GrabBag/App/BagThreadPosition/BagThreadPositionApp/Presenter/Src/BagThreadPositionPresenter.cpp

#include "BagThreadPositionPresenter.h"
#include "VrError.h"
#include "VrLog.h"
#include <QtCore/QCoreApplication>
#include <QtCore/QFileInfo>
#include <QtCore/QDir>
#include <QtCore/QString>
#include <QtCore/QStandardPaths>
#include <QtCore/QFile>
#include <QtCore/QDateTime>
#include <cmath>
#include <algorithm>
#include <QImage>
#include <QThread>
#include <atomic>
#include <QJsonObject>
#include <QJsonArray>
#include <chrono>

#include "Version.h"
#include "VrTimeUtils.h"
#include "VrDateUtils.h"
#include "SG_baseDataType.h"
#include "VrConvert.h"
#include "DetectPresenter.h"
#include "PathManager.h"
#include "IGlLineLaserDevice.h"  // GlLineLaserDevice接口

BagThreadPositionPresenter::BagThreadPositionPresenter(QObject *parent)
    : BasePresenter(parent)
    , m_pConfigManager(nullptr)
    , m_pDetectPresenter(nullptr)
{
    // 基类已经创建了相机重连定时器和检测数据缓存
}

BagThreadPositionPresenter::~BagThreadPositionPresenter()
{
    // 关闭 ModbusTCP 客户端（必须在基类析构之前）
    ShutdownModbusClient();

    // 基类会自动处理：相机重连定时器、算法检测线程、检测数据缓存、相机设备资源、ModbusTCP服务器

    // 释放ConfigManager（析构函数会自动调用Shutdown）
    if (m_pConfigManager) {
        delete m_pConfigManager;
        m_pConfigManager = nullptr;
    }

    // 释放检测处理器
    if(m_pDetectPresenter)
    {
        delete m_pDetectPresenter;
        m_pDetectPresenter = nullptr;
    }
}

int BagThreadPositionPresenter::InitApp()
{
    LOG_DEBUG("Start APP Version: %s\n", BAGTHREADPOSITION_FULL_VERSION_STRING);

    // 初始化连接状态
    SetWorkStatus(WorkStatus::InitIng);

    m_pDetectPresenter = new DetectPresenter();

    int nRet = SUCCESS;

    // 创建 ConfigManager 实例
    m_pConfigManager = new ConfigManager();
    if (!m_pConfigManager) {
        LOG_ERROR("Failed to create ConfigManager instance\n");
        if (auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>()) pStatus->OnStatusUpdate("配置管理器创建失败");
        return ERR_CODE(DEV_CONFIG_ERR);
    }

    // 初始化 ConfigManager
    if (!m_pConfigManager->Initialize()) {
        LOG_ERROR("Failed to initialize ConfigManager\n");
        if (auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>()) pStatus->OnStatusUpdate("配置管理器初始化失败");
        return ERR_CODE(DEV_CONFIG_ERR);
    }

    LOG_INFO("Configuration loaded successfully\n");

    // 获取配置结果
    ConfigResult configResult = m_pConfigManager->GetConfigResult();

    // 保存 ModbusTCP 大小端配置
    m_modbusBigEndian = configResult.modbusBigEndian;
    LOG_INFO("ModbusTCP bigEndian: %s\n", m_modbusBigEndian ? "true (大端)" : "false (小端)");

    // 调用基类InitCamera进行相机初始化（bRGB=false, bSwing=false）
    // 注意：BagThreadPosition使用GlLineLaserDevice，通过重写CreateDevice实现
    InitCamera(configResult.cameraList, false, false);

    LOG_INFO("Camera initialization completed. Connected cameras: %zu, default camera index: %d\n",
             m_vrEyeDeviceList.size(), m_currentCameraIndex);

    // 初始化各相机的基准距离
    for (size_t i = 0; i < configResult.cameraList.size(); i++) {
        double baseDistance = configResult.cameraList[i].baseDistance;
        if (baseDistance != 0.0) {
            ApplyBaseDistance(configResult.cameraList[i].index, baseDistance);
        }
    }

    // 初始化 ModbusTCP 客户端（主动连接远端PLC）
    InitModbusClient(configResult.modbusIP, configResult.modbusPort, configResult.modbusPollingInterval);

    if (auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>()) pStatus->OnStatusUpdate("设备初始化完成");

    CheckAndUpdateWorkStatus();

    if (auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>()) pStatus->OnStatusUpdate("配置初始化成功");

    return SUCCESS;
}

// 初始化算法参数（实现BasePresenter纯虚函数）
int BagThreadPositionPresenter::InitAlgoParams()
{
    LOG_DEBUG("initializing algorithm parameters\n");

    // 清空现有的手眼标定矩阵列表
    m_clibMatrixList.clear();

    // 获取手眼标定文件路径并确保文件存在
    QString clibPath = PathManager::GetInstance().GetCalibrationFilePath();

    LOG_INFO("Loading hand-eye matrices from: %s\n", clibPath.toStdString().c_str());

    // 读取存在的矩阵数量
    int nExistMatrixNum = CVrConvert::GetClibMatrixCount(clibPath.toStdString().c_str());
    LOG_INFO("Found %d hand-eye calibration matrices\n", nExistMatrixNum);

    // 循环加载每个矩阵
    for(int matrixIndex = 0; matrixIndex < nExistMatrixNum; matrixIndex++)
    {
        // 构造矩阵标识符
        char matrixIdent[64];
#ifdef _WIN32
        sprintf_s(matrixIdent, "CalibMatrixInfo_%d", matrixIndex);
#else
        sprintf(matrixIdent, "CalibMatrixInfo_%d", matrixIndex);
#endif

