GrabBag/App/DroneScrewbolt/DroneScrewServer/DroneScrewServerPresenter.cpp

#include "DroneScrewServerPresenter.h"
#include "Version.h"
#include "VrLog.h"
#include "VrError.h"

#include <QCoreApplication>
#include <QDir>
#include <QDomDocument>
#include <QFile>
#include <QFileInfo>
#include <QImage>
#include <QJsonArray>
#include <QNetworkInterface>
#include <QStringList>
#include <QTextStream>
#include <QXmlStreamReader>
#include <algorithm>
#include <chrono>
#include <cstring>
#include <exception>
#include <memory>
#include <new>
#include <sstream>
#include <string>
#include <thread>
#include <utility>

#if defined(__linux__)
#  if defined(__has_include)
#    if __has_include(<rga/im2d.h>) && __has_include(<rga/RgaApi.h>)
#      include <rga/im2d.h>
#      include <rga/RgaApi.h>
#      define DRONESCREW_HAS_RGA 1
#    elif __has_include(<im2d.h>) && __has_include(<RgaApi.h>)
#      include <im2d.h>
#      include <RgaApi.h>
#      define DRONESCREW_HAS_RGA 1
#    endif
#  endif
#endif

#ifndef DRONESCREW_HAS_RGA
#  define DRONESCREW_HAS_RGA 0
#endif

namespace
{
constexpr double kPrecisionFrameRate = 2.0;
constexpr double kDistanceFrameRate = 30.0;
constexpr int    kLiveStreamFrameRate = 30;
constexpr unsigned int kLiveStreamWidth = 1024;
constexpr unsigned int kLiveStreamHeight = 750;
constexpr int    kRtspPullPort = 8554;
constexpr int    kRtmpPushPort = 1935;
constexpr int    kMvsPixelTypeMono8 = 0x01080001;
constexpr int    kMvsAcqModeContinuous = 2;
constexpr unsigned int kSingleFrameWaitTimeoutMs = 10000;
constexpr int    kGpioTriggerHighMs = 10;
constexpr int64_t kPrecisionBinningHorizontal = 1;
constexpr int64_t kPrecisionBinningVertical = 1;
constexpr int64_t kPrecisionDecimationHorizontal = 1;
constexpr int64_t kPrecisionDecimationVertical = 1;
constexpr int64_t kDistanceBinningHorizontal = 1;
constexpr int64_t kDistanceBinningVertical = 1;
constexpr int64_t kDistanceDecimationHorizontal = 4;
constexpr int64_t kDistanceDecimationVertical = 4;
constexpr int kDetectPipelinePrecision = 0;
constexpr int kDetectPipelineDistance = 1;
constexpr const char* kImageSaveRootDir = "/home/cat";
constexpr size_t kMaxImageSaveQueueDepth = 100;
constexpr size_t kImageSaveWorkerCount = 4;

const char* mvsSdkErrorName(int code)
{
    switch (static_cast<unsigned int>(code))
    {
    case 0x00000000u: return "MV_OK";
    case 0x80000000u: return "MV_E_HANDLE invalid handle";
    case 0x80000001u: return "MV_E_SUPPORT not supported";
    case 0x80000003u: return "MV_E_CALLORDER call order error";
    case 0x80000004u: return "MV_E_PARAMETER incorrect parameter";
    case 0x80000006u: return "MV_E_RESOURCE resource failed";
    case 0x80000008u: return "MV_E_PRECONDITION precondition changed";
    case 0x800000ffu: return "MV_E_UNKNOW unknown";
    case 0x80000100u: return "MV_E_GC_GENERIC GenICam general error";
    case 0x80000101u: return "MV_E_GC_ARGUMENT illegal parameter";
    case 0x80000102u: return "MV_E_GC_RANGE out of range";
    case 0x80000103u: return "MV_E_GC_PROPERTY property error";
    case 0x80000104u: return "MV_E_GC_RUNTIME runtime error";
    case 0x80000105u: return "MV_E_GC_LOGICAL logical error";
    case 0x80000106u: return "MV_E_GC_ACCESS node access error";
    case 0x80000107u: return "MV_E_GC_TIMEOUT timeout";
    case 0x800001ffu: return "MV_E_GC_UNKNOW GenICam unknown";
    case 0x80000200u: return "MV_E_NOT_IMPLEMENTED not implemented";
    case 0x80000202u: return "MV_E_WRITE_PROTECT write protected";
    case 0x80000204u: return "MV_E_BUSY busy";
    case 0x80000303u: return "MV_E_USB_GENICAM USB GenICam error";
    case 0x80000304u: return "MV_E_USB_BANDWIDTH insufficient bandwidth";
    default: return "unknown";
    }
}

const char* mvsFeatureInterfaceTypeName(EMvsFeatureInterfaceType type)
{
    switch (type)
    {
    case EMvsFeatureInterfaceType::Value: return "Value";
    case EMvsFeatureInterfaceType::Base: return "Base";
    case EMvsFeatureInterfaceType::Integer: return "Integer";
    case EMvsFeatureInterfaceType::Boolean: return "Boolean";
    case EMvsFeatureInterfaceType::Command: return "Command";
    case EMvsFeatureInterfaceType::Float: return "Float";
    case EMvsFeatureInterfaceType::String: return "String";
    case EMvsFeatureInterfaceType::Register: return "Register";
    case EMvsFeatureInterfaceType::Category: return "Category";
    case EMvsFeatureInterfaceType::Enumeration: return "Enumeration";
    case EMvsFeatureInterfaceType::EnumEntry: return "EnumEntry";
    case EMvsFeatureInterfaceType::Port: return "Port";
    case EMvsFeatureInterfaceType::Unknown:
    default: return "Unknown";
    }
}

const char* mvsFeatureAccessModeName(EMvsFeatureAccessMode mode)
{
    switch (mode)
    {
    case EMvsFeatureAccessMode::NotImplemented: return "NI";
    case EMvsFeatureAccessMode::NotAvailable: return "NA";
    case EMvsFeatureAccessMode::WriteOnly: return "WO";
    case EMvsFeatureAccessMode::ReadOnly: return "RO";
    case EMvsFeatureAccessMode::ReadWrite: return "RW";
    case EMvsFeatureAccessMode::Undefined: return "Undefined";
    case EMvsFeatureAccessMode::CycleDetect: return "CycleDetect";
    case EMvsFeatureAccessMode::Unknown:
    default: return "Unknown";
    }
}

bool mvsFeatureWritable(EMvsFeatureAccessMode mode)
{
    return mode == EMvsFeatureAccessMode::WriteOnly ||
           mode == EMvsFeatureAccessMode::ReadWrite;
}

void logMvsFeatureNodeInfo(IMvsDevice* camera, const char* role, const char* name)
{
    if (!camera || !name)
        return;

    MvsFeatureNodeInfo info;
    const int r = camera->GetFeatureNodeInfo(name, info);
    std::ostringstream oss;
    oss << "[CAM] " << (role ? role : "") << ' ' << name
        << " node ret=" << r << "(0x" << std::hex << static_cast<unsigned int>(r)
        << std::dec << ' ' << mvsSdkErrorName(r) << ')'
        << " type=" << mvsFeatureInterfaceTypeName(info.interfaceType)
        << " access=" << mvsFeatureAccessModeName(info.accessMode)
        << " typeRet=" << info.interfaceRet << "(0x" << std::hex
        << static_cast<unsigned int>(info.interfaceRet) << std::dec << ' '
        << mvsSdkErrorName(info.interfaceRet) << ')'
        << " accessRet=" << info.accessRet << "(0x" << std::hex
        << static_cast<unsigned int>(info.accessRet) << std::dec << ' '
        << mvsSdkErrorName(info.accessRet) << ')';

    if (info.interfaceType == EMvsFeatureInterfaceType::Integer)
    {
        oss << " intRet=" << info.intInfoRet << "(0x" << std::hex
            << static_cast<unsigned int>(info.intInfoRet) << std::dec << ' '
            << mvsSdkErrorName(info.intInfoRet) << ')'
            << " cur=" << info.intInfo.current
            << " min=" << info.intInfo.minimum
            << " max=" << info.intInfo.maximum
            << " inc=" << info.intInfo.increment;
    }
    else if (info.interfaceType == EMvsFeatureInterfaceType::Enumeration)
    {
        oss << " enumRet=" << info.enumInfoRet << "(0x" << std::hex
            << static_cast<unsigned int>(info.enumInfoRet) << std::dec << ' '
            << mvsSdkErrorName(info.enumInfoRet) << ')'
            << " cur=" << info.enumCurrent
            << " entries=";
        for (size_t i = 0; i < info.enumEntries.size(); ++i)
        {
            if (i) oss << ',';
            oss << info.enumEntries[i].value;
            if (!info.enumEntries[i].symbolic.empty())
                oss << ':' << info.enumEntries[i].symbolic;
        }
    }

    if (r == 0)
        LOG_INFO("%s\n", oss.str().c_str());
    else
        LOG_WARN("%s\n", oss.str().c_str());
}

unsigned int alignEven(unsigned int value)
{
    if (value < 2) return 2;
    return (value + 1u) & ~1u;
}

