#ifndef CGLLINELASERDEVICE_H
#define CGLLINELASERDEVICE_H

#include "IGlLineLaserDevice.h"
#include "phoskey_ss.h"

#include <thread>
#include <atomic>
#include <mutex>
#include <condition_variable>
#include <vector>
#include <string>

/**
 * @brief CGlLineLaserDevice 实现类
 *
 * 将 gl_linelaser_sdk (phoskey_ss) 的接口适配到 IVrEyeDevice 接口。
 * 数据转换：gl_linelaser_sdk 的 int32_t 轮廓数据（单位0.01um）转换为
 * SVzLaserLineData 的 SVzNL3DPosition 格式（单位mm）。
 */
class CGlLineLaserDevice : public IGlLineLaserDevice
{
public:
    CGlLineLaserDevice();
    ~CGlLineLaserDevice();

    // ============ 实现 IVrEyeDevice 接口 ============

    int InitDevice() override;

    int SetStatusCallback(VzNL_OnNotifyStatusCBEx fNotify, void *param) override;

    int OpenDevice(const char* sIP, bool bRGBD = false, bool bSwing = true, bool bFillLaser = true) override;

    int GetVersion(SVzNLVersionInfo& sVersionInfo) override;

    int GetDevInfo(SVzNLEyeDeviceInfoEx& sDeviceInfo) override;

    int CloseDevice() override;

    int StartDetect(VzNL_AutoOutputLaserLineExCB fCallFunc, EVzResultDataType eDataType, void *param) override;

    bool IsDetectIng() override;

    int StopDetect() override;

    int SetDetectROI(SVzNLRect& leftROI, SVzNLRect& rightROI) override;
    int GetDetectROI(SVzNLRect& leftROI, SVzNLRect& rightROI) override;

    int SetEyeExpose(unsigned int& exposeTime) override;
    int GetEyeExpose(unsigned int& exposeTime) override;

    int SetEyeGain(unsigned int& gain) override;
    int GetEyeGain(unsigned int& gain) override;

    int SetFrame(int& frame) override;
    int GetFrame(int& frame) override;

    bool IsSupport() override;

    int SetRGBDExposeThres(float& value) override;
    int GetRGBDExposeThres(float& value) override;

    int SetFilterHeight(double& dHeight) override;
    int GetFilterHeight(double& dHeight) override;

    int GetSwingSpeed(float& fSpeed) override;
    int SetSwingSpeed(float& fSpeed) override;

    int SetSwingAngle(float& fMin, float& fMax) override;
    int GetSwingAngle(float& fMin, float& fMax) override;

    int SetWorkRange(double& dMin, double& dMax) override;
    int GetWorkRange(double& dMin, double& dMax) override;

    // ============ 实现 IGlLineLaserDevice 专用接口 ============

    int GetProfileDataWidth() override;
    double GetXPitch() override;
    double GetYPitch() override;
    int SetYPitch(double pitch) override;
    int SetBatchLines(unsigned int batchLines) override;
    unsigned int GetBatchLines() override;
    int SwitchProgram(int programNo) override;
    int GetModelInfo(char* model, char* serialNumber) override;
    int GetMeasureRange(double& xMin, double& xMax, double& zMin, double& zMax) override;

private:
    // 设备状态
    int                         m_nDeviceId = 0;            // 设备ID
    bool                        m_bDeviceOpen = false;      // 设备是否打开
    std::string                 m_strDeviceIP;              // 设备IP

    // 设备信息
    GLX8_2_ModelInfo            m_modelInfo;                // 型号信息
    int                         m_nProfileWidth = 4096;     // 轮廓数据宽度
    double                      m_dXPitch = 0.01;           // X方向间距 (mm)
    double                      m_dYPitch = 1.0;            // Y方向间距 (mm)，用户设置

    // 批处理参数
    unsigned int                m_nBatchLines = 200;        // 批处理行数

    // 回调相关
    VzNL_AutoOutputLaserLineExCB    m_pDetectCallback = nullptr;
    void*                           m_pDetectCallbackParam = nullptr;
    EVzResultDataType               m_eDataType = keResultDataType_Position;

    VzNL_OnNotifyStatusCBEx         m_pStatusCallback = nullptr;
    void*                           m_pStatusCallbackParam = nullptr;

    // 数据采集线程
    std::thread                     m_detectThread;
    std::atomic<bool>               m_bDetecting{false};
    std::atomic<bool>               m_bStopDetect{false};
    std::mutex                      m_detectMutex;
    std::condition_variable         m_detectCondition;

    // 数据缓存
    std::vector<int32_t>            m_profileBuffer;        // 轮廓数据缓存
    std::vector<uint8_t>            m_intensityBuffer;      // 亮度数据缓存
    std::vector<SVzNL3DPosition>    m_positionBuffer;       // 转换后的位置数据

    // 帧计数
    unsigned long long              m_ullFrameIndex = 0;
    unsigned long long              m_ullTimeStamp = 0;

    // 内部方法

    /**
     * @brief 数据采集线程函数
     */
    void DetectThreadFunc();

    /**
     * @brief 将 gl_linelaser_sdk 的轮廓数据转换为 SVzNL3DPosition
     * @param profileData 轮廓数据（int32_t，单位0.01um）
     * @param count 数据点数
     * @param lineIndex 当前行索引
     * @return 转换后的位置数据数组
     */
    void ConvertProfileToPosition(const int32_t* profileData, int count, int lineIndex);

    /**
     * @brief 批处理数据回调（静态函数）
     */
    static void BatchDataCallback(const GLX8_2_STR_CALLBACK_INFO* info, const GLX8_2_Data DataObj);

    /**
     * @brief 处理批处理数据
     */
    void ProcessBatchData(const GLX8_2_STR_CALLBACK_INFO* info, const GLX8_2_Data DataObj);

    // 用于回调的实例指针
    static CGlLineLaserDevice* s_pInstance;
};

#endif // CGLLINELASERDEVICE_H