        // 创建新的标定矩阵结构
        CalibMatrix calibMatrix;

        // 初始化为单位矩阵
        double initClibMatrix[16] = {
            1.0, 0.0, 0.0, 0.0,  // 第一行
            0.0, 1.0, 0.0, 0.0,  // 第二行
            0.0, 0.0, 1.0, 0.0,  // 第三行
            0.0, 0.0, 0.0, 1.0   // 第四行
        };

        // 加载矩阵数据
        bool loadSuccess = CVrConvert::LoadClibMatrix(clibPath.toStdString().c_str(), matrixIdent, "dCalibMatrix",  calibMatrix.clibMatrix);

        if(loadSuccess)
        {
            m_clibMatrixList.push_back(calibMatrix);
            LOG_INFO("Successfully loaded matrix %d\n", matrixIndex);

            // 输出矩阵内容
            QString clibMatrixStr;
            LOG_INFO("Matrix %d content:\n", matrixIndex);
            for (int i = 0; i < 4; ++i) {
                clibMatrixStr.clear();
                for (int j = 0; j < 4; ++j) {
                    clibMatrixStr += QString::asprintf("%8.4f ", calibMatrix.clibMatrix[i * 4 + j]);
                }
                LOG_INFO("  %s\n", clibMatrixStr.toStdString().c_str());
            }
        }
        else
        {
            LOG_WARNING("Failed to load matrix %d, using identity matrix\n", matrixIndex);
            // 如果加载失败，使用单位矩阵
            memcpy(calibMatrix.clibMatrix, initClibMatrix, sizeof(initClibMatrix));
            m_clibMatrixList.push_back(calibMatrix);
        }

    }

    LOG_INFO("Total loaded %zu hand-eye calibration matrices\n", m_clibMatrixList.size());

    // 从 ConfigManager 获取配置结果
    ConfigResult configResult = m_pConfigManager->GetConfigResult();
    const VrAlgorithmParams& xmlParams = configResult.algorithmParams;

    LOG_INFO("Loaded XML params - Thread: isHorizonScan=%s\n",
             xmlParams.threadParam.isHorizonScan ? "true" : "false");
    LOG_INFO("Loaded XML params - Filter: continuityTh=%.1f, outlierTh=%.1f\n",
             xmlParams.filterParam.continuityTh, xmlParams.filterParam.outlierTh);

    LOG_INFO("Algorithm parameters initialized successfully\n");

    return SUCCESS;
}

// 手眼标定矩阵管理方法实现
CalibMatrix BagThreadPositionPresenter::GetClibMatrix(int index) const
{
    CalibMatrix clibMatrix;

    double initClibMatrix[16] = {
        1.0, 0.0, 0.0, 0.0,  // 第一行
        0.0, 1.0, 0.0, 0.0,  // 第二行
        0.0, 0.0, 1.0, 0.0,  // 第三行
        0.0, 0.0, 0.0, 1.0   // 第四行
    };
    memcpy(clibMatrix.clibMatrix, initClibMatrix, sizeof(initClibMatrix));

    if (index >= 0 && index < static_cast<int>(m_clibMatrixList.size())) {
        clibMatrix = m_clibMatrixList[index];
        memcpy(clibMatrix.clibMatrix, m_clibMatrixList[index].clibMatrix, sizeof(initClibMatrix));
    } else {
        LOG_WARNING("Invalid hand-eye calibration matrix\n");
    }

    return clibMatrix;
}


void BagThreadPositionPresenter::CheckAndUpdateWorkStatus()
{
    // 使用基类的 m_bCameraConnected 标志
    if (m_bCameraConnected) {
        SetWorkStatus(WorkStatus::Ready);
    } else {
        SetWorkStatus(WorkStatus::Error);
    }
}

// 实现BasePresenter纯虚函数：执行算法检测
int BagThreadPositionPresenter::ProcessAlgoDetection(std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& detectionDataCache)
{
    LOG_INFO("[Algo Thread] Start real detection task using algorithm\n");

    // 1. 获取缓存的点云数据（已由基类验证非空）
    unsigned int lineNum = detectionDataCache.size();
    if(GetStatusCallback<IYBagThreadPositionStatus>()){
        if (auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>()) pStatus->OnStatusUpdate("扫描线数:" + std::to_string(lineNum) + "，正在算法检测...");
    }

    // 检查检测处理器是否已初始化
    if (!m_pDetectPresenter) {
        LOG_ERROR("DetectPresenter is null, cannot proceed with detection\n");
        if (GetStatusCallback<IYBagThreadPositionStatus>()) {
            if (auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>()) pStatus->OnStatusUpdate("检测处理器未初始化");
        }

        // 更新ModbusTCP寄存器：地址2 = 2（检测失败）
        if (IsModbusClientConnected()) {
            WriteRemoteSingleRegister(2, 2);  // 失败
            LOG_INFO("ModbusTCP: 检测失败（处理器未初始化），地址2写入2\n");
        }

        return ERR_CODE(DEV_NOT_FIND);
    }

    CVrTimeUtils oTimeUtils;

    // 获取当前使用的手眼标定矩阵
    const CalibMatrix currentClibMatrix = GetClibMatrix(m_currentCameraIndex - 1);

    // 从 ConfigManager 获取算法参数和调试参数
    VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();
    ConfigResult configResult = m_pConfigManager->GetConfigResult();
    VrDebugParam debugParam = configResult.debugParam;

    DetectionResult detectionResult;

    int nRet = m_pDetectPresenter->DetectScrew(m_currentCameraIndex, detectionDataCache,
                                algorithmParams, debugParam, m_dataLoader,
                                currentClibMatrix.clibMatrix, detectionResult);
    // 根据项目类型选择处理方式
    if (GetStatusCallback<IYBagThreadPositionStatus>()) {
        QString err = QString("错误:%1").arg(nRet);
        if (auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>()) pStatus->OnStatusUpdate(QString("检测%1").arg(SUCCESS == nRet ? "成功": err).toStdString());
    }