#if DRONESCREW_HAS_RGA
const char* rgaErrorText(IM_STATUS status)
{
    const char* text = imStrError(status);
    return text ? text : "unknown";
}
#endif

QString buildRtspAdvertiseUrl(int port, const QString& path)
{
    // Advertise the external RTSP pull URL. The internal RTMP publish port is separate.
    QString localIp = "0.0.0.0";
    const auto addrs = QNetworkInterface::allAddresses();
    for (const auto& a : addrs)
    {
        if (a.protocol() == QAbstractSocket::IPv4Protocol && !a.isLoopback())
        {
            localIp = a.toString();
            break;
        }
    }
    return QString("rtsp://%1:%2%3").arg(localIp).arg(port).arg(path);
}

void logDetectionResultFixed(const char* tag, int frameNo, const DroneScrewResult& result)
{
    const char* resultTag = tag ? tag : "DETECT";
    const char* msg = result.message.empty() ? "" : result.message.c_str();

    LOG_INFO("[%s-result] frame #%d id=%llu success=%d code=%d boxes=%zu distances=%zu image=%dx%d msg=%s\n",
             resultTag, frameNo,
             static_cast<unsigned long long>(result.frameId),
             result.success ? 1 : 0, result.errorCode,
             result.boxes.size(), result.distances.size(),
             result.imageWidth, result.imageHeight, msg);

    for (size_t i = 0; i < result.boxes.size(); ++i)
    {
        const auto& b = result.boxes[i];
        LOG_INFO("[%s-result]   box[%zu] cls=%d score=%.3f x=%d y=%d w=%d h=%d\n",
                 resultTag, i, b.classId, b.score, b.x, b.y, b.width, b.height);
    }

    for (size_t i = 0; i < result.distances.size(); ++i)
    {
        const auto& d = result.distances[i];
        LOG_INFO("[%s-result]   distance[%zu] from=%d to=%d mm=%.3f\n",
                 resultTag, i, d.fromId, d.toId, d.distanceMm);
    }
}

QString savedImageFileName(unsigned long long index, const QString& prefix)
{
    return QStringLiteral("%1_%2Image.png").arg(index).arg(prefix);
}

bool saveDetectionResultText(const QString& dirPath,
                             unsigned long long imageIndex,
                             const DroneScrewResult& result)
{
    const QString filePath = QDir(dirPath).filePath(
        QStringLiteral("%1_result.txt").arg(imageIndex));
    QFile file(filePath);
    if (!file.open(QIODevice::WriteOnly | QIODevice::Truncate | QIODevice::Text))
    {
        LOG_WARN("[SAVE] result save open failed: %s\n",
                 filePath.toStdString().c_str());
        return false;
    }

    QTextStream out(&file);
    out << "index:" << static_cast<qulonglong>(imageIndex) << '\n';
    out << "leftImage:" << savedImageFileName(imageIndex, QStringLiteral("left")) << '\n';
    out << "rightImage:" << savedImageFileName(imageIndex, QStringLiteral("right")) << '\n';
    out << "frameId:" << static_cast<qulonglong>(result.frameId) << '\n';
    out << "timestampUs:" << static_cast<qlonglong>(result.timestampUs) << '\n';
    out << "success:" << (result.success ? 1 : 0) << '\n';
    out << "errorCode:" << result.errorCode << '\n';
    out << "message:" << QString::fromStdString(result.message) << '\n';

    int physicalHeightCount = 0;
    for (const auto& b : result.boxes)
    {
        if (b.hasPhysicalHeight)
            ++physicalHeightCount;
    }
    out << "physicalHeightCount:" << physicalHeightCount << '\n';
    int physicalHeightIndex = 1;
    for (const auto& b : result.boxes)
    {
        if (!b.hasPhysicalHeight)
            continue;
        out << "physicalHeight" << physicalHeightIndex << "Id:" << physicalHeightIndex << '\n';
        out << "physicalHeight" << physicalHeightIndex << "Mm:"
            << QString::number(b.physicalHeightMm, 'f', 3) << '\n';
        ++physicalHeightIndex;
    }

    out << "rodSpacingCount:" << static_cast<int>(result.distances.size()) << '\n';
    for (size_t i = 0; i < result.distances.size(); ++i)
    {
        const auto& d = result.distances[i];
        const int index = static_cast<int>(i + 1);
        out << "rodSpacing" << index << "FromId:" << (d.fromId + 1) << '\n';
        out << "rodSpacing" << index << "ToId:" << (d.toId + 1) << '\n';
        out << "rodSpacing" << index << "Mm:"
            << QString::number(d.distanceMm, 'f', 3) << '\n';
    }
    out.flush();
    if (out.status() != QTextStream::Ok)
        return false;

    return true;
}

double clampCameraFloatFeature(IMvsDevice* camera,
                               const char* role,
                               const char* featureName,
                               double requested)
{
    if (!camera || !featureName)
        return requested;

    MvsFloatFeatureInfo info;
    const int ret = camera->GetFloatFeatureInfo(featureName, info);
    if (ret != 0)
    {
        LOG_WARN("[CAM] %s read %s range failed ret=%d(0x%08x %s), requested=%.2f\n",
                 role, featureName, ret, static_cast<unsigned int>(ret),
                 mvsSdkErrorName(ret), requested);
        return requested;
    }

    if (info.maximum < info.minimum || info.maximum <= 0.0)
        return requested;

    const double clamped = std::min(std::max(requested, info.minimum), info.maximum);
    if (clamped != requested)
    {
        LOG_WARN("[CAM] %s clamp %s requested=%.2f range=[%.2f, %.2f] cur=%.2f use=%.2f\n",
                 role, featureName, requested, info.minimum, info.maximum,
                 info.current, clamped);
    }
    else
    {
        LOG_INFO("[CAM] %s %s range=[%.2f, %.2f] cur=%.2f requested=%.2f\n",
                 role, featureName, info.minimum, info.maximum,
                 info.current, requested);
    }
    return clamped;
}

void appendUniqueDir(QStringList& dirs, const QString& dir)
{
    if (dir.isEmpty())
        return;

    const QString absolute = QDir(dir).absolutePath();
    if (!dirs.contains(absolute))
        dirs.append(absolute);
}

QStringList calibrationBaseDirs(const QString& serverConfigPath)
{
    QStringList dirs;
    appendUniqueDir(dirs, QDir::currentPath());
    appendUniqueDir(dirs, QCoreApplication::applicationDirPath());
    if (!serverConfigPath.isEmpty())
        appendUniqueDir(dirs, QFileInfo(serverConfigPath).absolutePath());
    return dirs;
}

QString resolveCandidatePath(const QString& path, const QStringList& baseDirs)
{
    const QString trimmed = path.trimmed();
    if (trimmed.isEmpty())
        return QString();

    const QFileInfo direct(trimmed);
    if (direct.isAbsolute())
        return direct.absoluteFilePath();

    QString fallback;
    for (const QString& baseDir : baseDirs)
    {
        const QFileInfo candidate(QDir(baseDir).filePath(trimmed));
        if (fallback.isEmpty())
            fallback = candidate.absoluteFilePath();
        if (candidate.exists())
            return candidate.absoluteFilePath();
    }
    return fallback.isEmpty() ? QFileInfo(trimmed).absoluteFilePath() : fallback;
}

QString yamlValueAfterColon(QString line)
{
    const int comment = line.indexOf('#');
    if (comment >= 0)
        line = line.left(comment);

    const int colon = line.indexOf(':');
    if (colon < 0)
        return QString();

    QString value = line.mid(colon + 1).trimmed();
    if (value.size() >= 2)
    {
        const QChar first = value.at(0);
        const QChar last = value.at(value.size() - 1);
        if ((first == '"' && last == '"') || (first == '\'' && last == '\''))
            value = value.mid(1, value.size() - 2);
    }
    return value;
}

QString readCalibrationXmlPathFromYaml(const QString& configPath)
{
    QFile file(configPath);
    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
        return QString();

    QTextStream in(&file);
    bool inCalibration = false;
    int calibrationIndent = -1;
    while (!in.atEnd())
    {
        const QString raw = in.readLine();
        int indent = 0;
        while (indent < raw.size() && raw.at(indent).isSpace())
            ++indent;

        QString line = raw.mid(indent);
        const int comment = line.indexOf('#');
        if (comment >= 0)
            line = line.left(comment);
        line = line.trimmed();
        if (line.isEmpty())
            continue;

        if (line.startsWith("calibration:"))
        {
            inCalibration = true;
            calibrationIndent = indent;
            continue;
        }

        if (inCalibration && indent <= calibrationIndent && !line.startsWith("-"))
            inCalibration = false;

        if (inCalibration && line.startsWith("xml_path:"))
            return yamlValueAfterColon(line);
    }
    return QString();
}

