GrabBag/Module/WDRemoteReceiver/_Inc/WDRemoteReceiver.h

#ifndef WDREMOTERECEIVER_H
#define WDREMOTERECEIVER_H

#include "IWDRemoteReceiver.h"
#include <atomic>
#include <mutex>
#include <string>
#include <vector>

class IVrZeroMQClient;
class IVrZeroMQSubscriber;

/**
 * @brief IWDRemoteReceiver 实现
 *
 * - 控制：IVrZeroMQClient (REQ-REP)
 * - 结果订阅：IVrZeroMQSubscriber on topic="result"
 * - 原始图像订阅：IVrZeroMQSubscriber on topic="raw"
 */
class WDRemoteReceiver : public IWDRemoteReceiver
{
public:
    WDRemoteReceiver();
    ~WDRemoteReceiver() override;

    // IWDRemoteReceiver
    int  Connect(const ConnectConfig& cfg) override;
    int  SearchDevices(std::vector<WDRemoteDeviceInfo>& devices,
                       int timeoutMs) override;
    int  Open(const std::string& machineCode,
              int timeoutMs) override;
    int  Disconnect() override;
    bool IsConnected() const override;

    int  StartWork(int timeoutMs) override;
    int  StartWork(WDRemoteWorkMode mode, int timeoutMs) override;
    int  StopWork (int timeoutMs) override;
    int  StopWork (WDRemoteWorkMode mode, int timeoutMs) override;
    int  RequestSingleDetection(int timeoutMs) override;
    int  SetExposure(double exposureTime, int timeoutMs) override;
    int  SetGain    (double gain,         int timeoutMs) override;
    int  SetAlgoParams(const WDRemoteAlgoParams& params, int timeoutMs) override;
    WDRemoteServerInfo GetServerInfo(int timeoutMs) override;
    int  SendCustomCommand(const std::string& jsonReq,
                           std::string&       jsonResp,
                           int                timeoutMs) override;
    void SetDetectMode(const std::string& mode) override;

    void SetDetectionCallback(DetectionCallback cb) override;
    void SetRawImageCallback (RawImageCallback  cb) override;   // 双目图像
    void SetEventCallback    (EventCallback     cb) override;

private:
    int  sendCommandAndParse(const std::string& jsonReq,
                             std::string&       jsonResp,
                             int                timeoutMs);

    // 内部订阅管理（StartWork/StopWork 自动调用）
    int  StartSubscribeDetection();
    int  StopSubscribeDetection();
    int  StartSubscribeRawImage();
    int  StopSubscribeRawImage();

    void onResultMessage  (const char* topic, size_t topicLen,
                           const char* data,  size_t dataLen);
    void onRawImageMessage(const char* topic, size_t topicLen,
                           const char* data,  size_t dataLen);

    void emitEvent(WDRemoteEventType ev, const std::string& msg);

    static bool parseDetectionJson(const std::string& jsonStr,
                                   WDRemoteDetectionFrame& outFrame);
    static bool parseDeviceInfoJson(const std::string& jsonStr,
                                    const std::string& serverIp,
                                    WDRemoteDeviceInfo& outDevice);

private:
    enum class WorkState
    {
        Idle,
        LiveStream,
        Detection,
    };

    ConnectConfig        m_cfg;
    std::atomic<bool>    m_bConnected{false};

    IVrZeroMQClient*     m_pCtrlClient{nullptr};
    IVrZeroMQSubscriber* m_pSubResult{nullptr};
    IVrZeroMQSubscriber* m_pSubRaw{nullptr};

    std::mutex           m_mtxCtrl;          // 串行化 REQ-REP
    mutable std::mutex   m_mtxCallback;
    mutable std::mutex   m_mtxDetectMode;
    mutable std::mutex   m_mtxWorkState;

    DetectionCallback           m_cbDetection;
    RawImageCallback            m_cbRawImage;     // 双目图像回调
    EventCallback               m_cbEvent;
    std::vector<WDRemoteDeviceInfo> m_lastDevices;
    std::string                 m_detectMode{"binocular"};   // "binocular" | "mono"
    WorkState                   m_workState{WorkState::Idle};
};

#endif // WDREMOTERECEIVER_H