                SuggestedStartLocation = await TryGetSuggestedExportFolderAsync(storageProvider)
            });

            var selectedFolder = folders.FirstOrDefault();
            if (selectedFolder is null)
            {
                return null;
            }

            var localPath = selectedFolder.TryGetLocalPath();
            if (string.IsNullOrWhiteSpace(localPath) && selectedFolder.Path.IsFile)
            {
                localPath = selectedFolder.Path.LocalPath;
            }

            if (string.IsNullOrWhiteSpace(localPath))
            {
                throw new InvalidOperationException("选择的目录不是本地文件夹，无法保存 Excel");
            }

            return localPath;
        }

        private static async Task<IStorageFolder?> TryGetSuggestedExportFolderAsync(IStorageProvider storageProvider)
        {
            try
            {
                var defaultDirectory = SlipExcelExportService.GetDefaultExportDirectory();
                if (Directory.Exists(defaultDirectory))
                {
                    return await storageProvider.TryGetFolderFromPathAsync(defaultDirectory);
                }

                var parentDirectory = Path.GetDirectoryName(defaultDirectory);
                if (!string.IsNullOrWhiteSpace(parentDirectory) && Directory.Exists(parentDirectory))
                {
                    return await storageProvider.TryGetFolderFromPathAsync(parentDirectory);
                }

                return null;
            }
            catch (Exception ex)
            {
                Log.Warning(ex, "准备 Excel 默认导出目录失败，将不设置目录选择初始位置");
                return null;
            }
        }

        private static IStorageProvider? GetStorageProvider()
        {
            if (Application.Current?.ApplicationLifetime is IClassicDesktopStyleApplicationLifetime desktop
                && desktop.MainWindow is not null)
            {
                return desktop.MainWindow.StorageProvider;
            }

            return null;
        }

        [RelayCommand]
        private Task LiftMotion() => RunDeviceCommand(deviceService.ApplyOldLiftAsync(), "提升按老代码逻辑执行：M4=0, M5=1");

        [RelayCommand]
        private Task LowerMotion() => RunDeviceCommand(deviceService.ApplyOldLowerAsync(), "下降按老代码逻辑执行：M5=0, M4=1");

        [RelayCommand]
        private Task MoveLeftMotion() => RunDeviceCommand(deviceService.ToggleOldMoveLeftAsync(), "左移按老代码逻辑切换 M1");

        [RelayCommand]
        private Task MoveRightMotion() => RunDeviceCommand(deviceService.ToggleOldMoveRightAsync(), "右移按老代码逻辑切换 M2");

        public Task StopAllMotionAsync() => RunDeviceCommand(deviceService.StopAllMotionAsync(), "全部运动已停止");

        [RelayCommand]
        private void DeleteSelectedSample()
        {
            var sample = Samples.FirstOrDefault(x => x.Index == SelectedSampleIndex);
            if (sample is null)
            {
                CurrentStatus = $"未找到序号 {SelectedSampleIndex} 的实验数据";
                return;
            }

            Samples.Remove(sample);
            UpdateResultSummary();
            CurrentStatus = $"已删除序号 {SelectedSampleIndex} 的实验数据";
        }

        [RelayCommand]
        private void ShowSettingsDialog()
        {
            IsSettingsDialogOpen = true;
        }

        [RelayCommand]
        private void CloseSettingsDialog()
        {
            IsSettingsDialogOpen = false;
            ApplyConnectionSettings();
        }

        [RelayCommand]
        private void CalibrateNormalPressureZero()
        {
            try
            {
                var zero = deviceService.CaptureCurrentAdcZero();
                NormalPressureZero = zero.NormalPressureZero.ToString(CultureInfo.InvariantCulture);
                SaveAndApplySettings();
                CurrentStatus = "正压力零点已按当前 ADC 原始值采集";
            }
            catch (Exception ex)
            {
                Log.Error(ex, "正压力零点采集失败");
                CurrentStatus = $"正压力零点采集失败：{ex.Message}";
            }
        }

        [RelayCommand]
        private void CalibrateFrictionZero()
        {
            try
            {
                var zero = deviceService.CaptureCurrentAdcZero();
                FrictionZero1 = zero.FrictionZero1.ToString(CultureInfo.InvariantCulture);
                FrictionZero2 = zero.FrictionZero2.ToString(CultureInfo.InvariantCulture);
                SaveAndApplySettings();
                CurrentStatus = "摩擦零点已按当前 ADC 原始值采集";
            }
            catch (Exception ex)
            {
                Log.Error(ex, "摩擦零点采集失败");
                CurrentStatus = $"摩擦零点采集失败：{ex.Message}";
            }
        }

        partial void OnUploadProgressChanged(int value) => OnPropertyChanged(nameof(UploadProgressText));

        partial void OnManualSpeedChanged(string value)
        {
            SaveAndApplySettings();
            WriteNumericSetting(value, deviceService.WriteManualSpeedAsync, "手动速度");
        }

        partial void OnManualDisplacementChanged(string value)
        {
            SaveAndApplySettings();
            WriteNumericSetting(value, deviceService.WriteManualDisplacementAsync, "手动位移");
        }

        partial void OnTestSpeedChanged(string value)
        {
            OnPropertyChanged(nameof(TestSpeedText));
            SaveAndApplySettings();
            WriteNumericSetting(value, deviceService.WriteTestSpeedAsync, "测试速度");
        }

        partial void OnNormalPressureZeroChanged(string value) => SaveAndApplySettings();

        partial void OnNormalPressureCoefficientChanged(string value) => SaveAndApplySettings();

        partial void OnFrictionZero1Changed(string value) => SaveAndApplySettings();

