GrabBag/App/ScrewPosition/ScrewPositionApp/Presenter/Src/ScrewPositionPresenter.cpp

#include "ScrewPositionPresenter.h"

#include "DetectPresenter.h"
#include "PathManager.h"
#include "ScrewPositionTCPProtocol.h"
#include "Version.h"
#include "VrConvert.h"
#include "VrError.h"
#include "VrLog.h"
#include "VrTimeUtils.h"

#include <QtCore/QCoreApplication>
#include <QtCore/QDateTime>
#include <QtCore/QString>
#include <algorithm>
#include <cstdio>
#include <cstring>

ScrewPositionPresenter::ScrewPositionPresenter(QObject *parent)
    : BasePresenter(parent)
{
}

ScrewPositionPresenter::~ScrewPositionPresenter()
{
    if (m_pConfigManager) {
        delete m_pConfigManager;
        m_pConfigManager = nullptr;
    }

    if (m_pTCPServer) {
        m_pTCPServer->Deinitialize();
        delete m_pTCPServer;
        m_pTCPServer = nullptr;
    }

    if (m_pDetectPresenter) {
        delete m_pDetectPresenter;
        m_pDetectPresenter = nullptr;
    }
}

int ScrewPositionPresenter::InitApp()
{
    LOG_DEBUG("Start APP Version: %s\n", SCREWPOSITION_FULL_VERSION_STRING);
    SetWorkStatus(WorkStatus::InitIng);

    m_pDetectPresenter = new DetectPresenter();

    m_pConfigManager = new ConfigManager();
    if (!m_pConfigManager) {
        LOG_ERROR("Failed to create ConfigManager instance\n");
        if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
            pStatus->OnStatusUpdate("配置管理器创建失败");
        }
        return ERR_CODE(DEV_CONFIG_ERR);
    }

    if (!m_pConfigManager->Initialize()) {
        LOG_ERROR("Failed to initialize ConfigManager\n");
        if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
            pStatus->OnStatusUpdate("配置管理器初始化失败");
        }
        return ERR_CODE(DEV_CONFIG_ERR);
    }

    const ConfigResult configResult = m_pConfigManager->GetConfigResult();
    SetDebugParam(configResult.debugParam);
    m_modbusRegistersInitialized = false;
    m_modbusWorkStatus = 0;

    std::vector<DeviceInfo> cameraList = configResult.cameraList;
    InitCamera(cameraList, false, true);

    LOG_INFO("Camera initialization completed. Connected cameras: %zu, default camera index: %d\n",
             m_vrEyeDeviceList.size(), m_currentCameraIndex);

    int nRet = InitTCPServer();
    if (nRet != SUCCESS) {
        if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
            pStatus->OnStatusUpdate("TCP服务器初始化失败");
        }
        m_bTCPConnected = false;
    } else {
        if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
            pStatus->OnStatusUpdate("TCP服务器初始化成功");
        }
    }

    if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
        pStatus->OnStatusUpdate("设备初始化完成");
    }

    CheckAndUpdateWorkStatus();

    if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
        pStatus->OnStatusUpdate("配置初始化成功");
    }

    return SUCCESS;
}

int ScrewPositionPresenter::InitAlgoParams()
{
    LOG_DEBUG("initializing algorithm parameters\n");

    m_clibMatrixList.clear();
    const ConfigResult configResult = m_pConfigManager->GetConfigResult();
    SetDebugParam(configResult.debugParam);
    const VrAlgorithmParams& xmlParams = configResult.algorithmParams;

    const double initClibMatrix[16] = {
        1.0, 0.0, 0.0, 0.0,
        0.0, 1.0, 0.0, 0.0,
        0.0, 0.0, 1.0, 0.0,
        0.0, 0.0, 0.0, 1.0
    };

