GrabBag/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/TCPServerMethods.cpp

#include "WorkpieceHolePresenter.h"
#include "VrLog.h"
#include "VrError.h"
#include <QDateTime>

// 初始化TCP服务器
int WorkpieceHolePresenter::InitTCPServer()
{
    LOG_DEBUG("Start initializing TCP server\n");

    if (m_pTCPServer) {
        LOG_WARNING("TCP server already initialized\n");
        return 0;
    }

    // 创建TCP服务器协议实例
    m_pTCPServer = new TCPServerProtocol();

    // 从配置获取端口，默认7800
    int port = 7800;
    // TODO: 从配置文件获取端口配置
    // ConfigResult configResult = m_pConfigManager->GetConfigResult();
    // port = configResult.tcpPort;

    // 初始化TCP服务器
    int nRet = m_pTCPServer->Initialize(port);
    if (nRet != 0) {
        LOG_ERROR("Failed to initialize TCP server, return code: %d\n", nRet);
        delete m_pTCPServer;
        m_pTCPServer = nullptr;
        return nRet;
    }

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

    // 设置检测触发回调
    m_pTCPServer->SetDetectionTriggerCallback([this](bool startWork, int cameraIndex, qint64 timestamp) {
        return this->OnTCPDetectionTrigger(startWork, cameraIndex, timestamp);
    });

    LOG_INFO("TCP server protocol initialized successfully on port %d\n", port);
    return 0;
}

// TCP连接状态改变回调
void WorkpieceHolePresenter::OnTCPConnectionChanged(bool connected)
{
    LOG_DEBUG("TCP connection status changed: %s\n", connected ? "connected" : "disconnected");

    m_bTCPConnected = connected;

    // 通知状态更新
    if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
        if (connected) {
            pStatus->OnStatusUpdate("TCP客户端已连接");
        } else {
            pStatus->OnStatusUpdate("TCP客户端已断开");
        }

        // 更新机械臂连接状态
        pStatus->OnRobotConnectionChanged(connected);
    }

    // 更新工作状态
    CheckAndUpdateWorkStatus();
}

// TCP检测触发回调
bool WorkpieceHolePresenter::OnTCPDetectionTrigger(bool startWork, int cameraIndex, qint64 timestamp)
{
    if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
        pStatus->OnWorkStatusChanged(WorkStatus::Working);
    }

    LOG_DEBUG("TCP detection trigger: startWork=%s, cameraIndex=%d, timestamp=%lld\n",
              startWork ? "true" : "false", cameraIndex, timestamp);

    // 通知UI接收到TCP扫描请求
    if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
        pStatus->OnStatusUpdate("【TCP协议】接收到扫描请求 (ScanRequest)");
    }

    if (!startWork) {
        LOG_WARNING("Received stop work signal, ignoring\n");
        return false;
    }

    // 检查相机连接状态
    if (!m_bCameraConnected) {
        LOG_ERROR("Camera not connected, cannot start detection\n");
        if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
            pStatus->OnStatusUpdate("【TCP协议】相机未连接，无法启动检测");
        }
        return false;
    }

    // 通知UI已发送响应
    if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
        pStatus->OnStatusUpdate("【TCP协议】已发送扫描响应 (ScanResponse)");
    }

    // 启动检测
    int result = StartDetection(cameraIndex, false); // false表示手动触发
    bool success = (result == 0);

    if (success) {
        LOG_DEBUG("Detection started successfully via TCP trigger\n");
        if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
            pStatus->OnStatusUpdate("开始执行扫描检测...");
        }
    } else {
        LOG_ERROR("Failed to start detection via TCP trigger, error code: %d\n", result);
        if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
            pStatus->OnStatusUpdate("检测启动失败");
        }

    }

    return success;
}

// 发送检测结果给TCP客户端
void WorkpieceHolePresenter::_SendDetectionResultToTCP(const WorkpieceHoleDetectionResult& detectionResult, int cameraIndex)
{
    if (!m_pTCPServer || !m_bTCPConnected) {
        LOG_DEBUG("TCP server not available, skipping result transmission\n");
        return;
    }

    LOG_DEBUG("Sending detection result to TCP clients, camera index: %d\n", cameraIndex);

    // 创建主结果对象（使用新的协议格式）
    QJsonObject resultObject;
    resultObject["MessageType"] = "ScanResult";
    resultObject["Timestamp"] = QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss");

    // 创建Data对象
    QJsonObject data;
    data["WorkpieceType"] = detectionResult.workpieceType;

    // 构造工件位置数组（每个工件的中心点+姿态）
    try {
        QJsonArray positionsArray;
        for (size_t i = 0; i < detectionResult.positions.size(); i++) {
            QJsonObject posObj;
            posObj["x"] = detectionResult.positions[i].x;
            posObj["y"] = detectionResult.positions[i].y;
            posObj["z"] = detectionResult.positions[i].z;
            posObj["roll"] = detectionResult.positions[i].roll;
            posObj["pitch"] = detectionResult.positions[i].pitch;
            posObj["yaw"] = detectionResult.positions[i].yaw;
            positionsArray.append(posObj);
        }
        data["Positions"] = positionsArray;

        // 将Data对象添加到结果中
        resultObject["Data"] = data;

        // 发送结果
        int sendResult = m_pTCPServer->SendDetectionResult(resultObject);
        if (sendResult == 0) {
            LOG_INFO("Detection result sent to TCP clients successfully\n");
            // 通知UI已发送检测结果
            if (auto pStatus = GetStatusCallback<IYWorkpieceHoleStatus>()) {
                pStatus->OnStatusUpdate("【TCP协议】已发送扫描结果 (ScanResult)");
            }
        } else {
            LOG_ERROR("Failed to send detection result to TCP clients, error code: %d\n", sendResult);
        }
    } catch (const std::exception& e) {
        LOG_ERROR("Exception while preparing TCP detection result: %s\n", e.what());
        m_pTCPServer->SendDetectionResult(resultObject);
    }
}