        partial void OnFrictionCoefficient1Changed(string value) => SaveAndApplySettings();

        partial void OnFrictionZero2Changed(string value) => SaveAndApplySettings();

        partial void OnFrictionCoefficient2Changed(string value) => SaveAndApplySettings();

        partial void OnPlcPortNameChanged(string value) => SaveAndApplySettings();

        partial void OnAdcPortNameChanged(string value) => SaveAndApplySettings();

        partial void OnBaudRateChanged(int value) => SaveAndApplySettings();

        partial void OnSelectedShoeSizeIndexChanged(int value) => UpdateTargetLoad();

        partial void OnSelectedModeIndexChanged(int value)
        {
            ActiveMode = CurrentMode();
        }

        public void Dispose()
        {
            refreshTimer.Stop();
            try
            {
                deviceService.StopAllMotionAsync().Wait(500);
            }
            catch (Exception ex)
            {
                Log.Warning(ex, "关闭窗口时停止全部运动失败");
            }

            deviceService.Dispose();
        }

        private void RefreshFromDevice()
        {
            var device = deviceService.CurrentSnapshot;
            if (device.IsConnected)
            {
                DeviceStatus = device.IsTestRunning ? "联机 / 测试中" : device.IsResetting ? "联机 / 复位中" : "联机 / 待机";
                TestButtonText = device.IsTestRunning ? "停止" : "测试";
                UpdateResetButtonText(device);
                VerticalPressure = device.VerticalLoadN.ToString("F1", CultureInfo.InvariantCulture);
                HorizontalForce = device.HorizontalFrictionN.ToString("F1", CultureInfo.InvariantCulture);
                FrictionCoefficient = device.FrictionCoefficient.ToString("F3", CultureInfo.InvariantCulture);
                Distance = device.DisplacementMm.ToString("F1", CultureInfo.InvariantCulture);
                ActualLoadText = $"{VerticalPressure} N";
            }
            else
            {
                DeviceStatus = IsAdcCalibrationError(device.LastError) ? "数据无效" : "离线";
                TestButtonText = device.IsTestRunning ? "停止" : "测试";
                UpdateResetButtonText(device);
                VerticalPressure = "--";
                HorizontalForce = "--";
                FrictionCoefficient = "--";
                Distance = "--";
                ActualLoadText = "-- N";
            }

            if (!device.IsConnected && !string.IsNullOrWhiteSpace(device.LastError))
            {
                CurrentStatus = IsAdcCalibrationError(device.LastError)
                    ? $"数据无效：{device.LastError}"
                    : $"设备离线：{device.LastError}";
            }

            var isRecording = device.IsConnected && device.IsTestRunning;
            if (!wasRunning && isRecording)
            {
                BeginRun();
            }

            if (isRecording)
            {
                RecordPoint(device);
            }

            if (wasRunning && !isRecording)
            {
                if (device.IsConnected)
                {
                    CompleteRun();
                }
                else
                {
                    AbortRun("设备离线，本次采集已停止，未生成试验结果");
                }
            }

            wasRunning = isRecording;
        }

        private void BeginResetButtonFeedback()
        {
            isResetButtonPending = true;
            hasObservedResetDeviceBusy = false;
            resetButtonPendingStartedAt = DateTime.UtcNow;
            ResetButtonText = "复位中";
        }

        private void ClearResetButtonFeedback()
        {
            isResetButtonPending = false;
            hasObservedResetDeviceBusy = false;
            resetButtonPendingStartedAt = DateTime.MinValue;
        }

        private void UpdateResetButtonText(SlipDeviceSnapshot device)
        {
            if (device.IsResetting)
            {
                hasObservedResetDeviceBusy = true;
            }
            else if (!device.IsConnected
                || hasObservedResetDeviceBusy
                || (isResetButtonPending && DateTime.UtcNow - resetButtonPendingStartedAt >= ResetButtonPendingTimeout))
            {
                ClearResetButtonFeedback();
            }

            ResetButtonText = device.IsResetting || isResetButtonPending ? "复位中" : "复位";
        }

        private void BeginRun()
        {
            currentRun.Clear();
            verticalLoadPoints.Clear();
            horizontalFrictionPoints.Clear();
            frictionCoefficientPoints.Clear();
            displacementPoints.Clear();
            runStartDisplacementMm = deviceService.CurrentSnapshot.DisplacementMm;
            slidingStartDisplacementMm = runStartDisplacementMm;
            slidingStartTimeSeconds = null;
            activeRunLubricantIndex = SelectedLubricantIndex;
            runStopwatch.Restart();
            UploadProgress = 0;
            lastRealtimeCurveTraceLoggedAt = DateTime.MinValue;
            CurrentStatus = "测试运行：等待检测有效滑动开始，曲线尚未记录";
            Log.Information(
                "测试开始：TestNumber={TestNumber}, TargetLoad={TargetLoad}, TestSpeed={TestSpeed}, StartDisplacement={StartDisplacement:F3}mm, CurveRecording=等待有效滑动开始",
                TestNumber,
                TargetLoadText,
                TestSpeedText,
                runStartDisplacementMm);
        }

        private void RecordPoint(SlipDeviceSnapshot device)
        {
            var elapsedSinceTestStart = runStopwatch.Elapsed.TotalSeconds;
            var detectionPoint = new SlipDataPoint(
                device.Timestamp,
                elapsedSinceTestStart,
                device.VerticalLoadN,
                device.HorizontalFrictionN,
                device.DisplacementMm,
                device.FrictionCoefficient);