    LOG_INFO("[Algo Thread] sx_bagThreadMeasure detected %zu objects time : %.2f ms\n", detectionResult.positions.size(), oTimeUtils.GetElapsedTimeInMilliSec());

    // 如果检测失败，更新ModbusTCP状态并恢复轮询
    if (nRet != SUCCESS) {
        if (IsModbusClientConnected()) {
            WriteRemoteSingleRegister(2, 2);  // 失败
            LOG_INFO("ModbusTCP: 检测失败，地址2写入2\n");
        }
        // 检测失败也要恢复轮询，继续读取扫描请求
        m_modbusPollingPaused = false;
    }

    ERR_CODE_RETURN(nRet);

    // 8. 通知UI检测结果
    detectionResult.cameraIndex = m_currentCameraIndex;
    if (auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>()) {
        pStatus->OnDetectionResult(detectionResult);
    }

    // 保存检测结果用于ModbusTCP输出
    {
        std::lock_guard<std::mutex> lock(m_modbusResultMutex);
        m_lastDetectionResult = detectionResult;
    }

    // 更新ModbusTCP寄存器：地址2 = 1（检测成功），并输出xyzu数据到地址4
    if (IsModbusClientConnected()) {
        WriteRemoteSingleRegister(2, 1);  // 成功
        LOG_INFO("ModbusTCP: 检测成功，地址2写入1\n");

        // 直接输出xyzu数据到地址4
        if (!detectionResult.threadInfoList.empty()) {
            size_t threadCount = detectionResult.threadInfoList.size();
            std::vector<uint16_t> outputData;
            outputData.reserve(threadCount * 8);

            LOG_INFO("ModbusTCP: 准备输出 %zu 条拆线的xyzu数据\n", threadCount);

            // 将每个拆线的 x, y, z, u 转换为寄存器数据
            for (const auto& thread : detectionResult.threadInfoList) {
                uint16_t regs[2];

                // x (centerX)
                float x = static_cast<float>(thread.centerX);
                _FloatToRegisters(x, regs, m_modbusBigEndian);
                outputData.push_back(regs[0]);
                outputData.push_back(regs[1]);

                // y (centerY)
                float y = static_cast<float>(thread.centerY);
                _FloatToRegisters(y, regs, m_modbusBigEndian);
                outputData.push_back(regs[0]);
                outputData.push_back(regs[1]);

                // z (centerZ)
                float z = static_cast<float>(thread.centerZ);
                _FloatToRegisters(z, regs, m_modbusBigEndian);
                outputData.push_back(regs[0]);
                outputData.push_back(regs[1]);

                // u (rotateAngle)
                float u = static_cast<float>(thread.rotateAngle);
                _FloatToRegisters(u, regs, m_modbusBigEndian);
                outputData.push_back(regs[0]);
                outputData.push_back(regs[1]);

                LOG_DEBUG("ModbusTCP: 拆线数据: x=%.3f, y=%.3f, z=%.3f, u=%.3f\n",
                         thread.centerX, thread.centerY, thread.centerZ, thread.rotateAngle);
            }

            // 从地址4开始写入数据
            if (!outputData.empty()) {
                bool ret = WriteRemoteRegisters(4, outputData);
                if (ret) {
                    LOG_INFO("ModbusTCP: 成功输出 %zu 条拆线的xyzu数据到寄存器（地址4起，共%zu个寄存器）\n",
                            threadCount, outputData.size());
                } else {
                    LOG_ERROR("ModbusTCP: 输出xyzu数据失败\n");
                }
            }
        }
    }

    // 恢复轮询（检测完成后恢复读取扫描请求）
    m_modbusPollingPaused = false;

    // 更新状态
    QString statusMsg = QString("检测完成，发现%1条拆线").arg(detectionResult.positions.size() / 2);
    if (auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>()) pStatus->OnStatusUpdate(statusMsg.toStdString());

    // 9. 检测完成后，将工作状态更新为"完成"
    SetWorkStatus(WorkStatus::Completed);

    // 恢复到就绪状态
    SetWorkStatus(WorkStatus::Ready);

    return SUCCESS;
}


// 实现配置改变通知接口
void BagThreadPositionPresenter::OnConfigChanged(const ConfigResult& configResult)
{
    LOG_INFO("Configuration changed notification received, reloading algorithm parameters\n");

    // 重新初始化算法参数
    int result = InitAlgoParams();
    if (result == SUCCESS) {
        LOG_INFO("Algorithm parameters reloaded successfully after config change\n");
        if (GetStatusCallback<IYBagThreadPositionStatus>()) {
            if (auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>()) pStatus->OnStatusUpdate("配置已更新，算法参数重新加载成功");
        }
    } else {
        LOG_ERROR("Failed to reload algorithm parameters after config change, error: %d\n", result);
        if (GetStatusCallback<IYBagThreadPositionStatus>()) {
            if (auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>()) pStatus->OnStatusUpdate("配置更新后算法参数重新加载失败");
        }
    }
}

// 根据相机索引获取调平参数
SSG_planeCalibPara BagThreadPositionPresenter::_GetCameraCalibParam(int cameraIndex)
{
    // 查找指定相机索引的调平参数
    SSG_planeCalibPara calibParam;

    // 使用单位矩阵（未校准状态）
    double identityMatrix[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
    for (int i = 0; i < 9; i++) {
        calibParam.planeCalib[i] = identityMatrix[i];
        calibParam.invRMatrix[i] = identityMatrix[i];
    }
    calibParam.planeHeight = -1.0;  // 使用默认高度