    if (!configResult.handEyeCalibMatrixList.empty()) {
        int cameraCount = static_cast<int>(configResult.cameraList.size());
        for (const auto& matrixInfo : configResult.handEyeCalibMatrixList) {
            cameraCount = std::max(cameraCount, matrixInfo.cameraIndex);
        }
        cameraCount = std::max(cameraCount, 1);

        m_clibMatrixList.resize(static_cast<size_t>(cameraCount));
        for (auto& calibMatrix : m_clibMatrixList) {
            std::memcpy(calibMatrix.clibMatrix, initClibMatrix, sizeof(initClibMatrix));
        }

        for (const auto& matrixInfo : configResult.handEyeCalibMatrixList) {
            if (matrixInfo.cameraIndex <= 0 || matrixInfo.cameraIndex > cameraCount) {
                continue;
            }
            std::memcpy(m_clibMatrixList[static_cast<size_t>(matrixInfo.cameraIndex - 1)].clibMatrix,
                        matrixInfo.matrix,
                        sizeof(matrixInfo.matrix));
        }

        LOG_INFO("Loaded %zu hand-eye matrices from config.xml\n",
                 configResult.handEyeCalibMatrixList.size());
    } else {
        const QString clibPath = PathManager::GetInstance().GetCalibrationFilePath();
        LOG_INFO("Loading hand-eye matrices from legacy ini: %s\n", clibPath.toStdString().c_str());

        const int nExistMatrixNum = CVrConvert::GetClibMatrixCount(clibPath.toStdString().c_str());
        LOG_INFO("Found %d legacy hand-eye calibration matrices\n", nExistMatrixNum);

        for (int matrixIndex = 0; matrixIndex < nExistMatrixNum; ++matrixIndex) {
            char matrixIdent[64];
#ifdef _WIN32
            sprintf_s(matrixIdent, "CalibMatrixInfo_%d", matrixIndex);
#else
            sprintf(matrixIdent, "CalibMatrixInfo_%d", matrixIndex);
#endif

            CalibMatrix calibMatrix;
            std::memcpy(calibMatrix.clibMatrix, initClibMatrix, sizeof(initClibMatrix));
            if (CVrConvert::LoadClibMatrix(clibPath.toStdString().c_str(),
                                          matrixIdent,
                                          "dCalibMatrix",
                                          calibMatrix.clibMatrix)) {
                LOG_INFO("Successfully loaded legacy matrix %d\n", matrixIndex);
            } else {
                LOG_WARNING("Failed to load legacy matrix %d, using identity matrix\n", matrixIndex);
            }
            m_clibMatrixList.push_back(calibMatrix);
        }
    }

    if (m_clibMatrixList.empty()) {
        const int cameraCount = std::max(1, static_cast<int>(configResult.cameraList.size()));
        m_clibMatrixList.resize(static_cast<size_t>(cameraCount));
        for (auto& calibMatrix : m_clibMatrixList) {
            std::memcpy(calibMatrix.clibMatrix, initClibMatrix, sizeof(initClibMatrix));
        }
        LOG_INFO("No hand-eye matrix found, using identity matrix for %d camera(s)\n", cameraCount);
    }

    LOG_INFO("Loaded XML params - Screw: rodDiameter=%.1f, isHorizonScan=%s\n",
             xmlParams.screwParam.rodDiameter,
             xmlParams.screwParam.isHorizonScan ? "true" : "false");
    LOG_INFO("Loaded XML params - Filter: continuityTh=%.1f, outlierTh=%.1f\n",
             xmlParams.filterParam.continuityTh, xmlParams.filterParam.outlierTh);
    LOG_INFO("Algorithm parameters initialized successfully\n");

    return SUCCESS;
}

CalibMatrix ScrewPositionPresenter::GetClibMatrix(int index) const
{
    CalibMatrix clibMatrix;
    const double initClibMatrix[16] = {
        1.0, 0.0, 0.0, 0.0,
        0.0, 1.0, 0.0, 0.0,
        0.0, 0.0, 1.0, 0.0,
        0.0, 0.0, 0.0, 1.0
    };
    std::memcpy(clibMatrix.clibMatrix, initClibMatrix, sizeof(initClibMatrix));