            TryMarkSlidingStart(detectionPoint);
            if (!slidingStartTimeSeconds.HasValue)
            {
                return;
            }

            var standardTime = Math.Max(0, elapsedSinceTestStart - slidingStartTimeSeconds.Value);
            if (currentRun.Count > 0 && standardTime - currentRun[^1].TimeSeconds < SampleIntervalSeconds)
            {
                return;
            }

            var point = new SlipDataPoint(
                device.Timestamp,
                standardTime,
                device.VerticalLoadN,
                device.HorizontalFrictionN,
                Math.Abs(device.DisplacementMm - slidingStartDisplacementMm),
                device.FrictionCoefficient);

            currentRun.Add(point);
            verticalLoadPoints.Add(new ObservablePoint(standardTime, point.VerticalLoadN));
            horizontalFrictionPoints.Add(new ObservablePoint(standardTime, point.HorizontalFrictionN));
            UpdateLinearDisplacementSeries(point);
            frictionCoefficientPoints.Add(new ObservablePoint(standardTime, point.FrictionCoefficient));

            UploadProgress = Math.Min(99, currentRun.Count);
            TraceRealtimeCurvePoint(point);
        }

        private void CompleteRun()
        {
            runStopwatch.Stop();
            LogRealtimeCurveSummary("测试停止");
            RecordCompletedTest();
            if (!slidingStartTimeSeconds.HasValue)
            {
                Log.Warning(
                    "测试停止但未检测到有效滑动开始：TestNumber={TestNumber}, StartDisplacement={StartDisplacement:F3}mm, DisplacementThreshold={DisplacementThreshold:F3}mm, MinimumAnalysisLoad={MinimumAnalysisLoad:F3}N, CurvePointCount={CurvePointCount}",
                    TestNumber,
                    runStartDisplacementMm,
                    SlidingStartDisplacementThresholdMm,
                    GetMinimumAnalysisLoad(),
                    currentRun.Count);
                CurrentStatus = "测试已停止，但未检测到有效滑动开始，曲线未记录且未生成结果";
                return;
            }

            if (currentRun.Count < 3)
            {
                Log.Warning(
                    "测试停止但滑动后采样点不足：TestNumber={TestNumber}, SlidingDetectionDelay={SlidingDetectionDelay:F3}s, PointCount={PointCount}",
                    TestNumber,
                    slidingStartTimeSeconds.Value,
                    currentRun.Count);
                CurrentStatus = "测试已停止，但有效采样点不足，未生成结果";
                return;
            }

            lastCompletedRun = currentRun.ToList();
            var minimumAnalysisLoad = GetMinimumAnalysisLoad();
            const double slidingStartTime = 0;
            var staticPeak = FindStaticPeak(currentRun);
            var peak = staticPeak.Point;
            var dynamicWindow = currentRun
                .Where(IsInDynamicWindow)
                .ToList();
            if (dynamicWindow.Count < MinimumDynamicWindowPointCount)
            {
                var firstWindowPoint = dynamicWindow.FirstOrDefault();
                var lastWindowPoint = dynamicWindow.LastOrDefault();
                Log.Warning(
                    "测试停止但动摩擦窗口采样点不足：TestNumber={TestNumber}, PointCount={PointCount}, SlidingDetectionDelay={SlidingDetectionDelay:F3}s, StandardTimeOrigin={StandardTimeOrigin:F3}s, DynamicWindow=滑动开始后0.300-0.600s, DynamicWindowPointCount={DynamicWindowPointCount}, RequiredPointCount={RequiredPointCount}, ActualWindowStart={ActualWindowStart}, ActualWindowEnd={ActualWindowEnd}, FirstSampleTime={FirstSampleTime:F3}s, LastSampleTime={LastSampleTime:F3}s",
                    TestNumber,
                    currentRun.Count,
                    slidingStartTimeSeconds.Value,
                    slidingStartTime,
                    dynamicWindow.Count,
                    MinimumDynamicWindowPointCount,
                    FormatStandardTime(firstWindowPoint),
                    FormatStandardTime(lastWindowPoint),
                    currentRun[0].TimeSeconds,
                    currentRun[^1].TimeSeconds);
                CurrentStatus = "测试已停止，0.3 s~0.6 s 有效采样点不足，未生成结果";
                return;
            }

            var staticCoefficientValue = CalculateCoefficient(peak.HorizontalFrictionN, peak.VerticalLoadN);
            var dynamicForce = dynamicWindow.Average(point => point.HorizontalFrictionN);
            var dynamicLoad = dynamicWindow.Average(point => point.VerticalLoadN);
            if (peak.VerticalLoadN < minimumAnalysisLoad || dynamicLoad < minimumAnalysisLoad)
            {
                Log.Warning(
                    "测试停止但静/动摩擦窗口载荷不足：TestNumber={TestNumber}, SlidingDetectionDelay={SlidingDetectionDelay:F3}s, MinimumAnalysisLoad={MinimumAnalysisLoad:F3}N, StaticLoad={StaticLoad:F3}N, DynamicAvgLoad={DynamicAvgLoad:F3}N, StaticPoint={StaticPoint}, DynamicPointCount={DynamicPointCount}",
                    TestNumber,
                    slidingStartTimeSeconds.Value,
                    minimumAnalysisLoad,
                    peak.VerticalLoadN,
                    dynamicLoad,
                    FormatDataPoint(peak),
                    dynamicWindow.Count);
                CurrentStatus = "测试已停止，静/动摩擦窗口载荷不足，未生成结果";
                return;
            }

            var dynamicCoefficientValue = CalculateCoefficient(dynamicForce, dynamicLoad);
            var verdict = NeedsRetest(staticCoefficientValue, dynamicCoefficientValue) ? "需重测" : "有效";
            var nextIndex = Samples.Count == 0 ? 1 : Samples.Max(sample => sample.Index) + 1;
            var peakIndex = currentRun.IndexOf(peak) + 1;
            var dynamicStart = dynamicWindow[0].TimeSeconds;
            var dynamicEnd = dynamicWindow[^1].TimeSeconds;