    // 从 ConfigManager 获取算法参数
    VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();

    for (const auto& cameraParam : algorithmParams.planeCalibParam.cameraCalibParams) {
        if (cameraParam.cameraIndex == cameraIndex) {

            // 根据isCalibrated标志决定使用标定矩阵还是单位矩阵
            if (cameraParam.isCalibrated) {
                // 使用实际的标定矩阵
                for (int i = 0; i < 9; i++) {
                    calibParam.planeCalib[i] = cameraParam.planeCalib[i];
                    calibParam.invRMatrix[i] = cameraParam.invRMatrix[i];
                }
                calibParam.planeHeight = cameraParam.planeHeight;
            }
        }
    }
    return calibParam;
}

// 实现BasePresenter纯虚函数：相机状态变化通知
void BagThreadPositionPresenter::OnCameraStatusChanged(int cameraIndex, bool isConnected)
{
    LOG_INFO("Camera %d status changed: %s\n", cameraIndex, isConnected ? "connected" : "disconnected");

    // 通知UI更新相机状态
    if (GetStatusCallback<IYBagThreadPositionStatus>()) {
        if (cameraIndex == 1) {
            if (auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>()) pStatus->OnCamera1StatusChanged(isConnected);
        } else if (cameraIndex == 2) {
            if (auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>()) pStatus->OnCamera2StatusChanged(isConnected);
        }

        // 获取相机名称用于状态消息
        QString cameraName;
        int arrayIndex = cameraIndex - 1;
        if (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) {
            cameraName = QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first);
        } else {
            cameraName = QString("相机%1").arg(cameraIndex);
        }

        QString statusMsg = QString("%1%2").arg(cameraName).arg(isConnected ? "已连接" : "已断开");
        if (auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>()) pStatus->OnStatusUpdate(statusMsg.toStdString());
    }

    // 检查并更新工作状态
    CheckAndUpdateWorkStatus();
}

// 实现BasePresenter虚函数：工作状态变化通知
void BagThreadPositionPresenter::OnWorkStatusChanged(WorkStatus status)
{
    auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>();
    if (pStatus) {
        pStatus->OnWorkStatusChanged(status);
    }
}


// 实现BasePresenter虚函数：相机数量变化通知
void BagThreadPositionPresenter::OnCameraCountChanged(int count)
{
    auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>();
    if (pStatus) {
        pStatus->OnCameraCountChanged(count);
    }
}

// 实现BasePresenter虚函数：状态文字更新通知
void BagThreadPositionPresenter::OnStatusUpdate(const std::string& statusMessage)
{
    auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>();
    if (pStatus) {
        pStatus->OnStatusUpdate(statusMessage);
    }
}

// 实现BasePresenter虚函数：ModbusTCP连接状态变化通知
void BagThreadPositionPresenter::OnModbusServerStatusChanged(bool isConnected)
{
    LOG_INFO("ModbusTCP Client 连接状态: %s\n", isConnected ? "已连接" : "已断开");

    auto pStatus = GetStatusCallback<IYBagThreadPositionStatus>();
    if (pStatus) {
        // ModbusTCP连接状态关联到机械臂连接状态
        pStatus->OnRobotConnectionChanged(isConnected);

        // 更新状态文字，显示远端IP
        std::string statusMsg = isConnected ?
            "ModbusTCP已连接到 " + m_modbusClientIP :
            "ModbusTCP已断开（" + m_modbusClientIP + "）";
        pStatus->OnStatusUpdate(statusMsg);
    }
}

// ============ 实现 ICameraLevelCalculator 接口 ============

bool BagThreadPositionPresenter::CalculatePlaneCalibration(
    const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& scanData,
    double planeCalib[9],
    double& planeHeight,
    double invRMatrix[9])
{
    try {
        // 检查是否有足够的扫描数据
        if (scanData.empty()) {
            LOG_ERROR("No scan data available for plane calibration\n");
            return false;
        }

        LOG_INFO("Calculating plane calibration from %zu scan lines\n", scanData.size());

        // 转换为算法需要的XYZ格式
        LaserDataLoader dataLoader;
        std::vector<std::vector<SVzNL3DPosition>> xyzData;
        int convertResult = dataLoader.ConvertToSVzNL3DPosition(scanData, xyzData);
        if (convertResult != SUCCESS || xyzData.empty()) {
            LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
            return false;
        }

        // 拆线定位项目暂时使用简单的平面拟合
        // 使用默认的单位矩阵
        double identity[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
        memcpy(planeCalib, identity, sizeof(double) * 9);
        memcpy(invRMatrix, identity, sizeof(double) * 9);
        planeHeight = -1.0;

        LOG_INFO("Plane calibration calculated successfully: height=%.3f\n", planeHeight);
        return true;

    } catch (const std::exception& e) {
        LOG_ERROR("Exception in CalculatePlaneCalibration: %s\n", e.what());
        return false;
    } catch (...) {
        LOG_ERROR("Unknown exception in CalculatePlaneCalibration\n");
        return false;
    }
}

// ============ 实现 ICameraLevelResultSaver 接口 ============

bool BagThreadPositionPresenter::SaveLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9],
                                              int cameraIndex, const QString& cameraName)
{
    try {
        if (!m_pConfigManager) {
            LOG_ERROR("ConfigManager is null, cannot save leveling results\n");
            return false;
        }

        // 验证传入的相机参数
        if (cameraIndex <= 0) {
            LOG_ERROR("Invalid camera index: %d\n", cameraIndex);
            return false;
        }

        if (cameraName.isEmpty()) {
            LOG_ERROR("Camera name is empty\n");
            return false;
        }

