#ifndef PLC_MODBUS_CLIENT_H
#define PLC_MODBUS_CLIENT_H

#include <thread>
#include <mutex>
#include <functional>
#include <vector>
#include <atomic>
#include <string>
#include "IYModbusTCPClient.h"

/**
 * @brief PLC Modbus 通信客户端（纯 std::thread 实现，无 Qt 依赖）
 *
 * 协议流程：
 * 1. 轮询读取 PLC D1000 寄存器，=1 时触发拍照
 * 2. 拍照执行后，写 0 到 D1000
 * 3. 拍照完成，输出坐标数据到 D2000 开始
 * 4. 坐标数据输出完成，写 1 到 D1002
 *
 * 线程模型：
 * - 单一轮询线程：连接检测、自动重连、寄存器读取
 * - 回调在轮询线程执行，调用方需注意线程安全
 *
 * 锁策略：
 * - m_mutex: 保护 m_plcClient
 * - m_callbackMutex: 保护回调函数指针
 * - 回调通知时先复制回调再释放锁，避免死锁
 */
class PLCModbusClient
{
public:
    // PLC 寄存器地址默认值（汇川 PLC D寄存器映射）
    static constexpr int DEFAULT_ADDR_PHOTO_REQUEST = 1001;     // D1000
    static constexpr int DEFAULT_ADDR_DATA_COMPLETE = 1003;     // D1002
    static constexpr int DEFAULT_ADDR_COORD_DATA_START = 2001;  // D2000

    struct RegisterConfig {
        int addrPhotoRequest = 1001;   // D1000
        int addrDataComplete = 1003;   // D1002
        int addrCoordDataStart = 2001; // D2000
    };

    struct CoordinateData {
        float x = 0.0f;
        float y = 0.0f;
        float z = 0.0f;
        float roll = 0.0f;
        float pitch = 0.0f;
        float yaw = 0.0f;
    };

    static constexpr int REGS_PER_POINT = 12;
    static constexpr int MAX_POINTS = 10;

    // 回调类型
    using PhotoTriggerCallback = std::function<void(int cameraIndex)>;
    using ConnectionStateCallback = std::function<void(bool connected)>;
    using ErrorCallback = std::function<void(const std::string& errorMsg)>;
    using ReconnectingCallback = std::function<void(const std::string& device, int attempt)>;

public:
    PLCModbusClient();
    ~PLCModbusClient();

    // 禁止拷贝和移动
    PLCModbusClient(const PLCModbusClient&) = delete;
    PLCModbusClient& operator=(const PLCModbusClient&) = delete;
    PLCModbusClient(PLCModbusClient&&) = delete;
    PLCModbusClient& operator=(PLCModbusClient&&) = delete;

    // ========== 生命周期 ==========
    bool Initialize(const std::string& plcIP, int plcPort = 502);
    bool Initialize(const std::string& plcIP, int plcPort,
                    const RegisterConfig& regConfig);
    void Shutdown();
    void StartPolling(int intervalMs = 100);
    void StopPolling();

    // ========== 回调设置 ==========
    void SetPhotoTriggerCallback(PhotoTriggerCallback callback);
    void SetConnectionStateCallback(ConnectionStateCallback callback);
    void SetErrorCallback(ErrorCallback callback);
    void SetReconnectingCallback(ReconnectingCallback callback);

    // ========== 配置 ==========
    void SetReconnectInterval(int intervalMs);
    void SetAutoReconnect(bool enable);

    // ========== PLC 操作 ==========
    bool SendCoordinateToPLC(const CoordinateData& coord, int pointIndex = 0);
    bool SendCoordinatesToPLC(const std::vector<CoordinateData>& coords);
    bool NotifyDataComplete();
    bool ClearPhotoRequest();

    // ========== 轮询控制 ==========
    void PausePhotoRequestPolling();   // 暂停读取拍照请求（检测期间调用）
    void ResumePhotoRequestPolling();  // 恢复读取拍照请求（检测完成后调用）
    bool IsPhotoRequestPollingPaused() const;

    // ========== 状态查询 ==========
    bool IsPLCConnected() const;

private:
    // 轮询线程
    void pollThreadFunc();

    // 连接管理
    bool checkConnection();
    bool tryConnectPLC();
    void disconnectPLC();  // 主动断开连接（用于触发重连）

    // 寄存器操作
    int readPhotoRequest();
    void floatToRegisters(float value, uint16_t& high, uint16_t& low);

    // 安全的回调通知（先复制回调，释放锁后再调用）
    void notifyConnectionStateChanged(bool connected);
    void notifyError(const std::string& errorMsg);
    void notifyPhotoRequested(int cameraIndex);
    void notifyReconnecting(const std::string& device, int attempt);

private:
    // PLC 客户端
    IYModbusTCPClient* m_plcClient;

    // 回调函数
    PhotoTriggerCallback m_photoCallback;
    ConnectionStateCallback m_connectionStateCallback;
    ErrorCallback m_errorCallback;
    ReconnectingCallback m_reconnectingCallback;

    // 连接配置
    std::string m_plcIP;
    int m_plcPort;
    RegisterConfig m_registerConfig;

    // 状态
    bool m_lastPhotoRequestState;
    bool m_lastConnectedState;

    // 线程控制
    std::thread m_pollThread;
    std::atomic<bool> m_pollRunning;
    std::atomic<bool> m_photoRequestPaused;  // 暂停拍照请求轮询标志
    int m_pollIntervalMs;

    // 重连控制
    std::atomic<bool> m_shutdownRequested;
    std::atomic<bool> m_autoReconnect;
    int m_reconnectInterval;
    int m_plcReconnectAttempts;

    // 互斥锁
    mutable std::mutex m_mutex;
    std::mutex m_callbackMutex;
};

#endif // PLC_MODBUS_CLIENT_H