GrabBag/App/DroneScrewbolt/DroneScrewCtrlApp/Presenter/Inc/DroneScrewCtrlPresenter.h

#ifndef DRONESCREWCTRL_PRESENTER_H
#define DRONESCREWCTRL_PRESENTER_H

#include <QObject>
#include <QImage>
#include <QSize>
#include <QString>
#include <QTimer>
#include <QMutex>
#include <atomic>
#include <map>

#include "IVrConfig.h"
#include "IYDroneScrewCtrlStatus.h"
#include "IVrFFMediaPuller.h"
#include "IWDRemoteReceiver.h"

/**
 * @brief 板二 Presenter
 *
 * 远程访问已经收敛到 WDRemoteReceiver 动态库中：
 *   - REQ-REP 控制
 *   - PUB-SUB 检测结果
 *   - PUB-SUB 原始图像（可选）
 *
 * Presenter 只关心：
 *   - 通过 IVrFFMediaPuller 拉取板一 RTSP 视频流
 *   - 通过 IWDRemoteReceiver 完成所有控制与订阅
 *   - 把拉流帧 + 检测结果合并送给 IYDroneScrewCtrlStatus 显示
 */
class DroneScrewCtrlPresenter : public QObject
{
    Q_OBJECT

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

    void SetStatusReceiver(IYDroneScrewCtrlStatus* receiver) { m_pReceiver = receiver; }

    void ApplyConfig(const DroneScrewCtrlConfigResult& cfg);

    int  InitApp();
    void DeinitApp();

    bool TriggerSingleDetection();
    bool StartLiveStream();
    bool StopLiveStream();
    bool StartDetection();
    bool StopDetection();
    bool StopAll();                 // 同时停止实时推流与检测（主开关停止用）
    bool SetServerExposure(double exposureTime);
    bool SetServerGain(double gain);
    bool PushAlgoParams(const DroneScrewAlgoUiParams& params);

    QImage GetLastDisplayImage() const;

signals:
    void displayFrameReady(const QImage& img,
                           const QSize& sourceSize,
                           qint64 frameId,
                           bool rtspFrame,
                           const CtrlDetectionFrame& result,
                           bool hasResult);
    void detectionResultReady(const CtrlDetectionFrame& result);
    void serverConnectionChanged(bool connected);
    void statusMessage(const QString& msg);
    void serverInfoReceived(const WDRemoteServerInfo& info);  // 服务器参数更新

private slots:
    void onReconnectTimer();
    void onOverlayFrameReady(const QImage& img,
                             const QSize& sourceSize,
                             qint64 frameId,
                             bool rtspFrame,
                             const CtrlDetectionFrame& result,
                             bool hasResult);
    void onResultReceived(const CtrlDetectionFrame& result);

private:
    // RTSP 拉流回调
    void onRtspFrame(const VrFFPulledFrame& frame);
    bool initPuller(const QString& streamUrl, bool quiet = false);
    bool startPullerOnce(const QString& streamUrl, bool quiet = false);
    bool waitForRtspFirstFrame(int timeoutMs);
    bool startPullerWithRetry(const QString& streamUrl);
    void releasePuller();
    QString resolveStreamUrl(const QString& streamUrl) const;
    void updateStreamInfo(const WDRemoteServerInfo& info);

    // WDRemoteReceiver 回调
    void onRemoteDetection(const WDRemoteDetectionFrame& frame);
    void onRemoteRawImage (const WDRemoteBinocularRawImage& img);   // 检测模式下的图像（ZMQ 原始图通道）
    void onRemoteEvent    (WDRemoteEventType ev, const std::string& msg);

    void overlayDetectionBoxes(QImage& img, const CtrlDetectionFrame& frame, const QSize& sourceSize);
    void clearCachedDisplayState();
    void prunePendingMatchesLocked();

    static CtrlDetectionFrame toCtrlFrame(const WDRemoteDetectionFrame& f);

private:
    struct DisplayFrame
    {
        QImage image;
        QSize sourceSize;
    };

    struct PendingRawFrame
    {
        DisplayFrame frame;
        qint64 receivedAtMs{0};
    };

    struct PendingDetectionResult
    {
        CtrlDetectionFrame result;
        qint64 receivedAtMs{0};
    };

    DroneScrewCtrlConfigResult        m_cfg;

    IVrFFMediaPuller*                 m_pPuller{nullptr};
    IWDRemoteReceiver*                m_pRemote{nullptr};
    QString                           m_streamUrl;

    IYDroneScrewCtrlStatus*           m_pReceiver{nullptr};

    std::atomic<bool>                 m_bConnected{false};
    std::atomic<bool>                 m_bRunning{false};
    std::atomic<bool>                 m_liveStreamMode{false};
    std::atomic<bool>                 m_rtspReceiving{false};
    std::atomic<bool>                 m_rtspFirstFrameReported{false};
    QTimer*                           m_pReconnectTimer{nullptr};

    // 最近检测结果（用于叠加显示）
    mutable QMutex                    m_lastResultMutex;
    CtrlDetectionFrame                m_lastResult;
    bool                              m_bHasResult{false};

    // 最近显示帧
    mutable QMutex                    m_lastImgMutex;
    QImage                            m_lastSourceImage;
    qint64                            m_lastSourceFrameId{-1};
    bool                              m_lastSourceIsRtsp{false};
    QImage                            m_lastDisplay;

    std::map<qint64, PendingRawFrame> m_pendingRawFrames;
    std::map<qint64, PendingDetectionResult> m_pendingDetectionResults;
};

#endif // DRONESCREWCTRL_PRESENTER_H