        // 获取当前配置
        QString configPath = PathManager::GetInstance().GetConfigFilePath();
        LOG_INFO("Config path: %s\n", configPath.toUtf8().constData());

        SystemConfig systemConfig = m_pConfigManager->GetConfig();

        // 创建或更新指定相机的调平参数
        VrCameraPlaneCalibParam cameraParam;
        cameraParam.cameraIndex = cameraIndex;
        cameraParam.cameraName = cameraName.toStdString();
        cameraParam.planeHeight = planeHeight;
        cameraParam.isCalibrated = true;

        // 复制校准矩阵
        for (int i = 0; i < 9; i++) {
            cameraParam.planeCalib[i] = planeCalib[i];
            cameraParam.invRMatrix[i] = invRMatrix[i];
        }

        // 更新配置中的相机校准参数
        systemConfig.configResult.algorithmParams.planeCalibParam.SetCameraCalibParam(cameraParam);

        // 更新并保存配置
        if (!m_pConfigManager->UpdateFullConfig(systemConfig)) {
            LOG_ERROR("Failed to update config with leveling results\n");
            return false;
        }

        if (!m_pConfigManager->SaveConfigToFile(configPath.toStdString())) {
            LOG_ERROR("Failed to save config file with leveling results\n");
            return false;
        }

        LOG_INFO("Leveling results saved successfully for camera %d (%s)\n", cameraIndex, cameraName.toUtf8().constData());
        LOG_INFO("Plane height: %.3f\n", planeHeight);
        LOG_INFO("Calibration marked as completed\n");

        return true;

    } catch (const std::exception& e) {
        LOG_ERROR("Exception in SaveLevelingResults: %s\n", e.what());
        return false;
    }
}

bool BagThreadPositionPresenter::LoadLevelingResults(int cameraIndex, const QString& cameraName,
                                              double planeCalib[9], double& planeHeight, double invRMatrix[9])
{
    try {
        if (!m_pConfigManager) {
            LOG_ERROR("ConfigManager is null, cannot load calibration data\n");
            return false;
        }

        // 从ConfigManager获取配置结果
        ConfigResult configResult = m_pConfigManager->GetConfigResult();

        // 获取指定相机的标定参数
        VrCameraPlaneCalibParam cameraParamValue;
        if (!configResult.algorithmParams.planeCalibParam.GetCameraCalibParam(cameraIndex, cameraParamValue) || !cameraParamValue.isCalibrated) {
            LOG_INFO("No calibration data found for camera %d (%s)\n", cameraIndex, cameraName.toUtf8().constData());
            return false;
        }

        // 复制标定数据
        for (int i = 0; i < 9; i++) {
            planeCalib[i] = cameraParamValue.planeCalib[i];
            invRMatrix[i] = cameraParamValue.invRMatrix[i];
        }
        planeHeight = cameraParamValue.planeHeight;

        LOG_INFO("Calibration data loaded successfully for camera %d (%s)\n", cameraIndex, cameraName.toUtf8().constData());
        LOG_INFO("Plane height: %.3f\n", planeHeight);

        return true;

    } catch (const std::exception& e) {
        LOG_ERROR("Exception in LoadLevelingResults: %s\n", e.what());
        return false;
    }
}

// 反初始化
void BagThreadPositionPresenter::DeinitApp()
{
    LOG_DEBUG("Deinitializing BagThreadPositionPresenter\n");

    // 关闭 ModbusTCP 客户端
    ShutdownModbusClient();

    // 停止检测
    StopDetection();

    // 释放ConfigManager（析构函数会自动调用Shutdown）
    if (m_pConfigManager) {
        delete m_pConfigManager;
        m_pConfigManager = nullptr;
    }

    // 释放检测处理器
    if (m_pDetectPresenter) {
        delete m_pDetectPresenter;
        m_pDetectPresenter = nullptr;
    }

    LOG_DEBUG("BagThreadPositionPresenter deinitialized\n");
}

// 触发检测
bool BagThreadPositionPresenter::TriggerDetection(int cameraIndex)
{
    // 设置相机索引
    if (cameraIndex > 0) {
        SetDefaultCameraIndex(cameraIndex);
    }

    // 检查是否已连接相机
    if (!m_bCameraConnected) {
        LOG_WARNING("Camera not connected, cannot trigger detection\n");
        return false;
    }

    // 触发检测
    int ret = StartDetection(cameraIndex, false);
    if (ret != SUCCESS) {
        LOG_ERROR("Failed to trigger detection, error: %d\n", ret);
        return false;
    }

    return true;
}

// 加载文件并检测
int BagThreadPositionPresenter::LoadAndDetect(const QString& fileName)
{
    LOG_INFO("Loading data from file: %s\n", fileName.toStdString().c_str());

    // 使用基类的方法加载调试数据并执行检测
    return LoadDebugDataAndDetect(fileName.toStdString());
}

// 重连相机
void BagThreadPositionPresenter::ReconnectCamera()
{
    LOG_INFO("Attempting to reconnect cameras\n");
    TryReconnectCameras();
}

// 获取算法参数
BagThreadPositionPresenter::AlgoParams BagThreadPositionPresenter::GetAlgoParams() const
{
    AlgoParams params;

    if (m_pConfigManager) {
        VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();
        params.threadParam = algorithmParams.threadParam;
        params.cornerParam = algorithmParams.cornerParam;
        params.filterParam = algorithmParams.filterParam;
        params.growParam = algorithmParams.growParam;
    } else {
        // 使用默认参数
        params.threadParam.isHorizonScan = true;
    }

    return params;
}

// 设置算法参数
void BagThreadPositionPresenter::SetAlgoParams(const AlgoParams& params)
{
    if (!m_pConfigManager) {
        LOG_WARNING("ConfigManager not initialized, cannot set algorithm params\n");
        return;
    }