QString childText(const QDomElement& parent, const QString& name)
{
    const QDomElement child = parent.firstChildElement(name);
    return child.isNull() ? QString() : child.text().trimmed();
}

int childInt(const QDomElement& parent, const QString& name, int fallback = 0)
{
    bool ok = false;
    const int value = childText(parent, name).toInt(&ok);
    return ok ? value : fallback;
}

double childDouble(const QDomElement& parent, const QString& name, double fallback = 0.0)
{
    bool ok = false;
    const double value = childText(parent, name).toDouble(&ok);
    return ok ? value : fallback;
}

QJsonObject matrixElementToJson(const QDomElement& parent, const QString& name)
{
    QJsonObject matrix;
    const QDomElement element = parent.firstChildElement(name);
    const int rows = childInt(element, "rows");
    const int cols = childInt(element, "cols");
    matrix["rows"] = rows;
    matrix["cols"] = cols;

    QJsonArray data;
    if (!element.isNull())
    {
        const QString text = childText(element, "data").simplified();
        const QStringList tokens = text.split(' ', Qt::SkipEmptyParts);
        for (const QString& token : tokens)
        {
            bool ok = false;
            const double value = token.toDouble(&ok);
            if (ok)
                data.append(value);
        }
    }
    matrix["data"] = data;
    matrix["valid"] = rows > 0 && cols > 0 && data.size() == rows * cols;
    return matrix;
}

QJsonObject cameraCalibrationToJson(const QDomElement& root, const QString& name)
{
    QJsonObject camera;
    const QDomElement element = root.firstChildElement(name);
    if (element.isNull())
    {
        camera["valid"] = false;
        return camera;
    }

    camera["valid"] = childInt(element, "Valid") != 0;
    camera["rms"] = childDouble(element, "RMS");
    camera["imageWidth"] = childInt(element, "ImageWidth");
    camera["imageHeight"] = childInt(element, "ImageHeight");
    camera["cameraMatrix"] = matrixElementToJson(element, "CameraMatrix");
    camera["distCoeffs"] = matrixElementToJson(element, "DistCoeffs");
    return camera;
}

QJsonObject stereoCalibrationToJson(const QDomElement& root)
{
    QJsonObject stereoJson;
    const QDomElement stereo = root.firstChildElement("Stereo");
    const QDomElement rectification = root.firstChildElement("Rectification");
    if (stereo.isNull())
    {
        stereoJson["valid"] = false;
        return stereoJson;
    }

    stereoJson["valid"] = true;
    stereoJson["rms"] = childDouble(stereo, "RMS");
    stereoJson["baselineMm"] = childDouble(stereo, "Baseline");
    stereoJson["R"] = matrixElementToJson(stereo, "R");
    stereoJson["T"] = matrixElementToJson(stereo, "T");
    stereoJson["E"] = matrixElementToJson(stereo, "E");
    stereoJson["F"] = matrixElementToJson(stereo, "F");
    stereoJson["R1"] = matrixElementToJson(rectification, "R1");
    stereoJson["R2"] = matrixElementToJson(rectification, "R2");
    stereoJson["P1"] = matrixElementToJson(rectification, "P1");
    stereoJson["P2"] = matrixElementToJson(rectification, "P2");
    stereoJson["Q"] = matrixElementToJson(rectification, "Q");
    return stereoJson;
}
}

DroneScrewServerPresenter::DroneScrewServerPresenter(QObject* parent)
    : QObject(parent)
{
    // 初始化 MvsImageData
    m_leftImageData.pData = nullptr;
    m_leftImageData.width = 0;
    m_leftImageData.height = 0;
    m_leftImageData.dataSize = 0;
    m_leftImageData.pixelFormat = 0;
    m_leftImageData.frameID = 0;
    m_leftImageData.timestamp = 0;

    m_rightImageData.pData = nullptr;
    m_rightImageData.width = 0;
    m_rightImageData.height = 0;
    m_rightImageData.dataSize = 0;
    m_rightImageData.pixelFormat = 0;
    m_rightImageData.frameID = 0;
    m_rightImageData.timestamp = 0;

    m_pReconnectTimer = new QTimer(this);
    m_pReconnectTimer->setInterval(2000);
    connect(m_pReconnectTimer, &QTimer::timeout,
            this, &DroneScrewServerPresenter::onCameraReconnectTimer);
}

DroneScrewServerPresenter::~DroneScrewServerPresenter()
{
    deinitAll();

    // 释放图像数据
    if (m_leftImageData.pData != nullptr)
    {
        delete[] m_leftImageData.pData;
        m_leftImageData.pData = nullptr;
    }
    if (m_rightImageData.pData != nullptr)
    {
        delete[] m_rightImageData.pData;
        m_rightImageData.pData = nullptr;
    }
}

bool DroneScrewServerPresenter::loadConfiguration(const QString& configFilePath)
{
    m_configFilePath = configFilePath;

    QFile f(configFilePath);
    if (!f.open(QIODevice::ReadOnly))
    {
        LOG_WARN("DroneScrewServer: open config fail: %s\n",
                 configFilePath.toStdString().c_str());
        return false;
    }

    QXmlStreamReader xml(&f);
    while (!xml.atEnd() && !xml.hasError())
    {
        if (xml.readNext() == QXmlStreamReader::StartElement)
        {
            QString n = xml.name().toString();
            if (n == "Camera")
            {
                auto a = xml.attributes();
                int index = a.value("index").toInt();
                QString role = a.value("role").toString();
                QString serialNumber = a.value("serialNumber").toString();
                double exposureTime = a.value("exposureTime").toDouble();
                double gain = a.value("gain").toDouble();

                const bool isLeftRole = (role == "left") || (role.isEmpty() && index == 0);
                const bool isRightRole = (role == "right") || (role.isEmpty() && index == 1);

                if (isLeftRole)
                {
                    m_nLeftCameraIndex = index;
                    m_strLeftCameraSerial = serialNumber.toStdString();
                    m_leftExposureTime = exposureTime > 0 ? exposureTime : 10000.0;
                    m_leftGain = gain > 0 ? gain : 1.0;
                    LOG_INFO("Left camera config: index=%d, serial=%s, exposure=%.2f, gain=%.2f\n",
                             m_nLeftCameraIndex, m_strLeftCameraSerial.c_str(),
                             m_leftExposureTime, m_leftGain);
                }
                else if (isRightRole)
                {
                    m_nRightCameraIndex = index;
                    m_strRightCameraSerial = serialNumber.toStdString();
                    m_rightExposureTime = exposureTime > 0 ? exposureTime : 10000.0;
                    m_rightGain = gain > 0 ? gain : 1.0;
                    LOG_INFO("Right camera config: index=%d, serial=%s, exposure=%.2f, gain=%.2f\n",
                             m_nRightCameraIndex, m_strRightCameraSerial.c_str(),
                             m_rightExposureTime, m_rightGain);
                }
                else
                {
                    LOG_WARN("[CAM] ignore camera config: role=%s index=%d\n",
                             role.toStdString().c_str(), index);
                }
            }
            else if (n == "Zmq")
            {
                auto a = xml.attributes();
                m_zmqControlPort  = a.value("controlPort").toInt();
                m_zmqResultPort   = a.value("resultPort").toInt();
                m_zmqRawImagePort = a.value("rawImagePort").toInt();
                if (!m_zmqControlPort)  m_zmqControlPort  = 5555;
                if (!m_zmqResultPort)   m_zmqResultPort   = 5556;
                if (m_zmqRawImagePort < 0) m_zmqRawImagePort = 0;
            }
            else if (n == "Rtsp")
            {
                auto a = xml.attributes();
                m_rtspPort        = a.value("port").toInt();
                if (m_rtspPort <= 0)  m_rtspPort = kRtspPullPort;
                if (m_rtspPort == kRtmpPushPort)
                {
                    LOG_WARN("[RTSP] configured pull port=%d is RTMP publish port, use RTSP pull port=%d\n",
                             m_rtspPort, kRtspPullPort);
                    m_rtspPort = kRtspPullPort;
                }
                m_rtspPath        = a.value("path").toString();
                if (m_rtspPath.isEmpty()) m_rtspPath = "/live/dronescrew";
                m_pushBitrateKbps = a.value("bitrateKbps").toInt();
                if (!m_pushBitrateKbps) m_pushBitrateKbps = 4096;
                m_pushFps = a.value("fps").toInt();
                if (m_pushFps < kLiveStreamFrameRate)
                {
                    if (m_pushFps > 0)
                    {
                        LOG_WARN("[RTSP] configured fps=%d is legacy/too low, use live fps=%d\n",
                                 m_pushFps, kLiveStreamFrameRate);
                    }
                    m_pushFps = kLiveStreamFrameRate;
                }
                m_liveStreamFps = m_pushFps;
                const unsigned int streamWidth = a.value("streamWidth").toUInt();
                const unsigned int streamHeight = a.value("streamHeight").toUInt();
                if (streamWidth > 0 && streamHeight > 0)
                {
                    m_liveStreamWidth = streamWidth;
                    m_liveStreamHeight = streamHeight;
                }
                const QString streamCamera =
                    a.value("streamCamera").toString().trimmed().toLower();
                if (streamCamera == "left")
                {
                    m_liveStreamCameraRole = "left";
                }
                else if (streamCamera == "right")
                {
                    m_liveStreamCameraRole = "left";
                    LOG_WARN("[RTSP] streamCamera=right ignored, realtime stream uses left camera\n");
                }
                else if (!streamCamera.isEmpty())
                {
                    LOG_WARN("[RTSP] invalid streamCamera=%s, keep %s\n",
                             streamCamera.toStdString().c_str(),
                             m_liveStreamCameraRole.c_str());
                }
            }
            else if (n == "Algorithm")
            {
                auto a = xml.attributes();
                m_algoParams.scoreThreshold = a.value("scoreThreshold").toFloat();
                m_algoParams.nmsThreshold   = a.value("nmsThreshold").toFloat();
                m_algoParams.inputWidth     = a.value("inputWidth").toInt();
                m_algoParams.inputHeight    = a.value("inputHeight").toInt();
                const QString configPath = a.hasAttribute("configPath")
                                               ? a.value("configPath").toString()
                                               : a.value("modelPath").toString();
                m_algoParams.modelPath      = configPath.toStdString();
                m_algoParams.modelType      = a.value("modelType").toInt();
                if (a.hasAttribute("expectedBoltCount"))
                    m_algoParams.expectedBoltCount = a.value("expectedBoltCount").toInt();
            }
            else if (n == "Trigger")
            {
                auto a = xml.attributes();
                if (a.hasAttribute("useIoTrigger"))
                    m_useIoTrigger = (a.value("useIoTrigger").toString() != "false" &&
                                      a.value("useIoTrigger").toString() != "0");
                if (a.hasAttribute("gpio"))
                    m_triggerGpio = a.value("gpio").toInt();
                if (a.hasAttribute("source"))
                    m_triggerSource = a.value("source").toInt();
                if (a.hasAttribute("activation"))
                    m_triggerActivation = a.value("activation").toInt();
            }
        }
    }
    f.close();
    return !xml.hasError();
}

