GrabBag/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp

#include "GrabBagPresenter.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 <cmath>
#include <algorithm>
#include <QImage>
#include <QThread>

#include "Version.h"
#include "VrTimeUtils.h"
#include "VrDateUtils.h"
#include "SG_bagPositioning_Export.h"
#include "SG_baseDataType.h"
#include "VrConvert.h"
#include "PointCloudImageUtils.h"

GrabBagPresenter::GrabBagPresenter()
    : m_vrConfig(nullptr)
    , m_pStatus(nullptr)
    , m_pDetectPresenter(nullptr)
    , m_pRobotProtocol(nullptr)
    , m_bCameraConnected(false)
    , m_bRobotConnected(false)
    , m_currentWorkStatus(WorkStatus::Error)
{
    m_detectionDataCache.clear();
}

GrabBagPresenter::~GrabBagPresenter()
{
    // 停止配置管理器
    if (m_pConfigManager) {
        m_pConfigManager->Shutdown();
        m_pConfigManager.reset();
    }
    
    // 停止算法检测线程
    m_bAlgoDetectThreadRunning = false;
    m_algoDetectCondition.notify_all();
    
    // 等待算法检测线程结束
    if (m_algoDetectThread.joinable()) {
        m_algoDetectThread.join();
    }
    
    // 释放缓存的检测数据
    _ClearDetectionDataCache();
    
    // 释放机械臂协议
    if (m_pRobotProtocol) {
        m_pRobotProtocol->Deinitialize();
        delete m_pRobotProtocol;
        m_pRobotProtocol = nullptr;
    }
    
    // 释放串口协议
    if (m_pSerialProtocol) {
        m_pSerialProtocol->CloseSerial();
        delete m_pSerialProtocol;
        m_pSerialProtocol = nullptr;
    }
    
    // 释放相机设备资源
    for(auto it = m_vrEyeDeviceList.begin(); it != m_vrEyeDeviceList.end(); it++)
    {
        if (it->second != nullptr) {
            it->second->CloseDevice();
            delete it->second;
            it->second = nullptr;
        }
    }
    m_vrEyeDeviceList.clear();  

    // 释放检测处理器
    if(m_pDetectPresenter)
    {
        delete m_pDetectPresenter;
        m_pDetectPresenter = nullptr;
    }
    
    // 释放配置对象
    if (m_vrConfig) {
        delete m_vrConfig;
        m_vrConfig = nullptr;
    }
}

int GrabBagPresenter::Init()
{
    LOG_DEBUG("Start APP Version: %s\n", GRABBAG_FULL_VERSION_STRING);
    // 初始化连接状态
    m_bCameraConnected = false;
    m_currentWorkStatus = WorkStatus::InitIng;

    m_pStatus->OnWorkStatusChanged(m_currentWorkStatus);

    m_pDetectPresenter = new DetectPresenter();
    
    // 初始化VrConfig模块
    IVrConfig::CreateInstance(&m_vrConfig);
    
    // 设置配置改变通知回调
    if (m_vrConfig) {
        m_vrConfig->SetConfigChangeNotify(this);
    }

    // 获取配置文件路径
    QString configPath = PathManager::GetConfigFilePath();
    
    // 读取IP列表
    ConfigResult configResult = m_vrConfig->LoadConfig(configPath.toStdString());
    m_projectType = configResult.projectType;
    int nRet = SUCCESS;

    // 初始化算法参数
    nRet = InitAlgorithmParams();
    if (nRet != 0) {
        m_pStatus->OnStatusUpdate("算法参数初始化失败");
        LOG_ERROR("Algorithm parameters initialization failed with error: %d\n", nRet);
    } else {
        m_pStatus->OnStatusUpdate("算法参数初始化成功");
        LOG_INFO("Algorithm parameters initialization successful\n");
    }

    // 通知UI相机个数
    int cameraCount = configResult.cameraList.size();
    
    // 初始化相机列表，预分配空间
    m_vrEyeDeviceList.resize(cameraCount, std::make_pair("", nullptr));
    for(int i = 0; i < cameraCount; i++)
    {
        m_vrEyeDeviceList[i] = std::make_pair(configResult.cameraList[i].name, nullptr);
    }   
    m_pStatus->OnCameraCountChanged(cameraCount);
    
    if(cameraCount > 0){
        if (cameraCount >= 1) {
            // 尝试打开相机1
            LOG_INFO("Attempting to connect to camera 1 with IP: %s\n", configResult.cameraList[0].ip.c_str());
            
            // 发送页面提示信息
            m_pStatus->OnStatusUpdate(QString("正在连接%1: %2").arg(configResult.cameraList[0].name.c_str()).arg(configResult.cameraList[0].ip.c_str()).toStdString());
            
            // 初始化VrEyeDevice模块
            IVrEyeDevice* pDevice = nullptr;
            IVrEyeDevice::CreateObject(&pDevice);
            
            nRet = pDevice->InitDevice();
            ERR_CODE_RETURN(nRet);

            // 先设置状态回调
            nRet = pDevice->SetStatusCallback(_StaticCameraNotify, this);
            ERR_CODE_RETURN(nRet);
            
            // 再打开设备
            nRet = pDevice->OpenDevice(configResult.cameraList[0].ip.c_str(), ProjectType::DirectBag ==  m_projectType);
            // 通过回调更新相机1状态
            bool camera1Connected = (SUCCESS == nRet);
            if(camera1Connected){
                LOG_INFO("Camera 1 connection successful, IP: %s\n", configResult.cameraList[0].ip.c_str());
                m_pStatus->OnStatusUpdate(QString("%1连接成功").arg(configResult.cameraList[0].name.c_str()).toStdString());
            } else {
                LOG_ERROR("Camera 1 connection failed, IP: %s, error code: %d\n", configResult.cameraList[0].ip.c_str(), nRet);
                m_pStatus->OnStatusUpdate(QString("%1连接失败: %2").arg(configResult.cameraList[0].name.c_str()).arg(nRet).toStdString());
                delete pDevice; // 释放失败的设备
                pDevice = nullptr;
            }
            m_vrEyeDeviceList[0] = std::make_pair(configResult.cameraList[0].name, pDevice); // 直接存储到索引0
            m_pStatus->OnCamera1StatusChanged(camera1Connected);
            m_pStatus->OnStatusUpdate(camera1Connected ? QString("%1连接成功").arg(configResult.cameraList[0].name.c_str()).toStdString() : QString("%1连接失败").arg(configResult.cameraList[0].name.c_str()).toStdString());
            m_bCameraConnected = camera1Connected;
        }
        else {
            LOG_WARNING("Camera count is 0, setting camera 1 as disconnected\n");
            m_pStatus->OnStatusUpdate("配置文件中未找到相机配置，设置相机为离线状态");
            m_pStatus->OnCamera1StatusChanged(false);
            m_bCameraConnected = false;
        }
        
        if (cameraCount >= 2) {
            IVrEyeDevice* pDevice = nullptr;
            IVrEyeDevice::CreateObject(&pDevice);
            nRet = pDevice->InitDevice();
            ERR_CODE_RETURN(nRet);
            
            // 先设置状态回调
            nRet = pDevice->SetStatusCallback(_StaticCameraNotify, this);
            ERR_CODE_RETURN(nRet);
            