            Log.Information(
                "静/动摩擦计算明细：TestNumber={TestNumber}, PointCount={PointCount}, SlidingDetectionDelay={SlidingDetectionDelay:F3}s, StandardTimeOrigin={StandardTimeOrigin:F3}s, AbsoluteSlidingStartDisplacement={AbsoluteSlidingStartDisplacement:F3}mm, StaticSearchWindow=滑动开始后首个峰值0.000-{StaticSearchEnd:F3}s, StaticPeakMode={StaticPeakMode}, StaticPointIndex={StaticPointIndex}, StaticTime={StaticTime:F3}s, StaticFriction={StaticFriction:F3}N, StaticLoad={StaticLoad:F3}N, StaticCoefficient={StaticCoefficient:F5}, DynamicWindow=滑动开始后{DynamicWindowStart:F3}-{DynamicWindowEnd:F3}s, DynamicActualWindow={DynamicActualStart:F3}-{DynamicActualEnd:F3}s, DynamicPointCount={DynamicPointCount}, DynamicAvgFriction={DynamicAvgFriction:F3}N, DynamicAvgLoad={DynamicAvgLoad:F3}N, DynamicCoefficient={DynamicCoefficient:F5}",
                TestNumber,
                currentRun.Count,
                slidingStartTimeSeconds.Value,
                slidingStartTime,
                slidingStartDisplacementMm,
                StaticPeakSearchEndSeconds,
                staticPeak.Mode,
                peakIndex,
                peak.TimeSeconds,
                peak.HorizontalFrictionN,
                peak.VerticalLoadN,
                staticCoefficientValue,
                DynamicWindowStartSeconds,
                DynamicWindowEndSeconds,
                dynamicStart,
                dynamicEnd,
                dynamicWindow.Count,
                dynamicForce,
                dynamicLoad,
                dynamicCoefficientValue);

            Samples.Insert(0, new TestSample(
                nextIndex,
                DateTime.Now.ToString("HH:mm:ss", CultureInfo.InvariantCulture),
                staticCoefficientValue.ToString("F2", CultureInfo.InvariantCulture),
                dynamicCoefficientValue.ToString("F2", CultureInfo.InvariantCulture),
                verdict,
                staticCoefficientValue,
                dynamicCoefficientValue));

            StaticCoefficient = staticCoefficientValue.ToString("F2", CultureInfo.InvariantCulture);
            DynamicCoefficient = dynamicCoefficientValue.ToString("F2", CultureInfo.InvariantCulture);
            UpdateResultSummary();
            UploadProgress = 100;
            CurrentStatus = verdict == "有效"
                ? "测试完成：已按标准生成静/动摩擦系数"
                : "测试完成：最近三次结果差异超过 10%，建议重新测试";
            Log.Information(
                "测试完成：TestNumber={TestNumber}, PointCount={PointCount}, StaticCoefficient={StaticCoefficient:F3}, DynamicCoefficient={DynamicCoefficient:F3}, Verdict={Verdict}",
                TestNumber,
                currentRun.Count,
                staticCoefficientValue,
                dynamicCoefficientValue,
                verdict);
        }

        private void RecordCompletedTest()
        {
            CompletedTestCount++;
            switch (activeRunLubricantIndex)
            {
                case 1:
                case 2:
                    WetTestCount++;
                    break;
                case 3:
                    FrostTestCount++;
                    break;
                default:
                    DryTestCount++;
                    break;
            }

            Log.Information(
                "完整测试次数已更新：TestNumber={TestNumber}, Lubricant={Lubricant}, CompletedTestCount={CompletedTestCount}, DryTestCount={DryTestCount}, WetTestCount={WetTestCount}, FrostTestCount={FrostTestCount}",
                TestNumber,
                CurrentLubricant(activeRunLubricantIndex),
                CompletedTestCount,
                DryTestCount,
                WetTestCount,
                FrostTestCount);
        }

        private void AbortRun(string message)
        {
            runStopwatch.Stop();
            Log.Warning(
                "测试采集中止：TestNumber={TestNumber}, PointCount={PointCount}, Message={Message}",
                TestNumber,
                currentRun.Count,
                message);
            CurrentStatus = message;
        }

        private bool NeedsRetest(double staticCoefficientValue, double dynamicCoefficientValue)
        {
            var previous = Samples.Take(StandardTrialCount - 1).Reverse().ToList();
            if (previous.Count < StandardTrialCount - 1)
            {
                return false;
            }

            var staticValues = previous.Select(sample => sample.StaticCoefficientValue).Append(staticCoefficientValue).ToArray();
            var dynamicValues = previous.Select(sample => sample.DynamicCoefficientValue).Append(dynamicCoefficientValue).ToArray();
            return HasSystematicTrendExceedingTenPercent(staticValues) || HasSystematicTrendExceedingTenPercent(dynamicValues);
        }

        private static bool HasSystematicTrendExceedingTenPercent(double[] values)
        {
            var isIncreasing = values.Zip(values.Skip(1), (left, right) => right > left).All(result => result);
            var isDecreasing = values.Zip(values.Skip(1), (left, right) => right < left).All(result => result);
            if (!isIncreasing && !isDecreasing)
            {
                return false;
            }

            var average = values.Average();
            if (Math.Abs(average) < 0.0001)
            {
                return false;
            }

