GrabBag/App/WorkpieceProject/WorkpiecePositionApp/Presenter/Inc/WorkpiecePositionPresenter.h

#ifndef WORKPIECEPOSITIONPRESENTER_H
#define WORKPIECEPOSITIONPRESENTER_H

#include <QTimer>
#include <mutex>
#include <vector>
#include <memory>
#include <future>
#include "BasePresenter.h"
#include "IYWorkpiecePositionStatus.h"
#include "IBinocularMarkReceiver.h"
#include "IEpicEyeDevice.h"
#include "IVrConfig.h"

/**
 * @brief 工件定位Presenter
 *
 * 继承自BasePresenter，使用BinocularMark和EpicEye设备进行工件定位
 * 不使用BasePresenter的激光相机功能，而是使用自己的设备管理
 */
class WorkpiecePositionPresenter : public BasePresenter
{
    Q_OBJECT

public:
    explicit WorkpiecePositionPresenter(QObject *parent = nullptr);
    ~WorkpiecePositionPresenter();

    // 获取配置管理器
    IVrConfig* GetConfigManager() { return m_pConfig; }

    // ============ 重写 BasePresenter 的检测方法 ============
    int StartDetection(int cameraIndex = -1, bool isAuto = true) override;
    int StopDetection() override;

protected:
    // ============ 实现 BasePresenter 纯虚函数 ============
    int InitApp() override;
    int InitAlgoParams() override;
    int ProcessAlgoDetection(std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& detectionDataCache) override;
    EVzResultDataType GetDetectionDataType() override;
    void OnCameraStatusChanged(int cameraIndex, bool isConnected) override;

    // ============ 重写 BasePresenter 虚函数 ============
    void OnWorkStatusChanged(WorkStatus status) override;
    void OnStatusUpdate(const std::string& statusMessage) override;

private slots:
    void onMarkReconnectTimeout();
    void onEpicEyeReconnectTimeout();

private:
    // 初始化方法
    int InitConfig();
    int InitBinocularMarkReceiver();
    int InitEpicEyeDevice();

    // 回调处理
    void OnMarkResult(const std::vector<VrMark3D>& marks, qint64 timestamp, int errorCode);
    void OnMarkConnectionChanged(bool connected);

    // 算法处理
    int CalculateWorkpieceCenter(const std::vector<VrMark3D>& marks, const PointCloudData& pointCloud, WorkpieceCenterPosition& centerPosition);

    // 连接方法
    int ConnectToBinocularMark();
    int ConnectToEpicEye();

private:
    // 配置相关
    IVrConfig*                          m_pConfig = nullptr;
    ConfigResult                        m_configResult;

    // BinocularMark 设备
    IBinocularMarkReceiver*             m_pMarkReceiver = nullptr;
    std::string                         m_binocularMarkIp;
    quint16                             m_binocularMarkPort = 0;
    bool                                m_bMarkConnected = false;
    QTimer*                             m_pMarkReconnectTimer = nullptr;

    // EpicEye 设备
    IEpicEyeDevice*                     m_pEpicEyeDevice = nullptr;
    std::string                         m_epicEyeIp;
    bool                                m_bEpicEyeConnected = false;
    QTimer*                             m_pEpicEyeReconnectTimer = nullptr;

    // 检测相关
    bool                                m_bDetecting = false;
    std::mutex                          m_detectMutex;
    std::vector<VrMark3D>               m_lastMarks;
    std::shared_ptr<std::future<void>>  m_detectionFuture;
};

#endif // WORKPIECEPOSITIONPRESENTER_H