#ifndef CEPICEYEDEVICE_H
#define CEPICEYEDEVICE_H

#include "IEpicEyeDevice.h"
#include <mutex>
#include <string>

/**
 * @brief CEpicEyeDevice 实现类
 * 封装 EpicEye SDK，实现 3D 相机点云采集功能
 */
class CEpicEyeDevice : public IEpicEyeDevice
{
public:
    CEpicEyeDevice();
    ~CEpicEyeDevice();

    // SDK 版本
    int GetSDKVersion(std::string& version) override;

    // 搜索和连接
    int SearchCameras(std::vector<EpicEyeDeviceInfo>& deviceList) override;
    int Connect(const std::string& ipAddress) override;
    int Disconnect() override;
    bool IsConnected() override;

    // 设备信息
    int GetDeviceInfo(EpicEyeDeviceInfo& deviceInfo) override;
    int GetWidth(unsigned int& width) override;
    int GetHeight(unsigned int& height) override;

    // 触发和获取数据
    int TriggerCapture(std::string& frameID, bool withPointCloud = true) override;
    int GetPointCloud(const std::string& frameID, PointCloudData& pointCloud) override;
    int GetImage(const std::string& frameID, ImageData2D& image) override;
    int GetDepth(const std::string& frameID, DepthData& depth) override;

    // 便捷方法
    int CapturePointCloud(PointCloudData& pointCloud, unsigned int timeout = 5000) override;
    int CaptureImage(ImageData2D& image, unsigned int timeout = 5000) override;

    // 相机参数
    int GetCameraIntrinsics(CameraIntrinsics& intrinsics) override;
    int GetConfig(std::string& configJson) override;
    int SetConfig(const std::string& configJson) override;

private:
    // 内部成员
    std::string m_ipAddress;            // 相机IP地址
    bool m_bConnected;                  // 连接状态
    EpicEyeDeviceInfo m_deviceInfo;     // 设备信息
    std::mutex m_mutex;                 // 线程安全锁
};

#endif // CEPICEYEDEVICE_H