int DroneScrewServerPresenter::initAll()
{
    // 1) 算法
    m_pAlgo = IDroneScrewAlgo::CreateDefault();
    if (m_pAlgo)
    {
        int r = m_pAlgo->Init(m_algoParams);
        LOG_INFO("Algo init: %d, ver=%s\n", r, m_pAlgo->GetVersion().c_str());
    }

    // 2) 推流 URL 先按配置生成；推流对象等拿到相机实际尺寸后再初始化。
    m_rtspAdvertiseUrl = buildRtspAdvertiseUrl(m_rtspPort, m_rtspPath);
    LOG_INFO("RTSP configured: URL=%s fps=%d bitrate=%dKbps streamCamera=%s\n",
             m_rtspAdvertiseUrl.toStdString().c_str(), m_pushFps,
             m_pushBitrateKbps, m_liveStreamCameraRole.c_str());

    // 3) 相机
    if (tryConnectCamera() != 0)
    {
        LOG_WARN("Camera connect fail, start auto-reconnect timer\n");
        m_pReconnectTimer->start();
    }

    return 0;
}

void DroneScrewServerPresenter::deinitAll()
{
    stopDetectionWork();
    stopLiveStream();
    stopGpioTriggerLoop();
    stopImageSaveThread();

    if (m_pReconnectTimer && m_pReconnectTimer->isActive())
        m_pReconnectTimer->stop();

    closeCamera();

    releaseRtspPusher();

    if (m_pAlgo)
    {
        m_pAlgo->UnInit();
        m_pAlgo.reset();
    }
}

int DroneScrewServerPresenter::tryConnectCamera()
{
    LOG_DEBUG("========== 开始连接双目相机 ==========\n");

    if (m_pLeftCamera) closeCamera();

    // 失败时自动清理
    auto fail = [this](const char* reason) {
        LOG_DEBUG("[CAM] fail: %s\n", reason);
        closeCamera();
        return ERR_CODE(DEV_OPEN_ERR);
    };

    int ret = IMvsDevice::CreateObject(&m_pLeftCamera);
    if (ret != 0 || !m_pLeftCamera) return fail("create left");
    ret = IMvsDevice::CreateObject(&m_pRightCamera);
    if (ret != 0 || !m_pRightCamera) return fail("create right");

    ret = m_pLeftCamera->InitSDK();
    if (ret != 0) return fail("InitSDK");

    std::vector<MvsDeviceInfo> deviceList;
    ret = m_pLeftCamera->EnumerateDevices(deviceList);
    LOG_DEBUG("[CAM] enumerate: ret=%d count=%zu\n", ret, deviceList.size());
    for (size_t i = 0; i < deviceList.size(); i++)
        LOG_DEBUG("[CAM]   [%zu] SN=%s model=%s\n", i,
                  deviceList[i].serialNumber.c_str(), deviceList[i].modelName.c_str());

    if (deviceList.size() < 2)
        return fail("only 1 camera");

    // 逻辑左右目按配置的 serialNumber 或 index 绑定，允许现场交换安装方向。
    auto configuredSerial = [&](const char* role,
                                unsigned int index,
                                const std::string& serial) -> std::string {
        if (!serial.empty())
            return serial;
        if (index >= deviceList.size())
        {
            LOG_ERROR("[CAM] %s configured index=%u out of range, device count=%zu\n",
                      role, index, deviceList.size());
            return std::string();
        }
        return deviceList[index].serialNumber;
    };

    const std::string leftSN =
        configuredSerial("left", m_nLeftCameraIndex, m_strLeftCameraSerial);
    const std::string rightSN =
        configuredSerial("right", m_nRightCameraIndex, m_strRightCameraSerial);
    if (leftSN.empty() || rightSN.empty())
        return fail("camera config index/serial invalid");
    if (leftSN == rightSN)
    {
        LOG_ERROR("[CAM] left/right resolved to same camera SN=%s\n", leftSN.c_str());
        return fail("left/right same camera");
    }
    LOG_DEBUG("[CAM] left  index=%u -> SN=%s\n", m_nLeftCameraIndex, leftSN.c_str());
    LOG_DEBUG("[CAM] right index=%u -> SN=%s\n", m_nRightCameraIndex, rightSN.c_str());

    ret = m_pLeftCamera->OpenDevice(leftSN);
    LOG_DEBUG("[CAM] left  OpenDevice ret=%d\n", ret);
    if (ret != 0) return fail("left OpenDevice");

    ret = m_pRightCamera->OpenDevice(rightSN);
    LOG_DEBUG("[CAM] right OpenDevice ret=%d\n", ret);
    if (ret != 0) return fail("right OpenDevice");

    // Persist the resolved serials later so left/right binding survives device
    // enumeration order changes after restart.
    m_strLeftCameraSerial = leftSN;
    m_strRightCameraSerial = rightSN;

    ret = configureCamera(m_pLeftCamera, "left", m_useIoTrigger, kPrecisionFrameRate,
                          kPrecisionBinningHorizontal, kPrecisionBinningVertical);
    if (ret != 0) return fail("configure left");
    ret = configureCamera(m_pRightCamera, "right", m_useIoTrigger, kPrecisionFrameRate,
                          kPrecisionBinningHorizontal, kPrecisionBinningVertical);
    if (ret != 0) return fail("configure right");
    LOG_DEBUG("[CAM] mono8 continuous fps=%.1f trigger=%s left_exp=%.1f left_gain=%.1f right_exp=%.1f right_gain=%.1f\n",
              kPrecisionFrameRate, m_useIoTrigger ? "io" : "off",
              m_leftExposureTime, m_leftGain, m_rightExposureTime, m_rightGain);

    ret = m_pLeftCamera->RegisterImageCallback(
        [this](const MvsImageData& img) { this->leftCameraCallback(img); });
    LOG_DEBUG("[CAM] left  callback registered ret=%d\n", ret);
    if (ret != 0) return fail("register left callback");

    ret = m_pRightCamera->RegisterImageCallback(
        [this](const MvsImageData& img) { this->rightCameraCallback(img); });
    LOG_DEBUG("[CAM] right callback registered ret=%d\n", ret);
    if (ret != 0) return fail("register right callback");

    m_bCameraConnected = true;
    resetFrameReadyFlags();
    LOG_DEBUG("[CAM] 双目连接成功，等待 start/start_stream 进入采集\n");
    return 0;
}

double DroneScrewServerPresenter::exposureForRole(const char* role) const
{
    return (role && std::strcmp(role, "right") == 0) ? m_rightExposureTime : m_leftExposureTime;
}

int DroneScrewServerPresenter::applyExposureForRole(const char* role)
{
    IMvsDevice* camera = cameraForRole(role);
    if (!camera)
    {
        LOG_WARN("[CAM] %s exposure update skipped: camera not initialized\n",
                 role ? role : "");
        return ERR_CODE(DEV_ARG_INVAILD);
    }

    const double requestedExpVal = exposureForRole(role);
    const double expVal = clampCameraFloatFeature(camera, role, "ExposureTime", requestedExpVal);
    const int ret = camera->SetExposureTime(expVal);
    if (ret != 0)
    {
        LOG_WARN("[CAM] %s exposure update failed ret=%d(0x%08x %s) exp=%.2f requestedExp=%.2f\n",
                 role ? role : "", ret, static_cast<unsigned int>(ret), mvsSdkErrorName(ret),
                 expVal, requestedExpVal);
    }
    else
    {
        LOG_INFO("[CAM] %s exposure updated: exp=%.2f requestedExp=%.2f\n",
                 role ? role : "", expVal, requestedExpVal);
    }
    return ret;
}

int DroneScrewServerPresenter::applyCurrentExposureForRole(const char* role)
{
    return applyExposureForRole(role);
}

double DroneScrewServerPresenter::gainForRole(const char* role) const
{
    return (role && std::strcmp(role, "right") == 0) ? m_rightGain : m_leftGain;
}