            // 尝试打开相机2
            nRet = pDevice->OpenDevice(configResult.cameraList[1].ip.c_str(), ProjectType::DirectBag ==  m_projectType);
            // 通过回调更新相机2状态
            bool camera2Connected = (SUCCESS == nRet);
            if(camera2Connected)
            {
                LOG_INFO("Camera 2 connection successful, IP: %s\n", configResult.cameraList[1].ip.c_str());
            } else {
                LOG_ERROR("Camera 2 connection failed, IP: %s, error code: %d\n", configResult.cameraList[1].ip.c_str(), nRet);
                delete pDevice; // 释放失败的设备
                pDevice = nullptr;
            }
            m_vrEyeDeviceList[1] = std::make_pair(configResult.cameraList[1].name, pDevice); // 直接存储到索引1
            m_pStatus->OnCamera2StatusChanged(camera2Connected);
            m_pStatus->OnStatusUpdate(camera2Connected ? QString("%1连接成功").arg(configResult.cameraList[1].name.c_str()).toStdString() : QString("%1连接失败").arg(configResult.cameraList[1].name.c_str()).toStdString());
            // 只要有一个相机连接成功就认为相机连接正常
            if (camera2Connected) {
                m_bCameraConnected = true;
            }
        }
        else {
            // 如果只有一个相机，则将相机2状态设为未连接
            m_pStatus->OnCamera2StatusChanged(false);
        }
    } else {
        IVrEyeDevice* pDevice = nullptr;
        IVrEyeDevice::CreateObject(&pDevice);
        nRet = pDevice->InitDevice();
        ERR_CODE_RETURN(nRet);
        
        // 先设置状态回调
        nRet = pDevice->SetStatusCallback(&GrabBagPresenter::_StaticCameraNotify, this);
        LOG_DEBUG("SetStatusCallback result: %d\n", nRet);
        ERR_CODE_RETURN(nRet);
        
        // 尝试打开相机1
        nRet = pDevice->OpenDevice(nullptr, ProjectType::DirectBag ==  m_projectType);
        // 通过回调更新相机1状态
        bool camera1Connected = (SUCCESS == nRet);
        if(camera1Connected)
        {
            m_vrEyeDeviceList.resize(1);
            m_vrEyeDeviceList[0] = std::make_pair("相机", pDevice); // 直接存储到索引0
        } else {
            delete pDevice; // 释放失败的设备
        }
        m_pStatus->OnCamera1StatusChanged(camera1Connected);
        m_pStatus->OnStatusUpdate(camera1Connected ? "相机连接成功" : "相机连接失败");
        m_bCameraConnected = camera1Connected;
    }

    // 设置默认相机索引为第一个连接的相机
    m_currentCameraIndex = 1; // 默认从1开始
    for (int i = 0; i < static_cast<int>(m_vrEyeDeviceList.size()); i++) {
        if (m_vrEyeDeviceList[i].second != nullptr) {
            m_currentCameraIndex = i + 1; // 找到第一个连接的相机
            break;
        }
    }
    
    LOG_INFO("Camera initialization completed. Connected cameras: %zu, default camera index: %d\n", 
             m_vrEyeDeviceList.size(), m_currentCameraIndex);
    
    // 初始化机械臂协议
    nRet = InitRobotProtocol();
    if (nRet != 0) {
        m_pStatus->OnStatusUpdate("机械臂服务初始化失败");
        m_bRobotConnected = false;
    } else {
        m_pStatus->OnStatusUpdate("机械臂服务初始化成功");
    }
    
    // 初始化串口协议
    nRet = InitSerialProtocol();
    if (nRet != 0) {
        m_pStatus->OnStatusUpdate("串口服务初始化失败");
        m_bSerialConnected = false;
    } else {
        m_pStatus->OnStatusUpdate("串口服务初始化成功");
        m_bSerialConnected = true;
        m_pStatus->OnSerialConnectionChanged(true);
    }
    
    m_bAlgoDetectThreadRunning = true;
    m_algoDetectThread = std::thread(&GrabBagPresenter::_AlgoDetectThread, this);
    m_algoDetectThread.detach();    

    m_pStatus->OnStatusUpdate("设备初始化完成");

    CheckAndUpdateWorkStatus();

    QString str = QString("%1 配置初始化成功").arg(ProjectTypeToString(configResult.projectType).c_str());
    m_pStatus->OnStatusUpdate(str.toStdString());
    LOG_INFO("ConfigManager initialized successfully\n");

    return SUCCESS;
}

// 初始化机械臂协议
int GrabBagPresenter::InitRobotProtocol()
{
    LOG_DEBUG("Start initializing robot protocol\n");
    m_pStatus->OnStatusUpdate("机械臂服务初始化...");
    
    // 创建RobotProtocol实例
    if(nullptr == m_pRobotProtocol){
        m_pRobotProtocol = new RobotProtocol();
    }

    // 初始化协议服务（使用端口502）
    int nRet = m_pRobotProtocol->Initialize(5020);

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

    // 设置工作信号回调
    m_pRobotProtocol->SetWorkSignalCallback([this](bool startWork, int cameraIndex) {
        return this->OnRobotWorkSignal(startWork, cameraIndex);
    });
    

    LOG_INFO("Robot protocol initialization completed successfully\n");
    return nRet;
    
}

// 串口协议相关方法实现
int GrabBagPresenter::InitSerialProtocol()
{
    if (m_pSerialProtocol) {
        LOG_WARNING("Serial protocol already initialized\n");
        return SUCCESS;
    }
    
    LOG_INFO("Initializing serial protocol\n");
    
    // 获取串口配置
    QString configPath = PathManager::GetConfigFilePath();
    ConfigResult configResult = m_vrConfig->LoadConfig(configPath.toStdString());
    
    // 如果串口未启用，则不初始化
    if (!configResult.serialConfig.enabled) {
        LOG_INFO("Serial communication is disabled in configuration\n");
        return ERR_CODE(DEV_ARG_INVAILD);
    }
    
    // 创建串口协议实例
    m_pSerialProtocol = new SerialProtocol();
    
    // 设置串口回调函数
    m_pSerialProtocol->SetConnectionCallback([this](bool connected) {
        this->OnSerialConnectionChanged(connected);
    });
    
    m_pSerialProtocol->SetWorkSignalCallback([this](bool startWork, int cameraIndex) {
        return this->OnSerialWorkSignal(startWork, cameraIndex);
    });
    
    // 打开串口
    int result = m_pSerialProtocol->OpenSerial(
        configResult.serialConfig.portName,
        configResult.serialConfig.baudRate,
        configResult.serialConfig.dataBits,
        configResult.serialConfig.stopBits,
        configResult.serialConfig.parity,
        configResult.serialConfig.flowControl
    );
    
    if (result == SUCCESS) {
        LOG_INFO("Serial  protocol initialization successful\n");
        m_bSerialConnected = true;
        return SUCCESS;
    } else {
        LOG_ERROR("Serial protocol initialization failed with error: %d\n", result);
        m_bSerialConnected = false;
        return result;
    }
}

