#ifndef WORKPIECEPOSITIONPRESENTER_H
#define WORKPIECEPOSITIONPRESENTER_H

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

class WorkpiecePositionPresenter : public QObject
{
    Q_OBJECT

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

    int Init();
    void SetStatusCallback(IYWorkpiecePositionStatus* pStatus);
    int StartDetection();
    int StopDetection();
    IVrConfig* GetConfigManager() { return m_pConfig; }

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

private:
    int InitConfig();
    int InitBinocularMarkReceiver();
    int InitEpicEyeDevice();
    void OnMarkResult(const std::vector<VrMark3D>& marks, qint64 timestamp, int errorCode);
    void OnMarkConnectionChanged(bool connected);
    int CalculateWorkpieceCenter(const std::vector<VrMark3D>& marks, const PointCloudData& pointCloud, WorkpieceCenterPosition& centerPosition);
    void UpdateWorkStatus(WorkStatus status);
    void UpdateStatusMessage(const std::string& message);
    int ConnectToBinocularMark();
    int ConnectToEpicEye();

private:
    IYWorkpiecePositionStatus*          m_pStatusCallback;
    IVrConfig*                          m_pConfig;
    ConfigResult                        m_configResult;
    IBinocularMarkReceiver*             m_pMarkReceiver;
    IEpicEyeDevice*                     m_pEpicEyeDevice;
    std::string                         m_binocularMarkIp;
    quint16                             m_binocularMarkPort;
    std::string                         m_epicEyeIp;
    bool                                m_bMarkConnected;
    bool                                m_bEpicEyeConnected;
    QTimer*                             m_pMarkReconnectTimer;
    QTimer*                             m_pEpicEyeReconnectTimer;
    bool                                m_bDetecting;
    std::mutex                          m_mutex;
    std::vector<VrMark3D>               m_lastMarks;
};

#endif // WORKPIECEPOSITIONPRESENTER_H