    if (index >= 0 && index < static_cast<int>(m_clibMatrixList.size())) {
        std::memcpy(clibMatrix.clibMatrix, m_clibMatrixList[index].clibMatrix, sizeof(initClibMatrix));
    } else {
        LOG_WARNING("Invalid hand-eye calibration matrix\n");
    }

    return clibMatrix;
}

void ScrewPositionPresenter::CheckAndUpdateWorkStatus()
{
    SetWorkStatus(m_bCameraConnected ? WorkStatus::Ready : WorkStatus::Error);
}

int ScrewPositionPresenter::ProcessAlgoDetection(std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& detectionDataCache)
{
    LOG_INFO("[Algo Thread] Start real detection task using algorithm\n");

    const unsigned int lineNum = detectionDataCache.size();
    if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
        pStatus->OnStatusUpdate(QString("扫描线数:%1，正在算法检测...").arg(lineNum).toStdString());
    }

    if (!m_pDetectPresenter) {
        LOG_ERROR("DetectPresenter is null, cannot proceed with detection\n");
        if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
            pStatus->OnStatusUpdate("检测处理器未初始化");
        }
        return ERR_CODE(DEV_NOT_FIND);
    }

    CVrTimeUtils oTimeUtils;
    const CalibMatrix currentClibMatrix = GetClibMatrix(m_currentCameraIndex - 1);
    const VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();
    const ConfigResult configResult = m_pConfigManager->GetConfigResult();
    const VrDebugParam debugParam = configResult.debugParam;
    const int poseOutputOrder = configResult.poseOutputOrder;

    // 每台相机独立：欧拉角顺序 + 绕 XYZ 三轴的补偿旋转 + 接近点偏移
    HandEyeExtrinsic extrinsic;
    for (const auto& calibMatrix : configResult.handEyeCalibMatrixList) {
        if (calibMatrix.cameraIndex == m_currentCameraIndex) {
            extrinsic.eulerOrder = calibMatrix.eulerOrder;
            extrinsic.rotX = calibMatrix.rotX;
            extrinsic.rotY = calibMatrix.rotY;
            extrinsic.rotZ = calibMatrix.rotZ;
            extrinsic.approachOffset = calibMatrix.approachOffset;
            break;
        }
    }

    LOG_INFO("[Algo Thread] camera=%d eulerOrder=%d poseOutputOrder=%d rot=(%.3f, %.3f, %.3f) approachOffset=%.3f\n",
             m_currentCameraIndex, extrinsic.eulerOrder, poseOutputOrder,
             extrinsic.rotX, extrinsic.rotY, extrinsic.rotZ, extrinsic.approachOffset);

    DetectionResult detectionResult;
    detectionResult.cameraIndex = m_currentCameraIndex;

    int nRet = SUCCESS;
    if (m_currentDetectionType == DETECTION_TYPE_TOOL_DISK) {
        nRet = m_pDetectPresenter->DetectToolDisk(
            m_currentCameraIndex,
            detectionDataCache,
            algorithmParams,
            debugParam,
            m_dataLoader,
            currentClibMatrix.clibMatrix,
            m_currentRobotPose,
            extrinsic,
            poseOutputOrder,
            detectionResult);
    } else {
        nRet = m_pDetectPresenter->DetectScrew(
            m_currentCameraIndex,
            detectionDataCache,
            algorithmParams,
            debugParam,
            m_dataLoader,
            currentClibMatrix.clibMatrix,
            m_currentRobotPose,
            extrinsic,
            poseOutputOrder,
            detectionResult);
    }

    if (nRet != SUCCESS) {
        detectionResult.success = false;
        if (detectionResult.errorCode == 0) {
            detectionResult.errorCode = nRet;
        }
        if (detectionResult.message.isEmpty() || detectionResult.message == QStringLiteral("检测成功")) {
            detectionResult.message = QString("检测失败:%1").arg(nRet);
        }
    }