            return (values.Max() - values.Min()) / Math.Abs(average) > 0.10;
        }

        private void UpdateResultSummary()
        {
            var latest = Samples.Take(StandardTrialCount).ToList();
            if (latest.Count == 0)
            {
                ResultSummary = "等待 3 次有效试验";
                return;
            }

            if (latest.Count < StandardTrialCount)
            {
                ResultSummary = $"已完成 {latest.Count}/3 次有效试验";
                return;
            }

            var staticAverage = latest.Average(sample => sample.StaticCoefficientValue);
            var dynamicAverage = latest.Average(sample => sample.DynamicCoefficientValue);
            ResultSummary = $"近 3 次平均 静 {staticAverage:F2} / 动 {dynamicAverage:F2}";
        }

        private void TryMarkSlidingStart(SlipDataPoint point)
        {
            if (slidingStartTimeSeconds.HasValue)
            {
                return;
            }

            var minimumAnalysisLoad = GetMinimumAnalysisLoad();
            if (!IsSlidingStartPoint(point, runStartDisplacementMm, minimumAnalysisLoad))
            {
                return;
            }

            slidingStartTimeSeconds = point.TimeSeconds;
            slidingStartDisplacementMm = point.DisplacementMm;
            CurrentStatus = "已检测到有效滑动开始：曲线从 0.000 s 开始记录";
            Log.Information(
                "检测到有效滑动开始并建立曲线零点：TestNumber={TestNumber}, SlidingStartTime={SlidingStartTime:F3}s, SlidingDetectionDelay={SlidingDetectionDelay:F3}s, StandardTimeOrigin=0.000s, StartDisplacement={StartDisplacement:F3}mm, SlidingStartDisplacement={SlidingStartDisplacement:F3}mm, DisplacementDelta={DisplacementDelta:F3}mm, VerticalLoad={VerticalLoad:F3}N, MinimumAnalysisLoad={MinimumAnalysisLoad:F3}N",
                TestNumber,
                point.TimeSeconds,
                point.TimeSeconds,
                runStartDisplacementMm,
                slidingStartDisplacementMm,
                Math.Abs(point.DisplacementMm - runStartDisplacementMm),
                point.VerticalLoadN,
                minimumAnalysisLoad);
        }

        private double GetMinimumAnalysisLoad() =>
            TryParseLoadValue(TargetLoadText, out var targetLoad)
                ? Math.Max(1, targetLoad * MinimumAnalysisLoadRatio)
                : 1;

        private static bool TryParseLoadValue(string value, out double load)
        {
            var numeric = new string(value
                .Where(character => char.IsDigit(character) || character is '.' or '-' or '+')
                .ToArray());
            return double.TryParse(numeric, NumberStyles.Float, CultureInfo.InvariantCulture, out load);
        }

        private static bool IsSlidingStartPoint(SlipDataPoint point, double startDisplacementMm, double minimumAnalysisLoad) =>
            point.VerticalLoadN >= minimumAnalysisLoad
            && Math.Abs(point.DisplacementMm - startDisplacementMm) >= SlidingStartDisplacementThresholdMm;

        private static StaticPeakSelection FindStaticPeak(IReadOnlyList<SlipDataPoint> points)
        {
            var searchWindow = points
                .Where(point => point.TimeSeconds >= 0
                    && point.TimeSeconds <= StaticPeakSearchEndSeconds)
                .ToList();
            if (searchWindow.Count == 0)
            {
                return new StaticPeakSelection(points[0], "NoStaticWindowFallback");
            }

            var firstFriction = searchWindow[0].HorizontalFrictionN;
            var peakIndex = 0;
            for (var index = 1; index < searchWindow.Count; index++)
            {
                if (searchWindow[index].HorizontalFrictionN > searchWindow[peakIndex].HorizontalFrictionN)
                {
                    peakIndex = index;
                }

                var peak = searchWindow[peakIndex];
                var hasMeaningfulRise = peak.HorizontalFrictionN - firstFriction >= StaticPeakMinimumRiseN;
                if (!hasMeaningfulRise)
                {
                    continue;
                }

                var confirmationEnd = Math.Min(
                    searchWindow.Count - 1,
                    index + StaticPeakDropConfirmationPointCount - 1);
                if (confirmationEnd - index + 1 < StaticPeakDropConfirmationPointCount)
                {
                    continue;
                }

                var isConfirmedFalling = true;
                for (var confirmationIndex = index; confirmationIndex <= confirmationEnd; confirmationIndex++)
                {
                    if (searchWindow[confirmationIndex].HorizontalFrictionN > peak.HorizontalFrictionN - StaticPeakDropToleranceN)
                    {
                        isConfirmedFalling = false;
                        break;
                    }
                }

                if (isConfirmedFalling)
                {
                    return new StaticPeakSelection(peak, "FirstConfirmedPeak");
                }
            }

            return new StaticPeakSelection(
                searchWindow.MaxBy(point => point.HorizontalFrictionN) ?? searchWindow[0],
                "MaxFallback");
        }

        private sealed record StaticPeakSelection(SlipDataPoint Point, string Mode);

        private static double CalculateCoefficient(double frictionForce, double verticalLoad) =>
            Math.Abs(verticalLoad) > 0.0001 ? frictionForce / verticalLoad : 0;

        private void LogRealtimeCurveSummary(string stage)
        {
            var expectedCount = currentRun.Count;
            var lastPoint = currentRun.Count > 0 ? currentRun[^1] : null;
            var countsMatch =
                verticalLoadPoints.Count == expectedCount
                && horizontalFrictionPoints.Count == expectedCount
                && frictionCoefficientPoints.Count == expectedCount
                && IsLinearDisplacementSeriesSynchronized(lastPoint);