// 初始化算法参数
int GrabBagPresenter::InitAlgorithmParams()
{
    LOG_DEBUG("Start initializing algorithm parameters\n");
    QString exePath = QCoreApplication::applicationFilePath();

    // 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::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());
    
    // 获取配置文件路径
    QString configPath = PathManager::GetConfigFilePath();
    
    LOG_INFO("Loading config: %s\n", configPath.toStdString().c_str());
    
    // 读取配置文件
    ConfigResult configResult = m_vrConfig->LoadConfig(configPath.toStdString());
    const VrAlgorithmParams& xmlParams = configResult.algorithmParams;
    
    // 保存调试参数
    m_debugParam = configResult.debugParam;
    
    LOG_INFO("Loaded XML params - Bag: L=%.1f, W=%.1f, H=%.1f\n", xmlParams.bagParam.bagL, xmlParams.bagParam.bagW, xmlParams.bagParam.bagH);
    LOG_INFO("Loaded XML params - Pile: L=%.1f, W=%.1f, H=%.1f\n",xmlParams.pileParam.pileL, xmlParams.pileParam.pileW, xmlParams.pileParam.pileH);
    
    // 初始化算法参数结构
    memset(&m_algoParam, 0, sizeof(SG_bagPositionParam));
    
    // 设置编织袋参数
    m_algoParam.bagParam.bagL = xmlParams.bagParam.bagL;
    m_algoParam.bagParam.bagW = xmlParams.bagParam.bagW;
    m_algoParam.bagParam.bagH = xmlParams.bagParam.bagH;
    
    // 设置滤波参数
    m_algoParam.filterParam.continuityTh = xmlParams.filterParam.continuityTh;
    m_algoParam.filterParam.outlierTh = xmlParams.filterParam.outlierTh;
    
    // 设置角点特征参数
    m_algoParam.cornerParam.cornerTh        = xmlParams.cornerParam.cornerTh;
    m_algoParam.cornerParam.scale           = xmlParams.cornerParam.scale;
    m_algoParam.cornerParam.minEndingGap    = xmlParams.cornerParam.minEndingGap;
    m_algoParam.cornerParam.minEndingGap_z  = xmlParams.cornerParam.minEndingGap_z;
    m_algoParam.cornerParam.jumpCornerTh_1  = xmlParams.cornerParam.jumpCornerTh_1;
    m_algoParam.cornerParam.jumpCornerTh_2  = xmlParams.cornerParam.jumpCornerTh_2;
    
    // 设置增长参数
    m_algoParam.growParam.maxLineSkipNum = xmlParams.growParam.maxLineSkipNum;
    m_algoParam.growParam.yDeviation_max = xmlParams.growParam.yDeviation_max;
    m_algoParam.growParam.maxSkipDistance = xmlParams.growParam.maxSkipDistance;
    m_algoParam.growParam.zDeviation_max = xmlParams.growParam.zDeviation_max;
    m_algoParam.growParam.minLTypeTreeLen = xmlParams.growParam.minLTypeTreeLen;
    m_algoParam.growParam.minVTypeTreeLen = xmlParams.growParam.minVTypeTreeLen;
    
    // 设置颜色参数
    m_hsvCmpParam.hueTh             = xmlParams.hsvCmpParam.hueTh   ;
    m_hsvCmpParam.saturateTh        = xmlParams.hsvCmpParam.saturateTh;
    m_hsvCmpParam.FBVldPtRatioTh    = xmlParams.hsvCmpParam.FBVldPtRatioTh;
    m_hsvCmpParam.frontVldPtGreater = xmlParams.hsvCmpParam.frontVldPtGreater;
    m_hsvCmpParam.front_upVldPtGreater = xmlParams.hsvCmpParam.front_upVldPtGreater;
    m_hsvCmpParam.back_upVldPtGreater   = xmlParams.hsvCmpParam.back_upVldPtGreater;
    m_rgbColorPattern.r = xmlParams.rgbColorPattern.r;
    m_rgbColorPattern.g = xmlParams.rgbColorPattern.g;
    m_rgbColorPattern.b = xmlParams.rgbColorPattern.b;
    memcpy(m_frontColorTemplate, xmlParams.colorTemplateParam.frontColorTemplate, RGN_HIST_SIZE * sizeof(double));
    memcpy(m_backColorTemplate, xmlParams.colorTemplateParam.backColorTemplate, RGN_HIST_SIZE * sizeof(double));
    
    // 设置平面校准参数（保存所有相机的配置）
    m_cameraCalibParams = xmlParams.planeCalibParam.cameraCalibParams;

    LOG_INFO("projectType: %s\n", ProjectTypeToString(m_projectType).c_str());
    
    LOG_INFO("Algorithm parameters initialized successfully:\n");
    LOG_INFO("  Bag: L=%.1f, W=%.1f, H=%.1f\n", m_algoParam.bagParam.bagL, m_algoParam.bagParam.bagW, m_algoParam.bagParam.bagH);
    LOG_INFO("  Filter: continuityTh=%.1f, outlierTh=%.1f\n", m_algoParam.filterParam.continuityTh, m_algoParam.filterParam.outlierTh);

    LOG_INFO("  Corner: minEndingGap=%.1f, minEndingGap_z=%.1f, scale=%.1f, cornerTh=%.1f, jumpCornerTh_1=%.1f, jumpCornerTh_2=%.1f\n",
        m_algoParam.cornerParam.minEndingGap, m_algoParam.cornerParam.minEndingGap_z, m_algoParam.cornerParam.scale, m_algoParam.cornerParam.cornerTh,
        m_algoParam.cornerParam.jumpCornerTh_1, m_algoParam.cornerParam.jumpCornerTh_2);

    LOG_INFO("  Grow: minVTypeTreeLen=%.1f, minLTypeTreeLen=%.1f yDeviation_max=%.1f, zDeviation_max=%.1f, maxLineSkipNum=%d, maxSkipDistance=%.1f\n", 
        m_algoParam.growParam.minVTypeTreeLen, m_algoParam.growParam.minLTypeTreeLen, 
        m_algoParam.growParam.yDeviation_max, m_algoParam.growParam.zDeviation_max,
        m_algoParam.growParam.maxLineSkipNum, m_algoParam.growParam.maxSkipDistance);

    // 循环打印所有相机的调平参数
    LOG_INFO("Loading plane calibration parameters for all cameras:\n");
    for (const auto& cameraParam : m_cameraCalibParams) {
        LOG_INFO("Camera %d (%s) calibration parameters:\n", 
                 cameraParam.cameraIndex, cameraParam.cameraName.c_str());
        LOG_INFO("  Is calibrated: %s\n", cameraParam.isCalibrated ? "YES" : "NO");
        LOG_INFO("  Plane height: %.3f\n", cameraParam.planeHeight);
        LOG_INFO("  Plane calibration matrix:\n");
        LOG_INFO("    [%.3f, %.3f, %.3f]\n", cameraParam.planeCalib[0], cameraParam.planeCalib[1], cameraParam.planeCalib[2]);
        LOG_INFO("    [%.3f, %.3f, %.3f]\n", cameraParam.planeCalib[3], cameraParam.planeCalib[4], cameraParam.planeCalib[5]);
        LOG_INFO("    [%.3f, %.3f, %.3f]\n", cameraParam.planeCalib[6], cameraParam.planeCalib[7], cameraParam.planeCalib[8]);
        LOG_INFO("  Inverse rotation matrix:\n");
        LOG_INFO("    [%.3f, %.3f, %.3f]\n", cameraParam.invRMatrix[0], cameraParam.invRMatrix[1], cameraParam.invRMatrix[2]);
        LOG_INFO("    [%.3f, %.3f, %.3f]\n", cameraParam.invRMatrix[3], cameraParam.invRMatrix[4], cameraParam.invRMatrix[5]);
        LOG_INFO("    [%.3f, %.3f, %.3f]\n", cameraParam.invRMatrix[6], cameraParam.invRMatrix[7], cameraParam.invRMatrix[8]);
        LOG_INFO("  --------------------------------\n");
    }