    // 获取当前配置
    VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();

    // 更新参数
    algorithmParams.threadParam = params.threadParam;
    algorithmParams.cornerParam = params.cornerParam;
    algorithmParams.filterParam = params.filterParam;
    algorithmParams.growParam = params.growParam;

    // 更新到ConfigManager
    m_pConfigManager->UpdateAlgorithmParams(algorithmParams);

    // 保存到配置文件
    QString configPath = PathManager::GetInstance().GetConfigFilePath();
    if (m_pConfigManager->SaveConfigToFile(configPath.toStdString())) {
        LOG_INFO("Algorithm parameters updated and saved to config file\n");
    } else {
        LOG_ERROR("Failed to save algorithm parameters to config file\n");
    }
}

// 重写BasePresenter虚函数：创建设备对象
// BagThreadPosition项目使用GlLineLaserDevice
int BagThreadPositionPresenter::CreateDevice(IVrEyeDevice** ppDevice)
{
    if (!ppDevice) {
        return ERR_CODE(DEV_ARG_INVAILD);
    }

    // 使用IGlLineLaserDevice工厂方法创建GlLineLaserDevice
    IGlLineLaserDevice* pGlDevice = nullptr;
    int nRet = IGlLineLaserDevice::CreateGlLineLaserObject(&pGlDevice);
    if (nRet == SUCCESS && pGlDevice) {
        *ppDevice = pGlDevice;
        LOG_INFO("[BagThreadPositionPresenter] Created GlLineLaser device\n");
        return SUCCESS;
    }

    LOG_ERROR("[BagThreadPositionPresenter] Failed to create GlLineLaser device, error: %d\n", nRet);
    return ERR_CODE(DEV_OPEN_ERR);
}

// 应用基准距离到指定相机设备
void BagThreadPositionPresenter::ApplyBaseDistance(int cameraIndex, double baseDistance)
{
    int arrayIndex = cameraIndex - 1;
    if (arrayIndex < 0 || arrayIndex >= static_cast<int>(m_vrEyeDeviceList.size())) {
        LOG_WARNING("[BagThreadPositionPresenter] ApplyBaseDistance: invalid cameraIndex %d\n", cameraIndex);
        return;
    }

    IVrEyeDevice* pDevice = m_vrEyeDeviceList[arrayIndex].second;
    IGlLineLaserDevice* pGlDevice = dynamic_cast<IGlLineLaserDevice*>(pDevice);
    if (pGlDevice) {
        int ret = pGlDevice->SetBaseDistance(baseDistance);
        if (ret == SUCCESS) {
            LOG_INFO("[BagThreadPositionPresenter] 相机%d基准距离已设置: %.1f mm\n", cameraIndex, baseDistance);
        } else {
            LOG_ERROR("[BagThreadPositionPresenter] 相机%d设置基准距离失败: %d\n", cameraIndex, ret);
        }
    } else {
        LOG_WARNING("[BagThreadPositionPresenter] 相机%d不是GlLineLaser设备，无法设置基准距离\n", cameraIndex);
    }
}

// 应用ModbusTCP配置（IP和大小端）
void BagThreadPositionPresenter::ApplyModbusConfig(const std::string& ip, bool bigEndian)
{
    m_modbusBigEndian = bigEndian;
    LOG_INFO("[BagThreadPositionPresenter] ModbusTCP大小端已更新: %s\n", bigEndian ? "大端" : "小端");

    // 如果IP发生变化，重启ModbusTCP客户端
    if (ip != m_modbusClientIP) {
        LOG_INFO("[BagThreadPositionPresenter] ModbusTCP IP变更: %s -> %s，重启客户端\n",
                 m_modbusClientIP.c_str(), ip.c_str());
        ShutdownModbusClient();
        m_modbusShutdownRequested = false;
        InitModbusClient(ip, m_modbusClientPort, m_modbusPollingInterval);
    }
}

// ============ 面标定辅助函数 ============

SSG_planeCalibPara BagThreadPositionPresenter::GetBaseCalibPara(
    const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& scanData)
{
    SSG_planeCalibPara calibPara;

    // 初始化为单位矩阵
    double identityMatrix[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
    for (int i = 0; i < 9; i++) {
        calibPara.planeCalib[i] = identityMatrix[i];
        calibPara.invRMatrix[i] = identityMatrix[i];
    }
    calibPara.planeHeight = 2600.0;

    // 转换为算法需要的XYZ格式
    std::vector<std::vector<SVzNL3DPosition>> xyzData;
    int convertResult = m_dataLoader.ConvertToSVzNL3DPosition(scanData, xyzData);
    if (convertResult != SUCCESS || xyzData.empty()) {
        LOG_WARNING("Failed to convert data to XYZ format for calibration\n");
        return calibPara;
    }

    // 调用算法获取基础标定参数
    calibPara = wd_bagThread_getBaseCalibPara(xyzData);

    LOG_INFO("Base calibration parameters obtained: planeHeight=%.3f\n", calibPara.planeHeight);

    return calibPara;
}

// ============ ModbusTCP Client 实现 ============

void BagThreadPositionPresenter::InitModbusClient(const std::string& ip, uint16_t port, int pollingInterval)
{
    m_modbusClientIP = ip;
    m_modbusClientPort = port;
    m_modbusPollingInterval = pollingInterval;
    m_modbusShutdownRequested = false;
    m_modbusReconnectAttempts = 0;
    m_lastScanRequestState = false;
    m_lastModbusConnectedState = false;

    LOG_INFO("[ModbusTCP Client] 初始化: IP=%s, 端口=%d, 轮询间隔=%dms\n",
             ip.c_str(), port, pollingInterval);