    LOG_INFO("[Algo Thread] detection type=%d objects=%zu time : %.2f ms\n",
             static_cast<int>(m_currentDetectionType),
             detectionResult.positions.size(),
             oTimeUtils.GetElapsedTimeInMilliSec());

    if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
        pStatus->OnDetectionResult(detectionResult);
    }

    QString statusMsg;
    if (!detectionResult.success) {
        statusMsg = detectionResult.message;
    } else if (m_currentDetectionType == DETECTION_TYPE_TOOL_DISK) {
        statusMsg = QString("工具盘检测完成，定位点数:%1").arg(detectionResult.positions.size());
    } else {
        statusMsg = QString("检测完成，发现%1个螺杆").arg(detectionResult.positions.size());
    }

    if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
        pStatus->OnStatusUpdate(statusMsg.toStdString());
    }

    _SendDetectionResultToTCP(detectionResult, m_currentCameraIndex);
    _PublishDetectionResultToModbus(detectionResult);
    return nRet;
}

void ScrewPositionPresenter::OnConfigChanged(const ConfigResult& configResult)
{
    LOG_INFO("Configuration changed notification received, reloading algorithm parameters\n");
    SetDebugParam(configResult.debugParam);

    int result = InitAlgoParams();
    stopServer();
    const int tcpResult = InitTCPServer();
    if (result == SUCCESS) {
        LOG_INFO("Algorithm parameters reloaded successfully after config change\n");
        if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
            pStatus->OnStatusUpdate("配置已更新，算法参数重新加载成功");
        }
    } else {
        LOG_ERROR("Failed to reload algorithm parameters after config change, error: %d\n", result);
        if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
            pStatus->OnStatusUpdate("配置更新后算法参数重新加载失败");
        }
    }

    if (tcpResult != SUCCESS) {
        LOG_ERROR("Failed to restart TCP server after config change, error: %d\n", tcpResult);
        if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
            pStatus->OnStatusUpdate("TCP server restart failed");
        }
    }
}

SSG_planeCalibPara ScrewPositionPresenter::_GetCameraCalibParam(int cameraIndex)
{
    SSG_planeCalibPara calibParam;
    const double identityMatrix[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
    for (int i = 0; i < 9; ++i) {
        calibParam.planeCalib[i] = identityMatrix[i];
        calibParam.invRMatrix[i] = identityMatrix[i];
    }
    calibParam.planeHeight = -1.0;

    const VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();
    for (const auto& cameraParam : algorithmParams.planeCalibParam.cameraCalibParams) {
        if (cameraParam.cameraIndex == cameraIndex && cameraParam.isCalibrated) {
            for (int i = 0; i < 9; ++i) {
                calibParam.planeCalib[i] = cameraParam.planeCalib[i];
                calibParam.invRMatrix[i] = cameraParam.invRMatrix[i];
            }
            calibParam.planeHeight = cameraParam.planeHeight;
        }
    }

    return calibParam;
}

void ScrewPositionPresenter::OnCameraStatusChanged(int cameraIndex, bool isConnected)
{
    LOG_INFO("Camera %d status changed: %s\n", cameraIndex, isConnected ? "connected" : "disconnected");

    if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
        if (cameraIndex == 1) {
            pStatus->OnCamera1StatusChanged(isConnected);
        } else if (cameraIndex == 2) {
            pStatus->OnCamera2StatusChanged(isConnected);
        }

        QString cameraName;
        const int arrayIndex = cameraIndex - 1;
        if (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) {
            cameraName = QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first);
        } else {
            cameraName = QString("相机%1").arg(cameraIndex);
        }

        const QString statusMsg = QString("%1%2").arg(cameraName).arg(isConnected ? "已连接" : "已断开");
        pStatus->OnStatusUpdate(statusMsg.toStdString());
    }