    LOG_INFO("HSV color comparison parameters:\n");
    LOG_INFO("  hueTh: %.1f\n", m_hsvCmpParam.hueTh);
    LOG_INFO("  saturateTh: %.1f\n", m_hsvCmpParam.saturateTh);
    LOG_INFO("  FBVldPtRatioTh: %.5f\n", m_hsvCmpParam.FBVldPtRatioTh);
    LOG_INFO("  frontVldPtGreater: %s\n", m_hsvCmpParam.frontVldPtGreater ? "true" : "false");
    LOG_INFO("  front_upVldPtGreater: %s\n", m_hsvCmpParam.front_upVldPtGreater ? "true" : "false");
    LOG_INFO("  back_upVldPtGreater: %s\n", m_hsvCmpParam.back_upVldPtGreater ? "true" : "false");
    
    return SUCCESS;
}

// 手眼标定矩阵管理方法实现
const CalibMatrix GrabBagPresenter::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 index: %d, valid range: 0-%zu\n", index, m_clibMatrixList.size() - 1);
        return clibMatrix;
    }

    return clibMatrix;
}

// 机械臂协议回调函数实现
void GrabBagPresenter::OnRobotConnectionChanged(bool connected)
{
    LOG_INFO("Robot connection status changed: %s\n", (connected ? "connected" : "disconnected"));
    
    // 更新机械臂连接状态
    m_bRobotConnected = connected;
    
    if (m_pStatus) {
        m_pStatus->OnRobotConnectionChanged(connected);
        
        // 发送详细的页面状态信息
        if (connected) {
            m_pStatus->OnStatusUpdate("机械臂连接成功，通信正常");
        } else {
            m_pStatus->OnStatusUpdate("机械臂连接断开，请检查网络连接");
        }
    }
    
    // 检查并更新工作状态
    CheckAndUpdateWorkStatus();
}

bool GrabBagPresenter::OnRobotWorkSignal(bool startWork, int cameraIndex)
{
    LOG_INFO("Received robot work signal: %s for camera index: %d\n", (startWork ? "start work" : "stop work"), cameraIndex);
    
    int nRet = SUCCESS;
    
    if (startWork) {
        QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ? 
            QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
        QString message = QString("收到信号，启动%1检测").arg(cameraName);
        if (nullptr != m_pStatus) {
            m_pStatus->OnStatusUpdate(message.toStdString());
        }
        nRet = StartDetection(cameraIndex);
    } else {
        QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ? 
            QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
        QString message = QString("收到信号，停止%1检测").arg(cameraName);
        if (nullptr != m_pStatus) {
            m_pStatus->OnStatusUpdate(message.toStdString());
        }
        nRet = StopDetection();
    }

    return nRet == SUCCESS;
}

void GrabBagPresenter::SetStatusCallback(IYGrabBagStatus* status)
{
    m_pStatus = status;
}

// 模拟检测函数，用于演示
int GrabBagPresenter::StartDetection(int cameraIdx, bool isAuto)
{    
    LOG_INFO("--------------------------------\n");
    LOG_INFO("Start detection with camera index: %d\n", cameraIdx);
    
    // 检查设备状态是否准备就绪
    if (isAuto && m_currentWorkStatus != WorkStatus::Ready) {
        LOG_INFO("Device not ready, cannot start detection\n");
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("设备未准备就绪，无法开始检测");
        }
        return ERR_CODE(DEV_BUSY);
    }

    // 保存当前使用的相机ID（从1开始编号）
    if(-1 != cameraIdx){
        m_currentCameraIndex = cameraIdx;
    }
    int cameraIndex = m_currentCameraIndex;

    // 通知UI工作状态变更为"正在工作"
    if (m_pStatus) {
        m_currentWorkStatus = WorkStatus::Working;
        m_pStatus->OnWorkStatusChanged(WorkStatus::Working);
    }
    
    // 设置机械臂工作状态为忙碌
    if (m_pRobotProtocol) {
        m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_BUSY);
    }

    if(m_vrEyeDeviceList.empty()){
        LOG_ERROR("No camera device found\n");
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("未找到相机设备");
        }
        return ERR_CODE(DEV_NOT_FIND);
    }

    // 清空检测数据缓存（释放之前的内存）
    _ClearDetectionDataCache();

    int nRet = SUCCESS;
    
    // 根据参数决定启动哪些相机
    
    // 启动指定相机（cameraIndex为相机ID，从1开始编号）
    int arrayIndex = cameraIndex - 1;  // 转换为数组索引（从0开始）
    
    // 检查相机是否连接
    if (arrayIndex < 0 || arrayIndex >= static_cast<int>(m_vrEyeDeviceList.size()) || 
        m_vrEyeDeviceList[arrayIndex].second == nullptr) {
        LOG_ERROR("Camera %d is not connected\n", cameraIndex);
        QString cameraName = (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) ? 
            QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first) : QString("相机%1").arg(cameraIndex);
        m_pStatus->OnStatusUpdate(QString("%1 未连接").arg(cameraName).toStdString());
        return ERR_CODE(DEV_NOT_FIND);
    }
    
    if (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) {

        IVrEyeDevice* pDevice = m_vrEyeDeviceList[arrayIndex].second;

        EVzResultDataType eDataType = keResultDataType_Position;
        if(m_projectType == ProjectType::DirectBag){
            eDataType = keResultDataType_PointXYZRGBA;
        }

        pDevice->SetStatusCallback(&GrabBagPresenter::_StaticCameraNotify, this);

        // 开始
        nRet = pDevice->StartDetect(&GrabBagPresenter::_StaticDetectionCallback, eDataType, this);
        LOG_INFO("Camera ID %d start detection nRet: %d\n", cameraIndex, nRet);
        if (nRet == SUCCESS) {
            QString cameraName = QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first);
            m_pStatus->OnStatusUpdate(QString("启动%1检测成功").arg(cameraName).toStdString());
        } else {
            LOG_ERROR("Camera ID %d start detection failed with error: %d\n", cameraIndex, nRet);
            QString cameraName = QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first);
            m_pStatus->OnStatusUpdate(QString("启动%1检测失败[%d]").arg(cameraName).arg(nRet).toStdString());
        }
    } else {
        LOG_ERROR("Invalid camera ID: %d, valid range is 1-%zu\n", cameraIndex, m_vrEyeDeviceList.size());
        m_pStatus->OnStatusUpdate(QString("无效的相机ID: %1，有效范围: 1-%2").arg(cameraIndex).arg(m_vrEyeDeviceList.size()).toStdString());
        nRet = ERR_CODE(DEV_NOT_FIND);
    }
    
    return nRet;
}

int GrabBagPresenter::StopDetection()
{
    LOG_INFO("Stop detection\n");
    