IMvsDevice* DroneScrewServerPresenter::cameraForRole(const char* role) const
{
    return (role && std::strcmp(role, "right") == 0) ? m_pRightCamera : m_pLeftCamera;
}

const char* DroneScrewServerPresenter::liveStreamCameraRole() const
{
    return m_liveStreamCameraRole == "right" ? "right" : "left";
}

IMvsDevice* DroneScrewServerPresenter::liveStreamCamera() const
{
    return cameraForRole(liveStreamCameraRole());
}

IMvsDevice* DroneScrewServerPresenter::nonLiveStreamCamera() const
{
    return cameraForRole(std::strcmp(liveStreamCameraRole(), "right") == 0 ? "left" : "right");
}

bool DroneScrewServerPresenter::isLiveStreamCameraRole(const char* role) const
{
    return role && std::strcmp(role, liveStreamCameraRole()) == 0;
}

int DroneScrewServerPresenter::configureCamera(IMvsDevice* camera,
                                               const char* role,
                                               bool ioTrigger,
                                               double frameRate,
                                               int64_t requestedBinningHorizontal,
                                               int64_t requestedBinningVertical,
                                               int64_t requestedDecimationHorizontal,
                                               int64_t requestedDecimationVertical)
{
    if (!camera) return ERR_CODE(DEV_ARG_INVAILD);

    int ret = 0;
    auto apply = [&](const char* name, int r) {
        if (r != 0)
        {
            ret = ret == 0 ? r : ret;
            LOG_WARN("[CAM] %s set %s failed ret=%d(0x%08x %s)\n",
                     role, name, r, static_cast<unsigned int>(r),
                     mvsSdkErrorName(r));
        }
        return r;
    };
    auto applyImageReduction = [&](const char* name, int64_t value) {
        MvsFeatureNodeInfo nodeInfo;
        int r = camera->GetFeatureNodeInfo(name, nodeInfo);
        if (r != 0)
        {
            if (value != 1)
                ret = ret == 0 ? r : ret;
            LOG_WARN("[CAM] %s read %s node failed ret=%d(0x%08x %s)%s\n",
                     role, name, r, static_cast<unsigned int>(r), mvsSdkErrorName(r),
                     value == 1 ? " (ignored for 1x1)" : "");
            logMvsFeatureNodeInfo(camera, role, name);
            return r;
        }

        logMvsFeatureNodeInfo(camera, role, name);

        if (!mvsFeatureWritable(nodeInfo.accessMode))
        {
            r = ERR_CODE(DEV_CTRL_ERR);
            if (value != 1)
                ret = ret == 0 ? r : ret;
            LOG_WARN("[CAM] %s %s is not writable access=%s%s\n",
                     role, name, mvsFeatureAccessModeName(nodeInfo.accessMode),
                     value == 1 ? " (ignored for 1x1)" : "");
            return r;
        }

        if (nodeInfo.interfaceType == EMvsFeatureInterfaceType::Integer)
        {
            r = camera->SetIntFeature(name, value);
        }
        else if (nodeInfo.interfaceType == EMvsFeatureInterfaceType::Enumeration)
        {
            std::string targetSymbolic;
            unsigned int targetEnumValue = 0;
            bool foundTarget = false;
            const std::string targetValue = std::to_string(value);
            const std::string targetSymbolicByName = std::string(name) + targetValue;
            for (const MvsEnumEntryInfo& entry : nodeInfo.enumEntries)
            {
                if (entry.value == static_cast<unsigned int>(value) ||
                    entry.symbolic == targetValue ||
                    entry.symbolic == targetSymbolicByName)
                {
                    targetSymbolic = entry.symbolic;
                    targetEnumValue = entry.value;
                    foundTarget = true;
                    break;
                }
            }

            if (!foundTarget)
            {
                r = ERR_CODE(DEV_CTRL_ERR);
                if (value != 1)
                    ret = ret == 0 ? r : ret;
                LOG_WARN("[CAM] %s %s has no enum entry for %lld\n",
                         role, name, static_cast<long long>(value));
                return r;
            }

            if (!targetSymbolic.empty())
                r = camera->SetEnumFeatureByString(name, targetSymbolic);
            else
                r = camera->SetEnumFeature(name, targetEnumValue);
        }
        else
        {
            r = ERR_CODE(DEV_CTRL_ERR);
            if (value != 1)
                ret = ret == 0 ? r : ret;
            LOG_WARN("[CAM] %s %s unsupported node type=%s%s\n",
                     role, name, mvsFeatureInterfaceTypeName(nodeInfo.interfaceType),
                     value == 1 ? " (ignored for 1x1)" : "");
            return r;
        }

        if (r != 0)
        {
            if (value != 1)
                ret = ret == 0 ? r : ret;
            LOG_WARN("[CAM] %s set %s=%lld failed ret=%d(0x%08x %s)%s\n",
                     role, name, static_cast<long long>(value),
                     r, static_cast<unsigned int>(r), mvsSdkErrorName(r),
                     value == 1 ? " (ignored for 1x1)" : "");
            logMvsFeatureNodeInfo(camera, role, name);
        }
        else
        {
            LOG_INFO("[CAM] %s set %s=%lld ok via %s\n",
                     role, name, static_cast<long long>(value),
                     mvsFeatureInterfaceTypeName(nodeInfo.interfaceType));
        }
        return r;
    };

    apply("AcquisitionMode=Continuous", camera->SetEnumFeature("AcquisitionMode", kMvsAcqModeContinuous));
    apply("PixelFormat=Mono8", camera->SetEnumFeature("PixelFormat", kMvsPixelTypeMono8));
    logMvsFeatureNodeInfo(camera, role, "BinningSelector");
    const bool requestDecimation = requestedDecimationHorizontal > 1 || requestedDecimationVertical > 1;
    if (requestDecimation)
    {
        applyImageReduction("BinningHorizontal", requestedBinningHorizontal);
        applyImageReduction("BinningVertical", requestedBinningVertical);
        applyImageReduction("DecimationHorizontal", requestedDecimationHorizontal);
        applyImageReduction("DecimationVertical", requestedDecimationVertical);
    }
    else
    {
        applyImageReduction("DecimationHorizontal", requestedDecimationHorizontal);
        applyImageReduction("DecimationVertical", requestedDecimationVertical);
        applyImageReduction("BinningHorizontal", requestedBinningHorizontal);
        applyImageReduction("BinningVertical", requestedBinningVertical);
    }
    if (ioTrigger)
    {
        apply("TriggerSource=Line0", camera->SetEnumFeature("TriggerSource", m_triggerSource));
        apply("TriggerActivation=RisingEdge", camera->SetEnumFeature("TriggerActivation", m_triggerActivation));
        apply("TriggerMode=On", camera->SetTriggerMode(true));
        // 外触发模式：帧率完全由触发信号决定，必须关闭帧率限制器。
        // 否则左右相机各自的帧率限制器在触发抖动时可能丢弃【不同】的触发，
        // 造成两路帧号错位 → 双目永久不同步。
        apply("AcquisitionFrameRateEnable=false", camera->SetBoolFeature("AcquisitionFrameRateEnable", false));
    }
    else
    {
        apply("TriggerMode=Off", camera->SetTriggerMode(false));
        // 非触发（自由运行）模式才用帧率限制控制采集速度
        apply("AcquisitionFrameRateEnable=true", camera->SetBoolFeature("AcquisitionFrameRateEnable", true));
        apply("AcquisitionFrameRate", camera->SetFrameRate(frameRate));
    }

    const double gainVal = gainForRole(role);
    LOG_INFO("[CAM] %s applying config: gain=%.2f binning=%lldx%lld decimation=%lldx%lld\n",
             role, gainVal,
             static_cast<long long>(requestedBinningHorizontal),
             static_cast<long long>(requestedBinningVertical),
             static_cast<long long>(requestedDecimationHorizontal),
             static_cast<long long>(requestedDecimationVertical));
    apply("ExposureTime", applyExposureForRole(role));
    apply("Gain", camera->SetGain(gainVal));