    CheckAndUpdateWorkStatus();
}

void ScrewPositionPresenter::OnWorkStatusChanged(WorkStatus status)
{
    if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
        pStatus->OnWorkStatusChanged(status);
    }

    if (!m_modbusRegistersInitialized && status == WorkStatus::Ready) {
        _InitializeModbusRegisters();
    }

    if (status == WorkStatus::Working) {
        _UpdateModbusWorkStatus(1);
    } else if (status == WorkStatus::Error) {
        _UpdateModbusWorkStatus(3);
    }
}

void ScrewPositionPresenter::OnCameraCountChanged(int count)
{
    if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
        pStatus->OnCameraCountChanged(count);
    }
}

void ScrewPositionPresenter::OnStatusUpdate(const std::string& statusMessage)
{
    if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
        pStatus->OnStatusUpdate(statusMessage);
    }
}

void ScrewPositionPresenter::OnModbusServerStatusChanged(bool isConnected)
{
    if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
        pStatus->OnRobotConnectionChanged(isConnected);
    }
}

void ScrewPositionPresenter::OnModbusWriteCallback(uint16_t startAddress, const uint16_t* data, uint16_t count)
{
    if (!data || count == 0) {
        return;
    }

    constexpr uint16_t kTriggerAddress = 0;
    constexpr uint16_t kRobotPoseAddress = 2;
    constexpr uint16_t kRobotPoseRegCount = 12;

    // 缓存机械臂位姿写入（地址2~13，6个float32）
    for (uint16_t i = 0; i < count; ++i) {
        uint16_t addr = startAddress + i;
        if (addr >= kRobotPoseAddress && addr < kRobotPoseAddress + kRobotPoseRegCount) {
            m_modbusRobotPoseRegs[addr - kRobotPoseAddress] = data[i];
        }
    }

    // 检查触发
    uint16_t triggerValue = 0;
    bool hasTrigger = false;

    for (uint16_t i = 0; i < count; ++i) {
        if (startAddress + i == kTriggerAddress) {
            triggerValue = data[i];
            hasTrigger = true;
            break;
        }
    }

    if (!hasTrigger) {
        return;
    }

    const uint16_t resetValue = 0;
    WriteModbusRegisters(kTriggerAddress, &resetValue, 1);

    if (triggerValue == static_cast<uint16_t>(DETECTION_TYPE_SCREW) ||
        triggerValue == static_cast<uint16_t>(DETECTION_TYPE_TOOL_DISK)) {
        // 从缓存的寄存器中解析机械臂位姿
        RobotPose6D robotPose;
        auto regToFloat = [this](int offset) -> float {
            uint32_t raw = (static_cast<uint32_t>(m_modbusRobotPoseRegs[offset]) << 16) | static_cast<uint32_t>(m_modbusRobotPoseRegs[offset + 1]);
            float val = 0;
            std::memcpy(&val, &raw, sizeof(val));
            return val;
        };
        robotPose.x  = regToFloat(0);
        robotPose.y  = regToFloat(2);
        robotPose.z  = regToFloat(4);
        robotPose.a  = regToFloat(6);
        robotPose.b  = regToFloat(8);
        robotPose.c  = regToFloat(10);

        LOG_INFO("Modbus trigger: type=%u, robotPose=(%.3f, %.3f, %.3f, %.3f, %.3f, %.3f)\n",
                 triggerValue, robotPose.x, robotPose.y, robotPose.z, robotPose.a, robotPose.b, robotPose.c);

        TriggerDetection(-1, static_cast<DetectionType>(triggerValue), robotPose);
        return;
    }