    // 停止所有相机的检测
    for (size_t i = 0; i < m_vrEyeDeviceList.size(); ++i) {
        IVrEyeDevice* pDevice = m_vrEyeDeviceList[i].second;
        if (pDevice) {
            int ret = pDevice->StopDetect();
            if (ret == 0) {
                LOG_INFO("Camera %zu stop detection successfully\n", i + 1);
            } else {
                LOG_WARNING("Camera %zu stop detection failed, error code: %d\n", i + 1, ret);
            }
        }
    }
    
    // 通知UI工作状态变更为"就绪"（如果设备连接正常）
    if (m_pStatus) {
        // 检查设备连接状态，决定停止后的状态
        if (m_bCameraConnected && (m_bRobotConnected || m_bSerialConnected)) {
            m_currentWorkStatus = WorkStatus::Ready;
            m_pStatus->OnWorkStatusChanged(WorkStatus::Ready);
        } else {
            m_currentWorkStatus = WorkStatus::Error;
            m_pStatus->OnWorkStatusChanged(WorkStatus::Error);
        }
        m_pStatus->OnStatusUpdate("检测已停止");
    }
    
    // 设置机械臂工作状态为空闲
    if (m_pRobotProtocol) {
        m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_IDLE);
    }

    return 0;
}

// 加载调试数据进行检测
int GrabBagPresenter::LoadDebugDataAndDetect(const std::string& filePath)
{
    LOG_INFO("Loading debug data from file: %s\n", filePath.c_str());

    m_currentWorkStatus = WorkStatus::Working;

    if (m_pStatus) {
        m_pStatus->OnWorkStatusChanged(WorkStatus::Working);
        std::string fileName = QFileInfo(QString::fromStdString(filePath)).fileName().toStdString();
        m_pStatus->OnStatusUpdate(QString("正在加载文件: %1").arg(fileName.c_str()).toStdString());
    }
    
    // 设置机械臂工作状态为忙碌
    if (m_pRobotProtocol) {
        m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_BUSY);
    }

    
    int lineNum = 0;
    float scanSpeed = 0.0f;
    int maxTimeStamp = 0;
    int clockPerSecond = 0;
    

    int result = SUCCESS;
    // 1. 清空现有的检测数据缓存
    _ClearDetectionDataCache();
    
    {
        std::lock_guard<std::mutex> lock(m_detectionDataMutex);
        // 使用统一的LoadLaserScanData接口，自动判断文件格式
        result = m_dataLoader.LoadLaserScanData(filePath, m_detectionDataCache, lineNum, scanSpeed, maxTimeStamp, clockPerSecond);
    }
    
    if (result != SUCCESS) {
        LOG_ERROR("Failed to load debug data: %s\n", m_dataLoader.GetLastError().c_str());
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("调试数据加载失败: " + m_dataLoader.GetLastError());
        }
        return result;
    }
    
    LOG_INFO("Successfully loaded %d lines of debug data\n", lineNum);
    if (m_pStatus) {
        m_pStatus->OnStatusUpdate(QString("成功加载 %1 行调试数据").arg(lineNum).toStdString());
    }
        
    // 等待检测完成
    result = _DetectTask();
    
    return result;
}

// 为所有相机设置状态回调
void GrabBagPresenter::SetCameraStatusCallback(VzNL_OnNotifyStatusCBEx fNotify, void* param)
{
    for (size_t i = 0; i < m_vrEyeDeviceList.size(); i++) {
        IVrEyeDevice* pDevice = m_vrEyeDeviceList[i].second;
        if (pDevice) {
            pDevice->SetStatusCallback(fNotify, param);
            LOG_DEBUG("Status callback set for camera %zu\n", i + 1);
        }
    }
}

// 静态回调函数实现
void GrabBagPresenter::_StaticCameraNotify(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam)
{
    // 从pInfoParam获取this指针，转换回GrabBagPresenter*类型
    GrabBagPresenter* pThis = reinterpret_cast<GrabBagPresenter*>(pInfoParam);
    if (pThis)
    {
        // 调用实例的非静态成员函数
        pThis->_CameraNotify(eStatus, pExtData, nDataLength, pInfoParam);
    }
}   

void GrabBagPresenter::_CameraNotify(EVzDeviceWorkStatus eStatus, void *pExtData, unsigned int nDataLength, void *pInfoParam)
{
    LOG_DEBUG("[Camera Notify] received: status=%d\n", (int)eStatus);
    
    switch (eStatus) {
        case EVzDeviceWorkStatus::keDeviceWorkStatus_Offline:
        {
            LOG_WARNING("[Camera Notify] Camera device offline/disconnected\n");
            
            // 更新相机连接状态
            m_bCameraConnected = false;
            
            // 通知UI相机状态变更
            if (m_pStatus) {
                // 这里需要判断是哪个相机离线，暂时更新相机1状态
                // 实际应用中可能需要通过pInfoParam或其他方式区分具体哪个相机
                m_pStatus->OnCamera1StatusChanged(false);
                m_pStatus->OnStatusUpdate("相机设备离线");
            }
            
            // 检查并更新工作状态
            CheckAndUpdateWorkStatus();
            break;
        }
        
        case EVzDeviceWorkStatus::keDeviceWorkStatus_Eye_Reconnect:
        {
            LOG_INFO("[Camera Notify] Camera device online/connected\n");
            
            // 更新相机连接状态
            m_bCameraConnected = true;
            
            // 通知UI相机状态变更
            if (m_pStatus) {
                m_pStatus->OnCamera1StatusChanged(true);
                m_pStatus->OnStatusUpdate("相机设备已连接");
            }
            
            // 检查并更新工作状态
            CheckAndUpdateWorkStatus();
            break;
        }
        
        case EVzDeviceWorkStatus::keDeviceWorkStatus_Device_Swing_Finish:
        {
            LOG_INFO("[Camera Notify] Received scan finish signal from camera\n");
            
            // 发送页面提示信息
            if (m_pStatus) {
                m_pStatus->OnStatusUpdate("相机扫描完成，开始数据处理...");
            }
            
            // 通知检测线程开始处理
            m_algoDetectCondition.notify_one();
            break;
        }
        
        default:
            break;
    }
}

// 检测数据回调函数静态版本
void GrabBagPresenter::_StaticDetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pUserData)
{
    GrabBagPresenter* pThis = reinterpret_cast<GrabBagPresenter*>(pUserData);
    if (pThis) {
        pThis->_DetectionCallback(eDataType, pLaserLinePoint, pUserData);
    }
}

// 检测数据回调函数实例版本
void GrabBagPresenter::_DetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pUserData)
{
    if (!pLaserLinePoint) {
        LOG_WARNING("[Detection Callback] pLaserLinePoint is null\n");
        return;
    }

    if (pLaserLinePoint->nPointCount <= 0) {
        LOG_WARNING("[Detection Callback] Point count is zero or negative: %d\n", pLaserLinePoint->nPointCount);
        return;
    }

    if (!pLaserLinePoint->p3DPoint) {
        LOG_WARNING("[Detection Callback] p3DPoint is null\n");
        return;
    }