    int64_t pixelFormat = 0;
    int64_t acquisitionMode = 0;
    int64_t triggerMode = 0;
    int64_t triggerSource = 0;
    int64_t triggerActivation = 0;
    bool frameRateEnable = false;
    double actualFrameRate = 0.0;
    double exposureTime = 0.0;
    double gain = 0.0;
    unsigned int width = 0;
    unsigned int height = 0;
    if (camera->GetEnumFeature("PixelFormat", pixelFormat) == 0)
        LOG_INFO("[CAM] %s PixelFormat=0x%llx\n", role, static_cast<long long>(pixelFormat));
    if (camera->GetEnumFeature("AcquisitionMode", acquisitionMode) == 0)
        LOG_INFO("[CAM] %s AcquisitionMode=%lld\n", role, static_cast<long long>(acquisitionMode));
    if (camera->GetEnumFeature("TriggerMode", triggerMode) == 0)
        LOG_INFO("[CAM] %s TriggerMode=%lld\n", role, static_cast<long long>(triggerMode));
    if (ioTrigger && camera->GetEnumFeature("TriggerSource", triggerSource) == 0)
        LOG_INFO("[CAM] %s TriggerSource=%lld\n", role, static_cast<long long>(triggerSource));
    if (ioTrigger && camera->GetEnumFeature("TriggerActivation", triggerActivation) == 0)
        LOG_INFO("[CAM] %s TriggerActivation=%lld\n", role, static_cast<long long>(triggerActivation));
    if (camera->GetBoolFeature("AcquisitionFrameRateEnable", frameRateEnable) == 0)
        LOG_INFO("[CAM] %s AcquisitionFrameRateEnable=%d\n", role, frameRateEnable ? 1 : 0);
    if (camera->GetFrameRate(actualFrameRate) == 0)
        LOG_INFO("[CAM] %s AcquisitionFrameRate=%.2f\n", role, actualFrameRate);
    if (camera->GetExposureTime(exposureTime) == 0)
        LOG_INFO("[CAM] %s ExposureTime=%.2f\n", role, exposureTime);
    if (camera->GetGain(gain) == 0)
        LOG_INFO("[CAM] %s Gain=%.2f\n", role, gain);
    if (!requestDecimation)
    {
        logMvsFeatureNodeInfo(camera, role, "BinningHorizontal");
        logMvsFeatureNodeInfo(camera, role, "BinningVertical");
    }
    else
    {
        LOG_INFO("[CAM] %s skip BinningHorizontal/Vertical post-read while decimation=%lldx%lld\n",
                 role,
                 static_cast<long long>(requestedDecimationHorizontal),
                 static_cast<long long>(requestedDecimationVertical));
    }
    logMvsFeatureNodeInfo(camera, role, "DecimationHorizontal");
    logMvsFeatureNodeInfo(camera, role, "DecimationVertical");
    if (camera->GetWidth(width) == 0 && camera->GetHeight(height) == 0)
        LOG_INFO("[CAM] %s Size=%ux%u\n", role, width, height);

    if (ret != 0)
        LOG_WARN("[CAM] %s configure failed ret=%d(0x%08x %s)\n",
                 role, ret, static_cast<unsigned int>(ret), mvsSdkErrorName(ret));
    else
        LOG_INFO("[CAM] %s configure ok\n", role);

    return ret;
}

bool DroneScrewServerPresenter::areCamerasGrabbing()
{
    return m_pLeftCamera && m_pRightCamera &&
           m_pLeftCamera->IsAcquisitioning() &&
           m_pRightCamera->IsAcquisitioning();
}

int DroneScrewServerPresenter::prepareDetectionAcquisition(double frameRate,
                                                           int64_t binningHorizontal,
                                                           int64_t binningVertical,
                                                           int64_t decimationHorizontal,
                                                           int64_t decimationVertical,
                                                           const char* tag)
{
    if (!m_pLeftCamera || !m_pRightCamera)
        return ERR_CODE(DRONESCREW_ERR_CAMERA_NOT_CONNECTED);

    if (m_pLeftCamera->IsAcquisitioning())
    {
        const int ret = m_pLeftCamera->StopAcquisition();
        LOG_DEBUG("[DETECT] left StopAcquisition before configure ret=%d\n", ret);
    }
    if (m_pRightCamera->IsAcquisitioning())
    {
        const int ret = m_pRightCamera->StopAcquisition();
        LOG_DEBUG("[DETECT] right StopAcquisition before configure ret=%d\n", ret);
    }

    int ret = configureCamera(m_pLeftCamera, "left", m_useIoTrigger, frameRate,
                              binningHorizontal, binningVertical,
                              decimationHorizontal, decimationVertical);
    if (ret != 0)
    {
        LOG_ERROR("[%s] configure left failed sdkRet=%d(0x%08x %s)\n",
                  tag ? tag : "DETECT", ret, static_cast<unsigned int>(ret),
                  mvsSdkErrorName(ret));
        return ERR_CODE(DRONESCREW_ERR_DETECT_CONFIG_LEFT);
    }

    ret = configureCamera(m_pRightCamera, "right", m_useIoTrigger, frameRate,
                          binningHorizontal, binningVertical,
                          decimationHorizontal, decimationVertical);
    if (ret != 0)
    {
        LOG_ERROR("[%s] configure right failed sdkRet=%d(0x%08x %s)\n",
                  tag ? tag : "DETECT", ret, static_cast<unsigned int>(ret),
                  mvsSdkErrorName(ret));
        return ERR_CODE(DRONESCREW_ERR_DETECT_CONFIG_RIGHT);
    }

    resetFrameReadyFlags();

    ret = m_pLeftCamera->StartAcquisition();
    LOG_DEBUG("[DETECT] left StartAcquisition sdkRet=%d(0x%08x %s)\n",
              ret, static_cast<unsigned int>(ret), mvsSdkErrorName(ret));
    if (ret != 0)
    {
        LOG_ERROR("[DETECT] left StartAcquisition failed sdkRet=%d(0x%08x %s)\n",
                  ret, static_cast<unsigned int>(ret), mvsSdkErrorName(ret));
        return ERR_CODE(DRONESCREW_ERR_DETECT_START_LEFT);
    }

    ret = m_pRightCamera->StartAcquisition();
    LOG_DEBUG("[DETECT] right StartAcquisition sdkRet=%d(0x%08x %s)\n",
              ret, static_cast<unsigned int>(ret), mvsSdkErrorName(ret));
    if (ret != 0)
    {
        LOG_ERROR("[DETECT] right StartAcquisition failed sdkRet=%d(0x%08x %s)\n",
                  ret, static_cast<unsigned int>(ret), mvsSdkErrorName(ret));
        if (m_pLeftCamera->IsAcquisitioning())
            m_pLeftCamera->StopAcquisition();
        return ERR_CODE(DRONESCREW_ERR_DETECT_START_RIGHT);
    }

    return 0;
}

int DroneScrewServerPresenter::prepareLiveStreamAcquisition()
{
    IMvsDevice* streamCamera = liveStreamCamera();
    IMvsDevice* otherCamera = nonLiveStreamCamera();
    const char* streamRole = liveStreamCameraRole();
    if (!streamCamera)
        return ERR_CODE(DRONESCREW_ERR_CAMERA_NOT_CONNECTED);

    if (otherCamera && otherCamera->IsAcquisitioning())
    {
        const int ret = otherCamera->StopAcquisition();
        LOG_DEBUG("[LIVE] non-stream camera StopAcquisition role=%s ret=%d\n",
                  std::strcmp(streamRole, "right") == 0 ? "left" : "right", ret);
    }
    if (streamCamera->IsAcquisitioning())
    {
        const int ret = streamCamera->StopAcquisition();
        LOG_DEBUG("[LIVE] stream camera StopAcquisition before configure role=%s ret=%d\n",
                  streamRole, ret);
    }

    int ret = configureCamera(streamCamera, streamRole, false,
                              static_cast<double>(m_liveStreamFps),
                              kDistanceBinningHorizontal,
                              kDistanceBinningVertical,
                              kDistanceDecimationHorizontal,
                              kDistanceDecimationVertical);
    if (ret != 0)
    {
        LOG_ERROR("[LIVE] configure stream camera role=%s failed sdkRet=%d(0x%08x %s)\n",
                  streamRole, ret, static_cast<unsigned int>(ret),
                  mvsSdkErrorName(ret));
        return ERR_CODE(DRONESCREW_ERR_LIVE_CONFIG_LEFT);
    }

    resetFrameReadyFlags();

    ret = streamCamera->StartAcquisition();
    LOG_DEBUG("[LIVE] stream camera role=%s StartAcquisition sdkRet=%d(0x%08x %s)\n",
              streamRole, ret, static_cast<unsigned int>(ret), mvsSdkErrorName(ret));
    if (ret != 0)
    {
        LOG_ERROR("[LIVE] stream camera role=%s StartAcquisition failed sdkRet=%d(0x%08x %s)\n",
                  streamRole, ret, static_cast<unsigned int>(ret), mvsSdkErrorName(ret));
        return ERR_CODE(DRONESCREW_ERR_LIVE_START_LEFT);
    }