    LOG_WARNING("Unsupported Modbus trigger value: %u\n", triggerValue);
    _UpdateModbusWorkStatus(3);
    if (auto pStatus = GetStatusCallback<IYScrewPositionStatus>()) {
        pStatus->OnStatusUpdate(QString("Modbus触发值无效:%1").arg(triggerValue).toStdString());
    }
}

bool ScrewPositionPresenter::CalculatePlaneCalibration(
    const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& scanData,
    double planeCalib[9],
    double& planeHeight,
    double invRMatrix[9])
{
    try {
        if (scanData.empty()) {
            LOG_ERROR("No scan data available for plane calibration\n");
            return false;
        }

        LaserDataLoader dataLoader;
        std::vector<std::vector<SVzNL3DPosition>> xyzData;
        int convertResult = dataLoader.ConvertToSVzNL3DPosition(scanData, xyzData);
        if (convertResult != SUCCESS || xyzData.empty()) {
            LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
            return false;
        }

        const double identity[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
        std::memcpy(planeCalib, identity, sizeof(double) * 9);
        std::memcpy(invRMatrix, identity, sizeof(double) * 9);
        planeHeight = -1.0;
        LOG_INFO("Plane calibration calculated successfully: height=%.3f\n", planeHeight);
        return true;
    } catch (const std::exception& e) {
        LOG_ERROR("Exception in CalculatePlaneCalibration: %s\n", e.what());
        return false;
    } catch (...) {
        LOG_ERROR("Unknown exception in CalculatePlaneCalibration\n");
        return false;
    }
}

bool ScrewPositionPresenter::SaveLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9],
                                                 int cameraIndex, const QString& cameraName)
{
    try {
        if (!m_pConfigManager) {
            LOG_ERROR("ConfigManager is null, cannot save leveling results\n");
            return false;
        }
        if (cameraIndex <= 0 || cameraName.isEmpty()) {
            LOG_ERROR("Invalid camera info when saving leveling results\n");
            return false;
        }

        const QString configPath = PathManager::GetInstance().GetConfigFilePath();
        SystemConfig systemConfig = m_pConfigManager->GetConfig();

        VrCameraPlaneCalibParam cameraParam;
        cameraParam.cameraIndex = cameraIndex;
        cameraParam.cameraName = cameraName.toStdString();
        cameraParam.planeHeight = planeHeight;
        cameraParam.isCalibrated = true;
        for (int i = 0; i < 9; ++i) {
            cameraParam.planeCalib[i] = planeCalib[i];
            cameraParam.invRMatrix[i] = invRMatrix[i];
        }

        systemConfig.configResult.algorithmParams.planeCalibParam.SetCameraCalibParam(cameraParam);
        if (!m_pConfigManager->UpdateFullConfig(systemConfig)) {
            LOG_ERROR("Failed to update config with leveling results\n");
            return false;
        }

        if (!m_pConfigManager->SaveConfigToFile(configPath.toStdString())) {
            LOG_ERROR("Failed to save config file with leveling results\n");
            return false;
        }

        LOG_INFO("Leveling results saved successfully for camera %d (%s)\n",
                 cameraIndex, cameraName.toUtf8().constData());
        return true;
    } catch (const std::exception& e) {
        LOG_ERROR("Exception in SaveLevelingResults: %s\n", e.what());
        return false;
    }
}

bool ScrewPositionPresenter::LoadLevelingResults(int cameraIndex, const QString& cameraName,
                                                 double planeCalib[9], double& planeHeight, double invRMatrix[9])
{
    try {
        if (!m_pConfigManager) {
            LOG_ERROR("ConfigManager is null, cannot load calibration data\n");
            return false;
        }

        const ConfigResult configResult = m_pConfigManager->GetConfigResult();
        VrCameraPlaneCalibParam cameraParamValue;
        if (!configResult.algorithmParams.planeCalibParam.GetCameraCalibParam(cameraIndex, cameraParamValue) ||
            !cameraParamValue.isCalibrated) {
            LOG_INFO("No calibration data found for camera %d (%s)\n",
                     cameraIndex, cameraName.toUtf8().constData());
            return false;
        }

        for (int i = 0; i < 9; ++i) {
            planeCalib[i] = cameraParamValue.planeCalib[i];
            invRMatrix[i] = cameraParamValue.invRMatrix[i];
        }
        planeHeight = cameraParamValue.planeHeight;
        return true;
    } catch (const std::exception& e) {
        LOG_ERROR("Exception in LoadLevelingResults: %s\n", e.what());
        return false;
    }
}

void ScrewPositionPresenter::DeinitApp()
{
    LOG_DEBUG("Deinitializing ScrewPositionPresenter\n");