    // 直接存储SVzLaserLineData到统一缓存中
    SVzLaserLineData lineData;
    memset(&lineData, 0, sizeof(SVzLaserLineData));
    
    // 根据数据类型分配和复制点云数据
    if (eDataType == keResultDataType_Position) {
        // 复制SVzNL3DPosition数据
        if (pLaserLinePoint->p3DPoint && pLaserLinePoint->nPointCount > 0) {
            lineData.p3DPoint = new SVzNL3DPosition[pLaserLinePoint->nPointCount];
            if (lineData.p3DPoint) {
                memcpy(lineData.p3DPoint, pLaserLinePoint->p3DPoint, sizeof(SVzNL3DPosition) * pLaserLinePoint->nPointCount);
            }
            lineData.p2DPoint = new SVzNL2DPosition[pLaserLinePoint->nPointCount];
            if (lineData.p2DPoint) {
                memcpy(lineData.p2DPoint, pLaserLinePoint->p2DPoint, sizeof(SVzNL2DPosition) * pLaserLinePoint->nPointCount);
            }
        }
    } else if (eDataType == keResultDataType_PointXYZRGBA) {
        // 复制SVzNLPointXYZRGBA数据
        if (pLaserLinePoint->p3DPoint && pLaserLinePoint->nPointCount > 0) {
            lineData.p3DPoint = new SVzNLPointXYZRGBA[pLaserLinePoint->nPointCount];
            if (lineData.p3DPoint) {
                memcpy(lineData.p3DPoint, pLaserLinePoint->p3DPoint, sizeof(SVzNLPointXYZRGBA) * pLaserLinePoint->nPointCount);
            }
            lineData.p2DPoint = new SVzNL2DLRPoint[pLaserLinePoint->nPointCount];
            if (lineData.p2DPoint) {
                memcpy(lineData.p2DPoint, pLaserLinePoint->p2DPoint, sizeof(SVzNL2DLRPoint) * pLaserLinePoint->nPointCount);
            }
        }
    }

    
    lineData.nPointCount = pLaserLinePoint->nPointCount;
    lineData.llTimeStamp = pLaserLinePoint->llTimeStamp;
    lineData.llFrameIdx = pLaserLinePoint->llFrameIdx;
    lineData.nEncodeNo = pLaserLinePoint->nEncodeNo;
    lineData.fSwingAngle = pLaserLinePoint->fSwingAngle;
    lineData.bEndOnceScan = pLaserLinePoint->bEndOnceScan;
    
    std::lock_guard<std::mutex> lock(m_detectionDataMutex);
    m_detectionDataCache.push_back(std::make_pair(eDataType, lineData));
}

void GrabBagPresenter::CheckAndUpdateWorkStatus()
{
    if (m_bCameraConnected && (m_bRobotConnected || m_bSerialConnected)) {
        m_currentWorkStatus = WorkStatus::Ready;
        m_pStatus->OnWorkStatusChanged(WorkStatus::Ready);
    } else {
        m_currentWorkStatus = WorkStatus::Error;
        m_pStatus->OnWorkStatusChanged(WorkStatus::Error);
    }
}

void GrabBagPresenter::_AlgoDetectThread()
{
    while(m_bAlgoDetectThreadRunning)
    {
        std::unique_lock<std::mutex> lock(m_algoDetectMutex);
        m_algoDetectCondition.wait(lock, [this]() {
            return m_currentWorkStatus == WorkStatus::Working;
        });

        if(!m_bAlgoDetectThreadRunning){
            break;
        }

        // 检查设备状态是否准备就绪
        int nRet = _DetectTask();

        LOG_ERROR("DetectTask result: %d\n", nRet);
        if(nRet != SUCCESS){
            m_currentWorkStatus = WorkStatus::Error;
        }
        LOG_DEBUG("Algo Thread end\n");
    }
}

int GrabBagPresenter::_DetectTask()
{   
    LOG_INFO("[Algo Thread] Start real detection task using algorithm\n");
    
    std::lock_guard<std::mutex> lock(m_detectionDataMutex);
    // 1. 获取缓存的点云数据
    if (m_detectionDataCache.empty()) {
        LOG_WARNING("No cached detection data available\n");
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("无缓存的检测数据");
        }
        return ERR_CODE(DEV_DATA_INVALID);
    }
    
    // 2. 准备算法输入数据
    unsigned int lineNum = 0;
    lineNum = m_detectionDataCache.size();
    if(m_pStatus){
        m_pStatus->OnStatusUpdate("扫描线数：" + std::to_string(lineNum) + "，正在进行算法检测...");
    }

    CVrTimeUtils oTimeUtils;
    // 4. 根据当前相机索引获取对应的调平参数
    SSG_planeCalibPara currentCameraCalibParam = _GetCameraCalibParam(m_currentCameraIndex);
    
    // 获取当前使用的手眼标定矩阵
    const CalibMatrix currentClibMatrix = GetClibMatrix(m_currentCameraIndex - 1);

    DetectionResult detectionResult;
    
    // 根据项目类型选择处理方式
    if (m_projectType == ProjectType::DirectBag) {
        // 转换为RGBD格式并调用RGBD检测接口
        std::vector<SVzNLXYZRGBDLaserLine> rgbdData;
        int convertResult = m_dataLoader.ConvertToSVzNLXYZRGBDLaserLine(m_detectionDataCache, rgbdData);
        if (convertResult == SUCCESS && !rgbdData.empty()) {
            m_pDetectPresenter->DetectBag(rgbdData, m_algoParam, currentCameraCalibParam, 
                                        m_debugParam, m_dataLoader, currentClibMatrix.clibMatrix,
                                        m_hsvCmpParam, m_rgbColorPattern, m_frontColorTemplate, m_backColorTemplate, detectionResult);
            // 释放转换后的数据
            m_dataLoader.FreeConvertedData(rgbdData);
        } else {
            LOG_WARNING("Failed to convert data to RGBD format or no RGBD data available\n");
            if (m_pStatus) {
                m_pStatus->OnStatusUpdate("数据RGBD格式转换失败");
            }
            return ERR_CODE(DEV_DATA_INVALID);
        }
    } else {
        // 转换为XYZ格式并调用XYZ检测接口
        std::vector<SVzNL3DLaserLine> xyzData;
        int convertResult = m_dataLoader.ConvertToSVzNL3DLaserLine(m_detectionDataCache, xyzData);
        if (convertResult == SUCCESS && !xyzData.empty()) {
            m_pDetectPresenter->DetectBag(xyzData, m_algoParam, currentCameraCalibParam, 
                                        m_debugParam, m_dataLoader, currentClibMatrix.clibMatrix, detectionResult);
            // 释放转换后的数据
            m_dataLoader.FreeConvertedData(xyzData);
        } else {
            LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
            if (m_pStatus) {
                m_pStatus->OnStatusUpdate("数据XYZ格式转换失败");
            }
            return ERR_CODE(DEV_DATA_INVALID);
        }
    }
    