    // 创建客户端并尝试连接
    bool connected = false;
    if (!ip.empty()) {
        std::lock_guard<std::mutex> lock(m_modbusClientMutex);

        if (m_modbusClient) {
            m_modbusClient->Disconnect();
            delete m_modbusClient;
            m_modbusClient = nullptr;
        }

        if (!IYModbusTCPClient::CreateInstance(&m_modbusClient, ip, port)) {
            LOG_ERROR("[ModbusTCP Client] 创建客户端实例失败\n");
        } else {
            m_modbusClient->SetTimeout(1000);
            auto result = m_modbusClient->Connect();
            if (result != IYModbusTCPClient::SUCCESS) {
                LOG_WARNING("[ModbusTCP Client] 连接 %s:%d 失败: %s\n",
                            ip.c_str(), port, m_modbusClient->GetLastError().c_str());
            } else {
                LOG_INFO("[ModbusTCP Client] 成功连接到 %s:%d\n", ip.c_str(), port);
                connected = true;
            }
        }
    }

    m_lastModbusConnectedState = connected;
    OnModbusServerStatusChanged(connected);

    // 启动轮询线程
    StartModbusPolling();
}

void BagThreadPositionPresenter::ShutdownModbusClient()
{
    // 防止重复调用
    bool expected = false;
    if (!m_modbusShutdownRequested.compare_exchange_strong(expected, true)) {
        return;
    }

    LOG_INFO("[ModbusTCP Client] 正在关闭...\n");

    // 停止轮询线程
    StopModbusPolling();

    // 清理客户端
    {
        std::lock_guard<std::mutex> lock(m_modbusClientMutex);
        if (m_modbusClient) {
            m_modbusClient->Disconnect();
            delete m_modbusClient;
            m_modbusClient = nullptr;
        }
    }

    LOG_INFO("[ModbusTCP Client] 已关闭\n");
}

void BagThreadPositionPresenter::StartModbusPolling()
{
    if (m_modbusShutdownRequested) {
        LOG_WARNING("[ModbusTCP Client] 无法启动轮询：已请求关闭\n");
        return;
    }

    if (m_modbusPollingRunning) {
        LOG_WARNING("[ModbusTCP Client] 轮询已在运行\n");
        return;
    }

    m_modbusPollingRunning = true;
    m_modbusPollingThread = std::thread(&BagThreadPositionPresenter::ModbusPollingThreadFunc, this);
    LOG_INFO("[ModbusTCP Client] 轮询线程已启动，间隔: %d ms\n", m_modbusPollingInterval);
}

void BagThreadPositionPresenter::StopModbusPolling()
{
    if (!m_modbusPollingRunning) {
        return;
    }

    m_modbusPollingRunning = false;
    if (m_modbusPollingThread.joinable()) {
        m_modbusPollingThread.join();
    }
    LOG_INFO("[ModbusTCP Client] 轮询线程已停止\n");
}

void BagThreadPositionPresenter::ModbusPollingThreadFunc()
{
    LOG_INFO("[ModbusTCP Client] 轮询线程启动\n");

    int reconnectCounter = 0;
    const int reconnectInterval = 2000; // 重连间隔 2秒

    while (m_modbusPollingRunning && !m_modbusShutdownRequested) {
        // 检查连接状态
        bool currentConnected = CheckModbusConnection();

        // 连接状态变化时通知
        if (currentConnected != m_lastModbusConnectedState) {
            m_lastModbusConnectedState = currentConnected;
            OnModbusServerStatusChanged(currentConnected);

            // 重连成功后重置状态
            if (currentConnected) {
                m_lastScanRequestState = false;
                m_modbusReconnectAttempts = 0;
                m_modbusReadFailCount = 0;
                reconnectCounter = 0;
                LOG_INFO("[ModbusTCP Client] 重连成功\n");
            }
        }

        if (!currentConnected) {
            // 未连接时，尝试重连
            reconnectCounter++;
            int reconnectThreshold = (m_modbusPollingInterval > 0) ?
                (reconnectInterval / m_modbusPollingInterval) : 10;
            if (reconnectCounter >= reconnectThreshold) {
                reconnectCounter = 0;
                m_modbusReconnectAttempts++;
                LOG_INFO("[ModbusTCP Client] 尝试重连（第%d次）...\n", m_modbusReconnectAttempts);
                TryConnectModbus();
            }
            std::this_thread::sleep_for(std::chrono::milliseconds(m_modbusPollingInterval));
            continue;
        }

        // 已连接但暂停轮询（检测期间）
        if (m_modbusPollingPaused) {
            std::this_thread::sleep_for(std::chrono::milliseconds(m_modbusPollingInterval));
            continue;
        }

        // 读取扫描请求寄存器 reg[0]
        int requestValue = ReadScanRequest();
        if (requestValue >= 0) {
            // 读取成功，重置失败计数
            m_modbusReadFailCount = 0;

            // 电平检测：reg[0]==1 即触发扫描
            if (requestValue == 1) {
                LOG_INFO("[ModbusTCP Client] 检测到扫描请求（reg[0]=1）\n");

                // 暂停轮询（检测期间不再读取请求）
                m_modbusPollingPaused = true;

                // 清零 reg[0]
                WriteRemoteSingleRegister(0, 0);

                // 清零 reg[2]（检测状态）
                WriteRemoteSingleRegister(2, 0);

