GrabBag/Module/WDRemoteReceiver/Inc/IWDRemoteReceiver.h

#ifndef IWDREMOTERECEIVER_H
#define IWDREMOTERECEIVER_H

#include "WDRemoteDataTypes.h"
#include <functional>
#include <string>
#include <vector>

// 导出宏定义
#ifdef _WIN32
#  ifdef WDREMOTERECEIVER_LIBRARY
#    define WDREMOTERECEIVER_EXPORT __declspec(dllexport)
#  else
#    define WDREMOTERECEIVER_EXPORT __declspec(dllimport)
#  endif
#else
#  define WDREMOTERECEIVER_EXPORT __attribute__((visibility("default")))
#endif

/**
 * @brief 远程接收器接口
 *
 * 把对 ZMQ 控制通道 + 结果订阅 + 原始图像订阅的访问封装为一个动态库，
 * 不绑定到具体业务，下游项目可以直接复用。
 *
 * 内部使用：
 *   - IVrZeroMQClient       (控制 REQ-REP)
 *   - IVrZeroMQSubscriber   (结果 PUB-SUB，topic="result")
 *   - IVrZeroMQSubscriber   (原始图像 PUB-SUB，topic="raw")
 *
 * 典型用法：
 *   IWDRemoteReceiver* p = nullptr;
 *   IWDRemoteReceiver::CreateInstance(&p);
 *   p->SetEventCallback(...);
 *   p->SetDetectionCallback(...);
 *   p->SetRawImageCallback(...);       // 双目图像
 *   std::vector<WDRemoteDeviceInfo> devices;
 *   p->SearchDevices(devices);          // UDP 广播发现设备
 *   p->Open(devices[0].machineCode);    // 按机器码打开指定设备
 *   p->StartWork(WDRemoteWorkMode::Detection);
 *   ...
 *   p->StopWork();              // 发送停止指令
 *   p->Disconnect();            // 断开所有通道
 */
class WDREMOTERECEIVER_EXPORT IWDRemoteReceiver
{
public:
    virtual ~IWDRemoteReceiver() = default;

    /**
     * @brief 连接参数
     */
    struct ConnectConfig
    {
        std::string serverIp{"127.0.0.1"};
        int         controlPort{5555};      // ZMQ REQ-REP 控制
        int         resultPort{5556};       // ZMQ PUB 检测结果
        int         rawImagePort{5557};     // ZMQ PUB 原始图像，0 表示不启用
    };

    // 回调类型
    using DetectionCallback = std::function<void(const WDRemoteDetectionFrame& frame)>;
    using RawImageCallback  = std::function<void(const WDRemoteBinocularRawImage& image)>;
    using EventCallback     = std::function<void(WDRemoteEventType ev,
                                                 const std::string& msg)>;

    // 连接 / 断开。推荐使用 SearchDevices + Open；Connect 保留给兼容旧调用。
    virtual int  Connect(const ConnectConfig& cfg) = 0;
    virtual int  SearchDevices(std::vector<WDRemoteDeviceInfo>& devices,
                               int timeoutMs = 150) = 0;
    virtual int  Open(const std::string& machineCode,
                      int timeoutMs = 3000) = 0;
    virtual int  Disconnect() = 0;
    virtual bool IsConnected() const = 0;

    // 控制接口（内部同步走 ZMQ REQ-REP）
    virtual int  StartWork(int timeoutMs = 3000) = 0;
    virtual int  StartWork(WDRemoteWorkMode mode, int timeoutMs = 3000) = 0;
    
    virtual int  StopWork (int timeoutMs = 3000) = 0;
    virtual int  StopWork (WDRemoteWorkMode mode, int timeoutMs = 3000) = 0;
    virtual int  RequestSingleDetection(int timeoutMs = 15000) = 0;
    virtual int  SetExposure(double exposureTime, int timeoutMs = 3000) = 0;
    virtual int  SetGain    (double gain,         int timeoutMs = 3000) = 0;
    virtual int  SetAlgoParams(const WDRemoteAlgoParams& params, int timeoutMs = 3000) = 0;
    virtual WDRemoteServerInfo GetServerInfo(int timeoutMs = 3000) = 0;

    /**
     * @brief 设置检测模式下的图像传输模式
     * @param mode "binocular"（默认，发送左右目）或 "mono"（仅发送左目）
     *
     * 在调用 StartWork(Detection) 之前设置；
     * 仅在检测模式下生效，实时传图模式不受影响。
     */
    virtual void SetDetectMode(const std::string& mode) = 0;

    /**
     * @brief 自定义控制命令（透传 JSON 给服务端 ZMQ REP socket）
     *
     * 服务端目前不识别的命令会回 "unknown cmd"。
     * 上层可借此扩展，无需修改库本身。
     */
    virtual int  SendCustomCommand(const std::string& jsonReq,
                                   std::string& jsonResp,
                                   int timeoutMs = 3000) = 0;

    // 回调注入
    virtual void SetDetectionCallback(DetectionCallback cb) = 0;
    virtual void SetRawImageCallback (RawImageCallback  cb) = 0;   // 双目图像
    virtual void SetEventCallback    (EventCallback     cb) = 0;

    /**
     * @brief 创建实例
     */
    static int CreateInstance(IWDRemoteReceiver** ppReceiver);
};

#endif // IWDREMOTERECEIVER_H