GrabBag/App/Workpiece/WorkpieceApp/Presenter/Src/TCPServerMethods.cpp

#include "WorkpiecePresenter.h"
#include "VrLog.h"
#include "VrError.h"
#include <QDateTime>

// 初始化TCP服务器
int WorkpiecePresenter::InitTCPServer()
{
    LOG_DEBUG("Start initializing TCP server\n");

    if (m_pTCPServer) {
        LOG_WARNING("TCP server already initialized\n");
        return 0;
    }

    // 创建TCP服务器协议实例
    m_pTCPServer = new TCPServerProtocol();

    // 从配置获取端口，默认5020
    int port = 5020;
    if (m_vrConfig) {
        // TODO: 从配置文件获取端口配置
        // port = m_vrConfig->GetTCPPort();
    }

    // 初始化TCP服务器
    int nRet = m_pTCPServer->Initialize(port);
    if (nRet != 0) {
        LOG_ERROR("Failed to initialize TCP server, return code: %d\n", nRet);
        delete m_pTCPServer;
        m_pTCPServer = nullptr;
        return nRet;
    }

    // 设置连接状态回调
    m_pTCPServer->SetConnectionCallback([this](bool connected) {
        this->OnTCPConnectionChanged(connected);
    });

    // 设置检测触发回调
    m_pTCPServer->SetDetectionTriggerCallback([this](bool startWork, int cameraIndex, qint64 timestamp) {
        return this->OnTCPDetectionTrigger(startWork, cameraIndex, timestamp);
    });

    LOG_INFO("TCP server protocol initialized successfully on port %d\n", port);
    return 0;
}

// TCP连接状态改变回调
void WorkpiecePresenter::OnTCPConnectionChanged(bool connected)
{
    LOG_DEBUG("TCP connection status changed: %s\n", connected ? "connected" : "disconnected");

    m_bTCPConnected = connected;

    // 通知状态更新
    if (m_pStatus) {
        if (connected) {
            m_pStatus->OnStatusUpdate("TCP客户端已连接");
        } else {
            m_pStatus->OnStatusUpdate("TCP客户端已断开");
        }
    }

    // 更新工作状态
    CheckAndUpdateWorkStatus();
}

// TCP检测触发回调
bool WorkpiecePresenter::OnTCPDetectionTrigger(bool startWork, int cameraIndex, qint64 timestamp)
{
    LOG_DEBUG("TCP detection trigger: startWork=%s, cameraIndex=%d, timestamp=%lld\n",
              startWork ? "true" : "false", cameraIndex, timestamp);

    if (!startWork) {
        LOG_WARNING("Received stop work signal, ignoring\n");
        return false;
    }

    // 检查相机连接状态
    if (!m_bCameraConnected) {
        LOG_ERROR("Camera not connected, cannot start detection\n");
        return false;
    }

    // 启动检测
    int result = StartDetection(cameraIndex, false); // false表示手动触发
    bool success = (result == 0);

    if (success) {
        LOG_DEBUG("Detection started successfully via TCP trigger\n");
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("TCP触发检测开始");
        }
    } else {
        LOG_ERROR("Failed to start detection via TCP trigger, error code: %d\n", result);
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("TCP触发检测失败");
        }
    }

    return success;
}

// 发送检测结果给TCP客户端
void WorkpiecePresenter::_SendDetectionResultToTCP(const DetectionResult& detectionResult, int cameraIndex)
{
    if (!m_pTCPServer || !m_bTCPConnected) {
        LOG_DEBUG("TCP server not available, skipping result transmission\n");
        return;
    }

    LOG_DEBUG("Sending detection result to TCP clients, camera index: %d\n", cameraIndex);

    // 构造TCP协议的检测结果数据
    TCPServerProtocol::DetectionResultData tcpResult;
    tcpResult.code = 0;
    tcpResult.success = true;
    tcpResult.message = "检测成功";
    tcpResult.timestamp = QDateTime::currentMSecsSinceEpoch();

    // 转换检测结果为JSON格式的3D坐标点数组
    // 工件角点检测：将12个角点（左3、右3、上3、下3）作为一组发送
    try {
        std::vector<QJsonObject> cornerPoints;

        // 遍历所有检测到的角点位置
        for (const auto& position : detectionResult.positions) {
            QJsonObject point;
            point["x"] = position.x;
            point["y"] = position.y;
            point["z"] = position.z;
            point["roll"] = position.roll;
            point["pitch"] = position.pitch;
            point["yaw"] = position.yaw;
            cornerPoints.push_back(point);
        }

        if (!cornerPoints.empty()) {
            tcpResult.result.push_back(cornerPoints);
            LOG_INFO("Prepared %zu corner points for TCP transmission\n", cornerPoints.size());
        }

        // 发送结果
        int sendResult = m_pTCPServer->SendDetectionResult(tcpResult);
        if (sendResult == 0) {
            LOG_INFO("Detection result sent to TCP clients successfully\n");
        } else {
            LOG_ERROR("Failed to send detection result to TCP clients, error code: %d\n", sendResult);
        }
    } catch (const std::exception& e) {
        LOG_ERROR("Exception while preparing TCP detection result: %s\n", e.what());

        // 发送错误响应
        tcpResult.code = -1;
        tcpResult.success = false;
        tcpResult.message = "检测结果处理异常";
        tcpResult.result.clear();
        m_pTCPServer->SendDetectionResult(tcpResult);
    }
}