            Log.Information(
                "实时曲线同步汇总：Stage={Stage}, TestNumber={TestNumber}, DataPointCount={DataPointCount}, ChartCounts=[Vertical:{VerticalCount}, Friction:{FrictionCount}, Coefficient:{CoefficientCount}, DisplacementLine:{DisplacementCount}], DisplacementMode=零点到真实端点直线, CountsMatch={CountsMatch}, LastDataPoint={LastDataPoint}, ChartLast=[Vertical:{VerticalChart}, Friction:{FrictionChart}, Coefficient:{CoefficientChart}, DisplacementEndpoint:{DisplacementChart}]",
                stage,
                TestNumber,
                expectedCount,
                verticalLoadPoints.Count,
                horizontalFrictionPoints.Count,
                frictionCoefficientPoints.Count,
                displacementPoints.Count,
                countsMatch,
                FormatDataPoint(lastPoint),
                FormatChartPoint(verticalLoadPoints.Count > 0 ? verticalLoadPoints[^1] : null),
                FormatChartPoint(horizontalFrictionPoints.Count > 0 ? horizontalFrictionPoints[^1] : null),
                FormatChartPoint(frictionCoefficientPoints.Count > 0 ? frictionCoefficientPoints[^1] : null),
                FormatChartPoint(displacementPoints.Count > 0 ? displacementPoints[^1] : null));
        }

        private void TraceRealtimeCurvePoint(SlipDataPoint point)
        {
            var expectedCount = currentRun.Count;
            var countsMatch =
                verticalLoadPoints.Count == expectedCount
                && horizontalFrictionPoints.Count == expectedCount
                && frictionCoefficientPoints.Count == expectedCount
                && IsLinearDisplacementSeriesSynchronized(point);
            var valuesMatch =
                countsMatch
                && ChartPointMatches(verticalLoadPoints[^1], point.TimeSeconds, point.VerticalLoadN)
                && ChartPointMatches(horizontalFrictionPoints[^1], point.TimeSeconds, point.HorizontalFrictionN)
                && ChartPointMatches(frictionCoefficientPoints[^1], point.TimeSeconds, point.FrictionCoefficient)
                && ChartPointMatches(displacementPoints[^1], point.TimeSeconds, point.DisplacementMm);

            if (!countsMatch || !valuesMatch)
            {
                Log.Warning(
                    "实时曲线数据不同步：TestNumber={TestNumber}, PointIndex={PointIndex}, ExpectedCount={ExpectedCount}, Counts=[Vertical:{VerticalCount}, Friction:{FrictionCount}, Coefficient:{CoefficientCount}, DisplacementLine:{DisplacementCount}], DisplacementMode=零点到真实端点直线, ValuesMatch={ValuesMatch}, DataPoint=[Time:{Time:F3}s, Vertical:{Vertical:F3}N, Friction:{Friction:F3}N, Coefficient:{Coefficient:F5}, Displacement:{Displacement:F3}mm], ChartLast=[Vertical:{VerticalChart}, Friction:{FrictionChart}, Coefficient:{CoefficientChart}, DisplacementEndpoint:{DisplacementChart}]",
                    TestNumber,
                    expectedCount,
                    expectedCount,
                    verticalLoadPoints.Count,
                    horizontalFrictionPoints.Count,
                    frictionCoefficientPoints.Count,
                    displacementPoints.Count,
                    valuesMatch,
                    point.TimeSeconds,
                    point.VerticalLoadN,
                    point.HorizontalFrictionN,
                    point.FrictionCoefficient,
                    point.DisplacementMm,
                    FormatChartPoint(verticalLoadPoints.Count > 0 ? verticalLoadPoints[^1] : null),
                    FormatChartPoint(horizontalFrictionPoints.Count > 0 ? horizontalFrictionPoints[^1] : null),
                    FormatChartPoint(frictionCoefficientPoints.Count > 0 ? frictionCoefficientPoints[^1] : null),
                    FormatChartPoint(displacementPoints.Count > 0 ? displacementPoints[^1] : null));
                return;
            }

            var now = DateTime.UtcNow;
            if (expectedCount > 3 && now - lastRealtimeCurveTraceLoggedAt < RealtimeCurveTraceInterval)
            {
                return;
            }

            lastRealtimeCurveTraceLoggedAt = now;
            Log.Debug(
                "实时曲线点同步：TestNumber={TestNumber}, PointIndex={PointIndex}, Time={Time:F3}s, StandardTime={StandardTime}, Vertical={Vertical:F3}N, Friction={Friction:F3}N, Coefficient={Coefficient:F5}, Displacement={Displacement:F3}mm, InDynamicWindow={InDynamicWindow}, ChartCount={ChartCount}",
                TestNumber,
                expectedCount,
                point.TimeSeconds,
                FormatStandardTime(point),
                point.VerticalLoadN,
                point.HorizontalFrictionN,
                point.FrictionCoefficient,
                point.DisplacementMm,
                IsInDynamicWindow(point),
                expectedCount);
        }

        private void UpdateLinearDisplacementSeries(SlipDataPoint endpoint)
        {
            if (displacementPoints.Count == 0)
            {
                displacementPoints.Add(new ObservablePoint(0, 0));
            }

            if (endpoint.TimeSeconds <= 0.000001)
            {
                while (displacementPoints.Count > 1)
                {
                    displacementPoints.RemoveAt(displacementPoints.Count - 1);
                }

                return;
            }

            var endpointPoint = new ObservablePoint(endpoint.TimeSeconds, endpoint.DisplacementMm);
            if (displacementPoints.Count == 1)
            {
                displacementPoints.Add(endpointPoint);
            }
            else
            {
                displacementPoints[1] = endpointPoint;
            }