    StopDetection();

    if (m_pTCPServer) {
        m_pTCPServer->Deinitialize();
        delete m_pTCPServer;
        m_pTCPServer = nullptr;
    }

    if (m_pConfigManager) {
        delete m_pConfigManager;
        m_pConfigManager = nullptr;
    }

    if (m_pDetectPresenter) {
        delete m_pDetectPresenter;
        m_pDetectPresenter = nullptr;
    }
}

bool ScrewPositionPresenter::TriggerDetection(int cameraIndex, DetectionType detectionType, const RobotPose6D& robotPose)
{
    if (cameraIndex > 0) {
        SetDefaultCameraIndex(cameraIndex);
    }

    m_currentDetectionType = detectionType;
    m_currentRobotPose = robotPose;
    m_requestTimestamp = QDateTime::currentMSecsSinceEpoch();

    if (!m_bCameraConnected) {
        LOG_WARNING("Camera not connected, cannot trigger detection\n");
        _UpdateModbusWorkStatus(3);
        return false;
    }

    if (GetCurrentWorkStatus() == WorkStatus::Working) {
        LOG_WARNING("Detection is already running, skip duplicated trigger\n");
        _UpdateModbusWorkStatus(1);
        return false;
    }

    _InitializeModbusRegisters();
    _ResetModbusResultRegisters();
    _UpdateModbusWorkStatus(1);

    int ret = StartDetection(cameraIndex, false);
    if (ret != SUCCESS) {
        LOG_ERROR("Failed to trigger detection, error: %d\n", ret);
        _UpdateModbusWorkStatus(3);
        return false;
    }

    return true;
}

int ScrewPositionPresenter::LoadAndDetect(const QString& fileName, DetectionType detectionType)
{
    LOG_INFO("Loading data from file: %s, detectionType: %d\n",
             fileName.toStdString().c_str(), static_cast<int>(detectionType));
    m_currentDetectionType = detectionType;
    return LoadDebugDataAndDetect(fileName.toStdString());
}

void ScrewPositionPresenter::ReconnectCamera()
{
    LOG_INFO("Attempting to reconnect cameras\n");
    TryReconnectCameras();
}

ScrewPositionPresenter::AlgoParams ScrewPositionPresenter::GetAlgoParams() const
{
    AlgoParams params;
    if (m_pConfigManager) {
        const VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();
        params.screwParam = algorithmParams.screwParam;
        params.cornerParam = algorithmParams.cornerParam;
        params.filterParam = algorithmParams.filterParam;
        params.growParam = algorithmParams.growParam;
    } else {
        params.screwParam.rodDiameter = 10.0;
        params.screwParam.isHorizonScan = true;
    }

    return params;
}

QString ScrewPositionPresenter::GetAlgoVersion() const
{
    return DetectPresenter::GetAlgoVersion();
}

void ScrewPositionPresenter::SetAlgoParams(const AlgoParams& params)
{
    if (!m_pConfigManager) {
        LOG_WARNING("ConfigManager not initialized, cannot set algorithm params\n");
        return;
    }

    VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();
    algorithmParams.screwParam = params.screwParam;
    algorithmParams.cornerParam = params.cornerParam;
    algorithmParams.filterParam = params.filterParam;
    algorithmParams.growParam = params.growParam;
    m_pConfigManager->UpdateAlgorithmParams(algorithmParams);

    LOG_INFO("Algorithm parameters updated\n");
}