    return 0;
}

void DroneScrewServerPresenter::resetFrameReadyFlags()
{
    QMutexLocker lk(&m_frameMutex);
    m_bLeftImageReady = false;
    m_bRightImageReady = false;
}

void DroneScrewServerPresenter::closeCamera()
{
    if (m_pLeftCamera)
    {
        if (m_pLeftCamera->IsAcquisitioning())
            m_pLeftCamera->StopAcquisition();
        m_pLeftCamera->UnregisterImageCallback();
        m_pLeftCamera->CloseDevice();
        delete m_pLeftCamera;
        m_pLeftCamera = nullptr;
        LOG_INFO("Left camera closed\n");
    }

    if (m_pRightCamera)
    {
        if (m_pRightCamera->IsAcquisitioning())
            m_pRightCamera->StopAcquisition();
        m_pRightCamera->UnregisterImageCallback();
        m_pRightCamera->CloseDevice();
        delete m_pRightCamera;
        m_pRightCamera = nullptr;
        LOG_INFO("Right camera closed\n");
    }

    m_bCameraConnected = false;
}

int DroneScrewServerPresenter::initRtspPusher(unsigned int width, unsigned int height, unsigned int fps)
{
    if (width == 0 || height == 0)
    {
        LOG_WARN("[RTSP] skip init: invalid frame size %ux%u\n", width, height);
        return ERR_CODE(DEV_ARG_INVAILD);
    }

    // 每次 start_stream 都重建 muxer。FLV muxer 会记录上一轮 DTS，复用会导致重开流后
    // "non monotonically increasing dts"。
    releaseRtspPusher();

    if (!IVrFFMediaPusher::CreateObject(&m_pPusher) || !m_pPusher)
    {
        LOG_ERROR("[RTSP] create pusher failed\n");
        return ERR_CODE(DEV_OPEN_ERR);
    }

    VrFFPushConfig pc;
    pc.width        = width;
    pc.height       = height;
    pc.pixelFormat  = EFFPushPixelFormat::NV12;    // Mono8 frames are scaled to NV12 before MPP H264 encoding.
    pc.encodeType   = EFFEncodeType::H264;
    pc.fps          = fps > 0 ? fps : static_cast<unsigned int>(kLiveStreamFrameRate);
    pc.gop          = std::max(1u, pc.fps / 2u);    // Short GOP reduces RTSP join delay.
    pc.bitrateKbps  = m_pushBitrateKbps;
    pc.rcMode       = EFFRcMode::CBR;
    pc.rtspHost     = "127.0.0.1";               // 推流到本地 mediamtx
    pc.rtspPath     = m_rtspPath.toStdString();
    pc.rtspPort     = kRtmpPushPort;             // RTMP publish port of local mediamtx

    const int ret = m_pPusher->Init(pc);
    if (ret != 0)
    {
        LOG_ERROR("[RTSP] pusher init failed ret=%d size=%ux%u\n", ret, width, height);
        delete m_pPusher;
        m_pPusher = nullptr;
        return ret;
    }

    m_rtspWidth = width;
    m_rtspHeight = height;
    m_rtspAdvertiseUrl = buildRtspAdvertiseUrl(m_rtspPort, m_rtspPath);
    LOG_INFO("[RTMP] pusher init ok size=%ux%u fps=%u gop=%u bitrate=%dKbps input=NV12 encoder=MPP-H264 push=rtmp://127.0.0.1:%d%s pull=%s\n",
             m_rtspWidth, m_rtspHeight, pc.fps, pc.gop, m_pushBitrateKbps,
             pc.rtspPort, pc.rtspPath.c_str(),
             m_rtspAdvertiseUrl.toStdString().c_str());
    return 0;
}

void DroneScrewServerPresenter::releaseRtspPusher()
{
    std::lock_guard<std::mutex> pusherLock(m_rtspPusherMutex);
    m_bRtspStarted = false;
    if (m_pPusher)
    {
        m_pPusher->Stop();
        m_pPusher->UnInit();
        delete m_pPusher;
        m_pPusher = nullptr;
    }
    m_rtspWidth = 0;
    m_rtspHeight = 0;
    m_rtspFrameBuffer.clear();
    m_rtspScaleX.clear();
    m_rtspScaleY.clear();
    m_rtspScaleSrcWidth = 0;
    m_rtspScaleSrcHeight = 0;
    m_rtspScaleOutWidth = 0;
    m_rtspScaleOutHeight = 0;
    m_rtspUvInitialized = false;
    m_rtspRgaScaleDisabled = false;
    m_rtspRgaScaleLogged = false;
    resetRtspPushState();
}

int DroneScrewServerPresenter::startRtspPusher()
{
    std::lock_guard<std::mutex> pusherLock(m_rtspPusherMutex);
    if (!m_pPusher)
        return ERR_CODE(DRONESCREW_ERR_RTSP_INIT);
    return m_pPusher->Start();
}

void DroneScrewServerPresenter::resetRtspPushState()
{
    {
        std::lock_guard<std::mutex> lk(m_rtspPushMutex);
        m_rtspPushedFrameCounter = 0;
        m_rtspLastPushRet = 0;
        m_rtspLastPushFrameId = 0;
    }
}

void DroneScrewServerPresenter::recordRtspPushResult(int ret, unsigned long long frameId)
{
    bool logFirstSuccess = false;
    bool logFirstFailure = false;
    int64_t pushedCount = 0;
    const bool pendingEncoderOutput = (ret == ERR_CODE(DEV_RESULT_EMPTY));
    {
        std::lock_guard<std::mutex> lk(m_rtspPushMutex);
        pushedCount = m_rtspPushedFrameCounter.load();
        const int previousRet = m_rtspLastPushRet.load();
        m_rtspLastPushFrameId = frameId;
        if (ret == 0)
        {
            m_rtspLastPushRet = 0;
            ++m_rtspPushedFrameCounter;
            logFirstSuccess = (pushedCount == 0);
        }
        else if (!pendingEncoderOutput)
        {
            m_rtspLastPushRet = ret;
            logFirstFailure = (!pendingEncoderOutput &&
                               pushedCount == 0 &&
                               previousRet != ret);
        }
        else if (previousRet == 0)
        {
            m_rtspLastPushRet = ret;
        }
    }

    if (logFirstSuccess)
    {
        LOG_INFO("[RTMP] first frame pushed frame=%llu pull=%s\n",
                 frameId, m_rtspAdvertiseUrl.toStdString().c_str());
    }
    else if (logFirstFailure)
    {
        LOG_WARN("[RTMP] push failed before first frame ret=%d frame=%llu\n",
                 ret, frameId);
    }
}

void DroneScrewServerPresenter::leftCameraCallback(const MvsImageData& img)
{
    try
    {
        {
            QMutexLocker lk(&m_frameMutex);

            // 检查是否需要重新分配内存
            if (m_leftImageData.dataSize != img.dataSize)
            {
                if (m_leftImageData.pData != nullptr)
                {
                    delete[] m_leftImageData.pData;
                    m_leftImageData.pData = nullptr;
                    LOG_DEBUG("[CAM] left realloc: old=%zu new=%zu frame=%llu\n",
                              m_leftImageData.dataSize, img.dataSize, img.frameID);
                }

                if (img.dataSize > 0)
                {
                    m_leftImageData.pData = new (std::nothrow) unsigned char[img.dataSize];
                    if (!m_leftImageData.pData)
                    {
                        m_leftImageData.dataSize = 0;
                        m_bLeftImageReady = false;
                        LOG_ERROR("[CAM] left alloc failed size=%zu frame=%llu\n",
                                  img.dataSize, img.frameID);
                        return;
                    }
                }
            }

            // 复制图像数据
            m_leftImageData.width = img.width;
            m_leftImageData.height = img.height;
            m_leftImageData.dataSize = img.dataSize;
            m_leftImageData.pixelFormat = img.pixelFormat;
            m_leftImageData.frameID = img.frameID;
            m_leftImageData.timestamp = img.timestamp;

            if (m_leftImageData.pData != nullptr && img.pData != nullptr)
            {
                memcpy(m_leftImageData.pData, img.pData, img.dataSize);
            }

            m_bLeftImageReady = true;
        }

        static bool leftFirst = true;
        if (leftFirst) {
            std::ostringstream oss;
            oss << std::this_thread::get_id();
            LOG_DEBUG("[CAM] left first frame! id=%llu tid=%s\n", img.frameID, oss.str().c_str());
            leftFirst = false;
        }
        static int leftFrameCnt = 0;
        static int rtspPushCnt = 0;
        static int rtspFailCnt = 0;