    LOG_INFO("[Algo Thread] sg_getBagPosition detected %zu objects time : %.2f ms\n", detectionResult.positions.size(), oTimeUtils.GetElapsedTimeInMilliSec());
    
    // 8. 返回检测结果
    detectionResult.cameraIndex = m_currentCameraIndex;
    // 调用检测结果回调函数
    m_pStatus->OnDetectionResult(detectionResult);
    
    // 更新状态
    QString statusMsg = QString("检测完成，发现%1个目标").arg(detectionResult.positions.size());
    m_pStatus->OnStatusUpdate(statusMsg.toStdString());
    
    // 更新机械臂协议状态（发送转换后的目标位置数据）
    _SendDetectionResultToRobot(detectionResult, m_currentCameraIndex);
    
    // 9. 检测完成后，将工作状态更新为"完成"
    if (m_pStatus) {
        m_currentWorkStatus = WorkStatus::Completed;
        m_pStatus->OnWorkStatusChanged(WorkStatus::Completed);
    }
    
    // 设置机械臂工作状态为相应相机工作完成（相机ID从1开始）
    if (m_pRobotProtocol) {
        uint16_t workStatus = (m_currentCameraIndex == 1) ? 
            RobotProtocol::WORK_STATUS_CAMERA1_DONE : 
            RobotProtocol::WORK_STATUS_CAMERA2_DONE;
        m_pRobotProtocol->SetWorkStatus(workStatus);
    }
    
    // 恢复到就绪状态
    m_currentWorkStatus = WorkStatus::Ready;
    
    return SUCCESS;
}

// 释放缓存的检测数据
void GrabBagPresenter::_ClearDetectionDataCache()
{
    std::lock_guard<std::mutex> lock(m_detectionDataMutex);
    
    // 释放加载的数据
    m_dataLoader.FreeLaserScanData(m_detectionDataCache);
    LOG_DEBUG("Detection data cache cleared successfully\n");
}

// 发送检测结果给机械臂
void GrabBagPresenter::_SendDetectionResultToRobot(const DetectionResult& detectionResult, int cameraIndex)
{
    LOG_INFO("Sending detection result for camera %d\n", cameraIndex);
    
    // 准备多目标数据结构
    MultiTargetData multiTargetData;
    
    // 检查是否有检测结果
    if (detectionResult.positions.empty()) {
        LOG_INFO("No objects detected, sending empty result\n");
        // 发送空的多目标数据
        multiTargetData.count = 0;
        multiTargetData.targets.clear();
    } else {
        // 获取检测到的目标位置（已经是机械臂坐标系）
        const auto& positions = detectionResult.positions;
        multiTargetData.count = static_cast<uint16_t>(positions.size());

        // 直接使用已经转换好的机械臂坐标
        for (size_t i = 0; i < positions.size(); i++) {
            const GrabBagPosition& pos = positions[i];
            
            // 直接使用已转换的坐标数据
            TargetPosition robotTarget;
            robotTarget.x = pos.x;      // 已转换的X轴坐标
            robotTarget.y = pos.y;      // 已转换的Y轴坐标
            robotTarget.z = pos.z;      // 已转换的Z轴坐标
            robotTarget.rz = pos.yaw;   // Yaw角

            // 添加到多目标数据
            multiTargetData.targets.push_back(robotTarget);
        }
    }
    
    // 发送到机械臂（网络ModbusTCP）
    bool robotSent = false;
    if (m_pRobotProtocol && (m_bRobotConnected || m_bSerialConnected)) {
        int result = m_pRobotProtocol->SetMultiTargetData(multiTargetData, cameraIndex);
        robotSent = (result == SUCCESS);
        LOG_INFO("[Robot TCP] SetMultiTargetData result: %d for camera ID: %d\n", result, cameraIndex);
        
        if (m_pStatus) {
            QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ? 
                QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
            if (result != SUCCESS) {
                m_pStatus->OnStatusUpdate(QString("写坐标给机械臂失败，%1").arg(cameraName).toStdString());
            } else {
                m_pStatus->OnStatusUpdate(QString("写坐标给机械臂成功，%1").arg(cameraName).toStdString());
            }
        }
    } else {
        LOG_WARNING("Robot TCP protocol not available\n");
    }
    
    // 发送到串口
    bool serialSent = false;
    if (m_pSerialProtocol && m_bSerialConnected) {
        
        int result = m_pSerialProtocol->SendMultiTargetData(multiTargetData, cameraIndex);
        serialSent = (result == SUCCESS);
        LOG_INFO("[Serial] SendMultiTargetData result: %d for camera ID: %d\n", result, cameraIndex);
        
        if (m_pStatus) {
            QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ? 
                QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
            if (result != SUCCESS) {
                m_pStatus->OnStatusUpdate(QString("写坐标给串口失败，%1").arg(cameraName).toStdString());
            } else {
                m_pStatus->OnStatusUpdate(QString("写坐标给串口成功，%1").arg(cameraName).toStdString());
            }
        }
    } else {
        LOG_WARNING("Serial protocol not available\n");
    }
    
    // 总结发送状态
    if (robotSent || serialSent) {
        LOG_INFO("Detection result sent successfully (Robot TCP: %s, Serial: %s)\n", 
                 robotSent ? "Yes" : "No", serialSent ? "Yes" : "No");
    } else {
        LOG_WARNING("Failed to send detection result via any protocol\n");
    }
}

// 实现配置改变通知接口
void GrabBagPresenter::OnConfigChanged(const ConfigResult& configResult)
{
    LOG_INFO("Configuration changed notification received, reloading algorithm parameters\n");
    
    // 更新调试参数
    m_debugParam = configResult.debugParam;
    
    // 重新初始化算法参数
    int result = InitAlgorithmParams();
    if (result == SUCCESS) {
        LOG_INFO("Algorithm parameters reloaded successfully after config change\n");
        if (m_pStatus) {
            m_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 (m_pStatus) {
            m_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 GrabBagPresenter::_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
    
    for (const auto& cameraParam : m_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;            
            } 
        }
    }
    
    LOG_INFO("Using calibrated parameters for camera %d\n", cameraIndex);
    LOG_DEBUG("  Plane height: %.3f\n", calibParam.planeHeight);
    LOG_DEBUG("  Plane calibration matrix: [%.3f, %.3f, %.3f; %.3f, %.3f, %.3f; %.3f, %.3f, %.3f]\n",
             calibParam.planeCalib[0], calibParam.planeCalib[1], calibParam.planeCalib[2],
             calibParam.planeCalib[3], calibParam.planeCalib[4], calibParam.planeCalib[5],
             calibParam.planeCalib[6], calibParam.planeCalib[7], calibParam.planeCalib[8]);
    
    return calibParam;
}

// 实现IConfigChangeListener接口
void GrabBagPresenter::OnSystemConfigChanged(const SystemConfig& config)
{
    LOG_INFO("System configuration changed, applying new configuration\n");
    
    // 更新内部配置状态
    if (m_vrConfig) {
        // 可以选择性地重新初始化算法参数
        InitAlgorithmParams();
    }
    
    if (m_pStatus) {
        m_pStatus->OnStatusUpdate("系统配置已更新");
    }
}

void GrabBagPresenter::OnCameraParamChanged(int cameraIndex, const CameraUIParam& cameraParam)
{
    LOG_INFO("Camera %d parameters changed: expose=%.2f, gain=%.2f, frameRate=%.2f\n", 
             cameraIndex, cameraParam.exposeTime, cameraParam.gain, cameraParam.frameRate);
    