            while (displacementPoints.Count > 2)
            {
                displacementPoints.RemoveAt(displacementPoints.Count - 1);
            }
        }

        private bool IsLinearDisplacementSeriesSynchronized(SlipDataPoint? endpoint)
        {
            if (endpoint is null)
            {
                return displacementPoints.Count == 0;
            }

            var expectedCount = endpoint.TimeSeconds <= 0.000001 ? 1 : 2;
            return displacementPoints.Count == expectedCount
                && ChartPointMatches(displacementPoints[0], 0, 0)
                && (expectedCount == 1
                    || ChartPointMatches(displacementPoints[^1], endpoint.TimeSeconds, endpoint.DisplacementMm));
        }

        private static bool ChartPointMatches(ObservablePoint chartPoint, double expectedX, double expectedY) =>
            NearlyEquals(chartPoint.X, expectedX) && NearlyEquals(chartPoint.Y, expectedY);

        private static bool NearlyEquals(double? actual, double expected) =>
            actual.HasValue && Math.Abs(actual.Value - expected) < 0.000001;

        private static string FormatChartPoint(ObservablePoint? point) =>
            point is null
                ? "null"
                : $"({FormatNullable(point.X)},{FormatNullable(point.Y)})";

        private static string FormatNullable(double? value) =>
            value.HasValue ? value.Value.ToString("F3", CultureInfo.InvariantCulture) : "null";

        private static string FormatStandardTime(SlipDataPoint? point) =>
            point is null ? "null" : point.TimeSeconds.ToString("F3", CultureInfo.InvariantCulture);

        private static bool IsInDynamicWindow(SlipDataPoint point) =>
            point.TimeSeconds >= DynamicWindowStartSeconds && point.TimeSeconds <= DynamicWindowEndSeconds;

        private static string FormatDataPoint(SlipDataPoint? point) =>
            point is null
                ? "null"
                : $"StandardTime={point.TimeSeconds.ToString("F3", CultureInfo.InvariantCulture)}s, Vertical={point.VerticalLoadN.ToString("F3", CultureInfo.InvariantCulture)}N, Friction={point.HorizontalFrictionN.ToString("F3", CultureInfo.InvariantCulture)}N, Coefficient={point.FrictionCoefficient.ToString("F5", CultureInfo.InvariantCulture)}, SlidingDisplacement={point.DisplacementMm.ToString("F3", CultureInfo.InvariantCulture)}mm";

        private async Task RunDeviceCommand(Task command, string successMessage)
        {
            try
            {
                await command;
                CurrentStatus = successMessage;
            }
            catch (Exception ex)
            {
                Log.Error(ex, "设备指令失败：{SuccessMessage}", successMessage);
                CurrentStatus = $"设备指令失败：{ex.Message}";
            }
        }

        private void WriteNumericSetting(string value, Func<double, Task> writer, string label)
        {
            if (isLoadingDeviceSettings || !TryParseDouble(value, out var numericValue))
            {
                return;
            }

            _ = RunDeviceCommand(writer(numericValue), $"{label}已写入 PLC");
        }

        private void SaveAndApplySettings()
        {
            SaveDeviceSettings();
            deviceService.UpdateSettings(CurrentSettings());
        }

        private void ApplyConnectionSettings()
        {
            var settings = CurrentSettings();
            if (ConnectionSettingsChanged(settings))
            {
                RestartDeviceConnection(settings);
                return;
            }

            deviceService.UpdateSettings(settings);
        }

        private bool ConnectionSettingsChanged(DeviceSettings settings) =>
            !string.Equals(activePlcPortName, settings.PlcPortName, StringComparison.OrdinalIgnoreCase)
            || !string.Equals(activeAdcPortName, settings.AdcPortName, StringComparison.OrdinalIgnoreCase)
            || activeBaudRate != settings.BaudRate;

        private void RestartDeviceConnection()
        {
            RestartDeviceConnection(CurrentSettings());
        }

        private void RestartDeviceConnection(DeviceSettings settings)
        {
            deviceService.Start(settings);
            activePlcPortName = settings.PlcPortName;
            activeAdcPortName = settings.AdcPortName;
            activeBaudRate = settings.BaudRate;
        }

        private bool ValidateAdcCoefficientsBeforeTest()
        {
            var invalid = new List<string>();
            AddInvalidCoefficient(NormalPressureCoefficient, "正压力校准系数", invalid);
            AddInvalidCoefficient(FrictionCoefficient1, "摩擦1校准系数", invalid);
            AddInvalidCoefficient(FrictionCoefficient2, "摩擦2校准系数", invalid);

            if (invalid.Count == 0)
            {
                return true;
            }

            var message = "ADC 校准系数无效：" + string.Join("、", invalid) + "；请填写旧机实际标定系数后再开始测试";
            Log.Warning("阻止测试启动：{Message}", message);
            CurrentStatus = message;
            return false;
        }

        private async Task LoadPlcParametersAsync()
        {
            try
            {
                var parameters = await deviceService.ReadDeviceParametersAsync();
                isLoadingDeviceSettings = true;
                ManualSpeed = parameters.ManualSpeed.ToString("F2", CultureInfo.InvariantCulture);
                ManualDisplacement = parameters.ManualDisplacement.ToString("F2", CultureInfo.InvariantCulture);
                TestSpeed = parameters.TestSpeed.ToString("F2", CultureInfo.InvariantCulture);
                isLoadingDeviceSettings = false;
                SaveAndApplySettings();
            }
            catch (Exception ex)
            {
                isLoadingDeviceSettings = false;
                Log.Warning(ex, "启动时读取 PLC 参数失败，将使用本地保存的设备设置");
            }
        }