                // 触发检测
                bool success = TriggerDetection(m_currentCameraIndex);
                if (!success) {
                    LOG_ERROR("[ModbusTCP Client] 触发检测失败\n");
                    WriteRemoteSingleRegister(2, 2);  // 写入失败状态
                    m_modbusPollingPaused = false;     // 恢复轮询
                }
            }
        } else {
            // 读取失败，累计失败次数
            m_modbusReadFailCount++;
            LOG_WARNING("[ModbusTCP Client] 读取扫描请求失败（连续第%d次）\n", m_modbusReadFailCount);

            if (m_modbusReadFailCount >= MAX_READ_FAIL_COUNT) {
                // 连续多次失败，断开连接以触发重连
                LOG_WARNING("[ModbusTCP Client] 连续%d次读取失败，断开连接以触发重连\n", m_modbusReadFailCount);
                m_modbusReadFailCount = 0;
                {
                    std::lock_guard<std::mutex> lock(m_modbusClientMutex);
                    if (m_modbusClient) {
                        m_modbusClient->Disconnect();
                    }
                }
            }
        }

        std::this_thread::sleep_for(std::chrono::milliseconds(m_modbusPollingInterval));
    }

    LOG_INFO("[ModbusTCP Client] 轮询线程退出\n");
}

bool BagThreadPositionPresenter::CheckModbusConnection()
{
    std::lock_guard<std::mutex> lock(m_modbusClientMutex);
    return m_modbusClient && m_modbusClient->IsConnected();
}

bool BagThreadPositionPresenter::TryConnectModbus()
{
    std::lock_guard<std::mutex> lock(m_modbusClientMutex);

    // 销毁旧实例，重新创建以确保 libmodbus 底层 socket 状态干净
    if (m_modbusClient) {
        m_modbusClient->Disconnect();
        delete m_modbusClient;
        m_modbusClient = nullptr;
    }

    if (!IYModbusTCPClient::CreateInstance(&m_modbusClient, m_modbusClientIP, m_modbusClientPort)) {
        LOG_ERROR("[ModbusTCP Client] 创建客户端实例失败\n");
        return false;
    }
    m_modbusClient->SetTimeout(1000);

    auto result = m_modbusClient->Connect();
    if (result != IYModbusTCPClient::SUCCESS) {
        LOG_WARNING("[ModbusTCP Client] 连接 %s:%d 失败: %s\n",
                    m_modbusClientIP.c_str(), m_modbusClientPort,
                    m_modbusClient->GetLastError().c_str());
        return false;
    }

    LOG_INFO("[ModbusTCP Client] 已连接到 %s:%d\n", m_modbusClientIP.c_str(), m_modbusClientPort);
    return true;
}

int BagThreadPositionPresenter::ReadScanRequest()
{
    std::lock_guard<std::mutex> lock(m_modbusClientMutex);

    if (!m_modbusClient || !m_modbusClient->IsConnected()) {
        return -1;
    }

    std::vector<uint16_t> values;
    auto result = m_modbusClient->ReadHoldingRegisters(0, 1, values);

    if (result != IYModbusTCPClient::SUCCESS || values.empty()) {
        return -1;
    }

    return static_cast<int>(values[0]);
}

bool BagThreadPositionPresenter::WriteRemoteRegisters(uint16_t startAddress, const std::vector<uint16_t>& values)
{
    std::lock_guard<std::mutex> lock(m_modbusClientMutex);

    if (!m_modbusClient || !m_modbusClient->IsConnected()) {
        LOG_WARNING("[ModbusTCP Client] 未连接，无法写入寄存器\n");
        return false;
    }

    auto result = m_modbusClient->WriteMultipleRegisters(startAddress, values);
    if (result != IYModbusTCPClient::SUCCESS) {
        LOG_ERROR("[ModbusTCP Client] 写入寄存器失败（地址=%d，数量=%zu）: %s\n",
                  startAddress, values.size(), m_modbusClient->GetLastError().c_str());
        return false;
    }

    LOG_DEBUG("[ModbusTCP Client] 写入寄存器成功：地址=%d，数量=%zu\n", startAddress, values.size());
    return true;
}

bool BagThreadPositionPresenter::WriteRemoteSingleRegister(uint16_t address, uint16_t value)
{
    std::lock_guard<std::mutex> lock(m_modbusClientMutex);

    if (!m_modbusClient || !m_modbusClient->IsConnected()) {
        LOG_WARNING("[ModbusTCP Client] 未连接，无法写入寄存器\n");
        return false;
    }

    auto result = m_modbusClient->WriteSingleRegister(address, value);
    if (result != IYModbusTCPClient::SUCCESS) {
        LOG_ERROR("[ModbusTCP Client] 写入单寄存器失败（地址=%d）: %s\n",
                  address, m_modbusClient->GetLastError().c_str());
        return false;
    }

    LOG_DEBUG("[ModbusTCP Client] 写入单寄存器成功：地址=%d，值=%d\n", address, value);
    return true;
}

bool BagThreadPositionPresenter::IsModbusClientConnected() const
{
    std::lock_guard<std::mutex> lock(m_modbusClientMutex);
    return m_modbusClient && m_modbusClient->IsConnected();
}

// ============ 辅助函数 ============

/**
 * @brief 将 float 转换为寄存器数据（支持大小端切换）
 * @param value float 值
 * @param regs 输出的寄存器数组（2个uint16_t）
 * @param bigEndian true=大端，false=小端
 */
void BagThreadPositionPresenter::_FloatToRegisters(float value, uint16_t* regs, bool bigEndian)
{
    // 将 float 转换为 4 字节
    uint32_t intValue;
    memcpy(&intValue, &value, sizeof(float));

    if (bigEndian) {
        // 大端：高位在前
        regs[0] = static_cast<uint16_t>((intValue >> 16) & 0xFFFF);  // 高16位
        regs[1] = static_cast<uint16_t>(intValue & 0xFFFF);          // 低16位
    } else {
        // 小端：低位在前
        regs[0] = static_cast<uint16_t>(intValue & 0xFFFF);          // 低16位
        regs[1] = static_cast<uint16_t>((intValue >> 16) & 0xFFFF);  // 高16位
    }
}