    // 应用相机参数到实际设备
    if (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) {
        IVrEyeDevice* device = m_vrEyeDeviceList[cameraIndex - 1].second;
        if (device) {
            
            // 设置曝光时间
            if (cameraParam.exposeTime > 0) {
                unsigned int exposeTime = static_cast<unsigned int>(cameraParam.exposeTime);
                int ret = device->SetEyeExpose(exposeTime);
                if (ret == SUCCESS) {
                    LOG_INFO("Set expose time %.2f for camera %d successfully\n", cameraParam.exposeTime, cameraIndex);
                } else {
                    LOG_ERROR("Failed to set expose time for camera %d, error: %d\n", cameraIndex, ret);
                }
            }
            
            // 设置增益
            if (cameraParam.gain > 0) {
                unsigned int gain = static_cast<unsigned int>(cameraParam.gain);
                int ret = device->SetEyeGain(gain);
                if (ret == SUCCESS) {
                    LOG_INFO("Set gain %.2f for camera %d successfully\n", cameraParam.gain, cameraIndex);
                } else {
                    LOG_ERROR("Failed to set gain for camera %d, error: %d\n", cameraIndex, ret);
                }
            }
            
            // 设置帧率
            if (cameraParam.frameRate > 0) {
                int frameRate = static_cast<int>(cameraParam.frameRate);
                int ret = device->SetFrame(frameRate);
                if (ret == SUCCESS) {
                    LOG_INFO("Set frame rate %.2f for camera %d successfully\n", cameraParam.frameRate, cameraIndex);
                } else {
                    LOG_ERROR("Failed to set frame rate for camera %d, error: %d\n", cameraIndex, ret);
                }
            }
            
            // 设置摆动速度
            if (cameraParam.swingSpeed > 0) {
                float swingSpeed = static_cast<float>(cameraParam.swingSpeed);
                int ret = device->SetSwingSpeed(swingSpeed);
                if (ret == SUCCESS) {
                    LOG_INFO("Set swing speed %.2f for camera %d successfully\n", cameraParam.swingSpeed, cameraIndex);
                } else {
                    LOG_ERROR("Failed to set swing speed for camera %d, error: %d\n", cameraIndex, ret);
                }
            }
            
            // 设置摆动角度
            if (cameraParam.swingStartAngle != cameraParam.swingStopAngle) {
                float startAngle = static_cast<float>(cameraParam.swingStartAngle);
                float stopAngle = static_cast<float>(cameraParam.swingStopAngle);
                int ret = device->SetSwingAngle(startAngle, stopAngle);
                if (ret == SUCCESS) {
                    LOG_INFO("Set swing angle %.2f-%.2f for camera %d successfully\n", 
                             cameraParam.swingStartAngle, cameraParam.swingStopAngle, cameraIndex);
                } else {
                    LOG_ERROR("Failed to set swing angle for camera %d, error: %d\n", cameraIndex, ret);
                }
            }
        }
    }
    
    if (m_pStatus) {
        QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ? 
            QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
        m_pStatus->OnStatusUpdate(QString("%1参数已更新").arg(cameraName).toStdString());
    }
}

void GrabBagPresenter::OnAlgorithmParamChanged(const VrAlgorithmParams& algorithmParams)
{
    LOG_INFO("Algorithm parameters changed, updating internal configuration\n");
    
    // 更新算法参数
    // 这里可以重新初始化算法参数或直接更新内部状态
    InitAlgorithmParams();
    
    if (m_pStatus) {
        m_pStatus->OnStatusUpdate("算法参数已更新");
    }
}

void GrabBagPresenter::OnSerialConnectionChanged(bool connected)
{
    if (connected) {
        LOG_INFO("Serial connection established\n");
        m_bSerialConnected = true;
    } else {
        LOG_INFO("Serial connection lost\n");
        m_bSerialConnected = false;
    }
    
    // 更新工作状态
    CheckAndUpdateWorkStatus();
}

bool GrabBagPresenter::OnSerialWorkSignal(bool startWork, int cameraIndex)
{
    LOG_INFO("Serial work signal received: %s, camera index: %d\n", 
             startWork ? "start" : "stop", cameraIndex);
    
    if (startWork) {
        // 开始检测
        int result = StartDetection(cameraIndex, true);
        if (result == SUCCESS) {
            LOG_INFO("Started detection via serial signal for camera %d\n", cameraIndex);
            return true;
        } else {
            LOG_ERROR("Failed to start detection via serial signal for camera %d, error: %d\n", cameraIndex, result);
            return false;
        }
    } else {
        // 停止检测
        int result = StopDetection();
        if (result == SUCCESS) {
            LOG_INFO("Stopped detection via serial signal\n");
            return true;
        } else {
            LOG_ERROR("Failed to stop detection via serial signal, error: %d\n", result);
            return false;
        }
    }
}

// 设置默认相机索引
void GrabBagPresenter::SetDefaultCameraIndex(int cameraIndex)
{
    LOG_INFO("Setting default camera index from %d to %d\n", m_currentCameraIndex, cameraIndex);
    
    // 验证相机索引的有效性（cameraIndex是配置中的索引，从1开始）
    if (cameraIndex < 1 || cameraIndex > static_cast<int>(m_vrEyeDeviceList.size())) {
        LOG_WARNING("Invalid camera index: %d, valid range: 1-%zu\n", cameraIndex, m_vrEyeDeviceList.size());
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate(QString("无效的相机索引: %1，有效范围: 1-%2").arg(cameraIndex).arg(m_vrEyeDeviceList.size()).toStdString());
        }
        return;
    }
    
    // 更新默认相机索引
    m_currentCameraIndex = cameraIndex;
    
    LOG_INFO("Default camera index updated to %d\n", m_currentCameraIndex);
    
    if (m_pStatus) {
        QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ? 
            QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
        m_pStatus->OnStatusUpdate(QString("设置%1为默认相机").arg(cameraName).toStdString());
    }
}

// 保存检测数据到文件（默认实现）
int GrabBagPresenter::SaveDetectionDataToFile(const std::string& filePath)
{
    LOG_INFO("Saving detection data to file: %s\n", filePath.c_str());
    
    if (m_detectionDataCache.empty()) {
        LOG_WARNING("No detection data available for saving\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    // 保存数据到文件
    int lineNum = static_cast<int>(m_detectionDataCache.size());
    float scanSpeed = 0.0f;
    int maxTimeStamp = 0;
    int clockPerSecond = 0;

    int result = m_dataLoader.SaveLaserScanData(filePath, m_detectionDataCache, lineNum, scanSpeed, maxTimeStamp, clockPerSecond);
    
    if (result == SUCCESS) {
        LOG_INFO("Successfully saved %d lines of detection data to file: %s\n", lineNum, filePath.c_str());
    } else {
        LOG_ERROR("Failed to save detection data, error: %s\n", m_dataLoader.GetLastError().c_str());
    }
    
    return result;
}