        private void LoadDeviceSettings()
        {
            if (!File.Exists(DeviceSettingsPath))
            {
                return;
            }

            try
            {
                var json = File.ReadAllText(DeviceSettingsPath);
                var settings = JsonSerializer.Deserialize<DeviceSettings>(json);
                if (settings is null)
                {
                    return;
                }

                isLoadingDeviceSettings = true;
                ManualSpeed = settings.ManualSpeed ?? ManualSpeed;
                ManualDisplacement = settings.ManualDisplacement ?? ManualDisplacement;
                TestSpeed = settings.TestSpeed ?? TestSpeed;
                NormalPressureZero = settings.NormalPressureZero ?? NormalPressureZero;
                NormalPressureCoefficient = settings.NormalPressureCoefficient ?? NormalPressureCoefficient;
                FrictionZero1 = settings.FrictionZero1 ?? FrictionZero1;
                FrictionCoefficient1 = settings.FrictionCoefficient1 ?? FrictionCoefficient1;
                FrictionZero2 = settings.FrictionZero2 ?? FrictionZero2;
                FrictionCoefficient2 = settings.FrictionCoefficient2 ?? FrictionCoefficient2;
                PlcPortName = NormalizeSavedPort(settings.PlcPortName, DefaultPlcPortName, LegacyPlcPortName);
                AdcPortName = NormalizeSavedPort(settings.AdcPortName, DefaultAdcPortName, LegacyAdcPortName);
                BaudRate = settings.BaudRate > 0 ? settings.BaudRate : BaudRate;
            }
            catch (Exception ex)
            {
                Log.Warning(ex, "读取设备设置失败：Path={Path}", DeviceSettingsPath);
            }
            finally
            {
                isLoadingDeviceSettings = false;
            }
        }

        private void SaveDeviceSettings()
        {
            if (isLoadingDeviceSettings)
            {
                return;
            }

            try
            {
                Directory.CreateDirectory(Path.GetDirectoryName(DeviceSettingsPath)!);
                var json = JsonSerializer.Serialize(CurrentSettings(), new JsonSerializerOptions { WriteIndented = true });
                File.WriteAllText(DeviceSettingsPath, json);
            }
            catch (Exception ex)
            {
                Log.Warning(ex, "保存设备设置失败：Path={Path}", DeviceSettingsPath);
            }
        }

        private DeviceSettings CurrentSettings() =>
            new(
                ManualSpeed,
                ManualDisplacement,
                TestSpeed,
                NormalPressureZero,
                NormalPressureCoefficient,
                FrictionZero1,
                FrictionCoefficient1,
                FrictionZero2,
                FrictionCoefficient2,
                PlcPortName,
                AdcPortName,
                BaudRate);

        private void UpdateTargetLoad()
        {
            TargetLoadText = SelectedShoeSizeIndex switch
            {
                1 => "350 N",
                2 => "160 N",
                _ => "400 N"
            };
        }

        private string CurrentShoeSize() => SelectedShoeSizeIndex switch
        {
            1 => "205-250",
            2 => "205以下",
            _ => "250(含)以上"
        };

        private string CurrentLubricant() => CurrentLubricant(SelectedLubricantIndex);

        private static string CurrentLubricant(int lubricantIndex) => lubricantIndex switch
        {
            1 => "湿态 - 蒸馏水",
            2 => "湿态 - 洗涤剂",
            3 => "冰霜",
            _ => "干态"
        };

        private string CurrentMode() => SelectedModeIndex switch
        {
            0 => "后跟测试模式",
            1 => "前掌测试模式",
            _ => "水平测试模式"
        };

        private string CurrentSurface() => SelectedSurfaceIndex switch
        {
            1 => "木地板",
            2 => "石材",
            3 => "冰霜表面",
            _ => "瓷砖"
        };

        private static bool TryParseDouble(string value, out double numericValue) =>
            double.TryParse(value, NumberStyles.Float, CultureInfo.InvariantCulture, out numericValue)
            || double.TryParse(value, NumberStyles.Float, CultureInfo.CurrentCulture, out numericValue);

        private static void AddInvalidCoefficient(string value, string label, List<string> invalid)
        {
            if (!TryParseDouble(value, out var coefficient) || Math.Abs(coefficient) < 0.0001)
            {
                invalid.Add($"{label}={value}");
            }
        }

        private static bool IsAdcCalibrationError(string error) =>
            error.Contains("ADC 校准参数无效", StringComparison.Ordinal);

        private static string NormalizeSavedPort(string? savedPort, string defaultPort, string legacyPort)
        {
            if (string.IsNullOrWhiteSpace(savedPort) || string.Equals(savedPort, legacyPort, StringComparison.OrdinalIgnoreCase))
            {
                return defaultPort;
            }

            return savedPort;
        }

        private static LineSeries<ObservablePoint> CreateLineSeries(
            string name,
            ObservableCollection<ObservablePoint> values,
            string color,
            int yAxis) =>
            new()
            {
                Name = name,
                Values = values,
                MiniatureShapeSize = 8,
                MiniatureStrokeThickness = 1.6f,
                Stroke = new SolidColorPaint(SKColor.Parse(color)) { StrokeThickness = 1.7f },
                Fill = new SolidColorPaint(SKColors.Transparent),
                GeometryFill = null,
                GeometryStroke = null,
                GeometrySize = 0,
                LineSmoothness = 0,
                ScalesYAt = yAxis
            };

        private static string DeviceSettingsPath =>
            Path.Combine(
                Environment.GetFolderPath(Environment.SpecialFolder.LocalApplicationData),
                "FootwearSlipResistance",
                "device-settings.json");
    }
}