        // 直播相机配置为左目时，收到左目立即推流（不等右目）。
        if (isLiveStreamCameraRole("left") &&
            m_bRtspStarted.load() && img.pData)
        {
            const int rtspRet = pushRtspFrame(img);
            if (rtspRet == 0)
                ++rtspPushCnt;
            else if (rtspRet != ERR_CODE(DEV_RESULT_EMPTY))
                ++rtspFailCnt;
        }

        if (++leftFrameCnt % 50 == 0) {
            LOG_DEBUG("[CAM] left frame #%d id=%llu %dx%d size=%zu rtsp_push=%d rtsp_fail=%d\n",
                      leftFrameCnt, img.frameID, img.width, img.height, img.dataSize,
                      rtspPushCnt, rtspFailCnt);
            rtspPushCnt = 0;
            rtspFailCnt = 0;
        }
    }
    catch (const std::bad_alloc& e)
    {
        LOG_ERROR("[CAM] left callback bad_alloc frame=%llu size=%zu: %s\n",
                  img.frameID, img.dataSize, e.what());
    }
    catch (const std::exception& e)
    {
        LOG_ERROR("[CAM] left callback exception frame=%llu: %s\n",
                  img.frameID, e.what());
    }
    catch (...)
    {
        LOG_ERROR("[CAM] left callback unknown exception frame=%llu\n", img.frameID);
    }
}

void DroneScrewServerPresenter::rightCameraCallback(const MvsImageData& img)
{
    try
    {
        {
            QMutexLocker lk(&m_frameMutex);

            // 检查是否需要重新分配内存
            if (m_rightImageData.dataSize != img.dataSize)
            {
                if (m_rightImageData.pData != nullptr)
                {
                    delete[] m_rightImageData.pData;
                    m_rightImageData.pData = nullptr;
                    LOG_DEBUG("[CAM] right realloc: old=%zu new=%zu frame=%llu\n",
                              m_rightImageData.dataSize, img.dataSize, img.frameID);
                }

                if (img.dataSize > 0)
                {
                    m_rightImageData.pData = new (std::nothrow) unsigned char[img.dataSize];
                    if (!m_rightImageData.pData)
                    {
                        m_rightImageData.dataSize = 0;
                        m_bRightImageReady = false;
                        LOG_ERROR("[CAM] right alloc failed size=%zu frame=%llu\n",
                                  img.dataSize, img.frameID);
                        return;
                    }
                }
            }

            // 复制图像数据
            m_rightImageData.width = img.width;
            m_rightImageData.height = img.height;
            m_rightImageData.dataSize = img.dataSize;
            m_rightImageData.pixelFormat = img.pixelFormat;
            m_rightImageData.frameID = img.frameID;
            m_rightImageData.timestamp = img.timestamp;

            if (m_rightImageData.pData != nullptr && img.pData != nullptr)
            {
                memcpy(m_rightImageData.pData, img.pData, img.dataSize);
            }

            m_bRightImageReady = true;
        }
        static bool rightFirst = true;
        if (rightFirst) {
            std::ostringstream oss;
            oss << std::this_thread::get_id();
            LOG_DEBUG("[CAM] right first frame! id=%llu tid=%s\n", img.frameID, oss.str().c_str());
            rightFirst = false;
        }
        static int rightFrameCnt = 0;
        static int rtspPushCnt = 0;
        static int rtspFailCnt = 0;

        if (isLiveStreamCameraRole("right") &&
            m_bRtspStarted.load() && img.pData)
        {
            const int rtspRet = pushRtspFrame(img);
            if (rtspRet == 0)
                ++rtspPushCnt;
            else if (rtspRet != ERR_CODE(DEV_RESULT_EMPTY))
                ++rtspFailCnt;
        }

        if (++rightFrameCnt % 50 == 0)
        {
            LOG_DEBUG("[CAM] right frame #%d id=%llu %dx%d size=%zu rtsp_push=%d rtsp_fail=%d\n",
                      rightFrameCnt, img.frameID, img.width, img.height, img.dataSize,
                      rtspPushCnt, rtspFailCnt);
            rtspPushCnt = 0;
            rtspFailCnt = 0;
        }
    }
    catch (const std::bad_alloc& e)
    {
        LOG_ERROR("[CAM] right callback bad_alloc frame=%llu size=%zu: %s\n",
                  img.frameID, img.dataSize, e.what());
    }
    catch (const std::exception& e)
    {
        LOG_ERROR("[CAM] right callback exception frame=%llu: %s\n",
                  img.frameID, e.what());
    }
    catch (...)
    {
        LOG_ERROR("[CAM] right callback unknown exception frame=%llu\n", img.frameID);
    }
}

void DroneScrewServerPresenter::onCameraReconnectTimer()
{
    if (m_bCameraConnected.load())
    {
        m_pReconnectTimer->stop();
        return;
    }
    LOG_INFO("Attempting to reconnect cameras...\n");
    if (tryConnectCamera() == 0)
    {
        m_pReconnectTimer->stop();
        LOG_INFO("Camera reconnection successful\n");
    }
    else
    {
        LOG_WARN("Camera reconnection failed, will retry in 2 seconds\n");
    }
}

QJsonObject DroneScrewServerPresenter::getRuntimeInfo() const
{
    QJsonObject info;
    info["rtsp"] = m_rtspAdvertiseUrl;
    info["controlPort"] = m_zmqControlPort;
    info["resultPort"] = m_zmqResultPort;
    info["rawImagePort"] = m_zmqRawImagePort;
    const bool detecting = m_bIsDetecting.load();
    const int pipelineMode = detecting ? m_detectPipelineMode.load() : -1;
    const bool distanceMode = (pipelineMode == kDetectPipelineDistance);
    const bool precisionMode = (pipelineMode == kDetectPipelinePrecision);
    info["detectFps"] = distanceMode ? kDistanceFrameRate : kPrecisionFrameRate;
    info["streamFps"] = m_liveStreamFps;
    info["leftExposure"] = m_leftExposureTime;
    info["rightExposure"] = m_rightExposureTime;
    info["leftGain"] = m_leftGain;
    info["rightGain"] = m_rightGain;
    info["leftCameraIndex"] = static_cast<int>(m_nLeftCameraIndex);
    info["rightCameraIndex"] = static_cast<int>(m_nRightCameraIndex);
    info["leftCameraSerial"] = QString::fromStdString(m_strLeftCameraSerial);
    info["rightCameraSerial"] = QString::fromStdString(m_strRightCameraSerial);
    info["streamWidth"] = static_cast<int>(m_liveStreamWidth);
    info["streamHeight"] = static_cast<int>(m_liveStreamHeight);
    info["streamCamera"] = QString::fromStdString(m_liveStreamCameraRole);
    info["binningHorizontal"] = static_cast<int>(distanceMode ? kDistanceBinningHorizontal
                                                              : kPrecisionBinningHorizontal);
    info["binningVertical"] = static_cast<int>(distanceMode ? kDistanceBinningVertical
                                                            : kPrecisionBinningVertical);
    info["decimationHorizontal"] = static_cast<int>(distanceMode ? kDistanceDecimationHorizontal
                                                                 : kPrecisionDecimationHorizontal);
    info["decimationVertical"] = static_cast<int>(distanceMode ? kDistanceDecimationVertical
                                                               : kPrecisionDecimationVertical);
    info["detectionPipeline"] = distanceMode ? "distance" : (precisionMode ? "precision" : "idle");
    info["detectTriggerMode"] = m_useIoTrigger ? "io" : "off";
    info["streamTriggerMode"] = m_useIoTrigger ? "io" : "off";
    info["detectMode"] = QString::fromStdString(detectMode());
    info["mode"] = m_bLiveStreaming.load()
                       ? "live_stream"
                       : (m_bIsDetecting.load() ? "detection" : "idle");

    // 算法参数
    info["algoScore"] = static_cast<double>(m_algoParams.scoreThreshold);
    info["algoNms"] = static_cast<double>(m_algoParams.nmsThreshold);
    info["algoWidth"] = m_algoParams.inputWidth;
    info["algoHeight"] = m_algoParams.inputHeight;
    info["algoModel"] = QString::fromStdString(m_algoParams.modelPath);
    info["algoConfigPath"] = QString::fromStdString(m_algoParams.modelPath);
    info["algoModelType"] = m_algoParams.modelType;
    info["algoExpectedBoltCount"] = m_algoParams.expectedBoltCount;

    return info;
}

QJsonObject DroneScrewServerPresenter::getCalibrationInfo() const
{
    QJsonObject calibration;

    QStringList configBases = calibrationBaseDirs(m_configFilePath);
    QString algoConfigPath = QString::fromStdString(m_algoParams.modelPath);
    if (algoConfigPath.trimmed().isEmpty())
        algoConfigPath = "config/config.rk3588.yaml";

    const QString resolvedConfigPath = resolveCandidatePath(algoConfigPath, configBases);
    calibration["algoConfigPath"] = resolvedConfigPath;

    QString xmlPath = readCalibrationXmlPathFromYaml(resolvedConfigPath);
    if (xmlPath.trimmed().isEmpty())
        xmlPath = "calib/stereo_calib.xml";

    QStringList xmlBases = configBases;
    if (!resolvedConfigPath.isEmpty())
    {
        const QFileInfo configInfo(resolvedConfigPath);
        appendUniqueDir(xmlBases, configInfo.absolutePath());
        appendUniqueDir(xmlBases, QDir(configInfo.absolutePath()).absoluteFilePath(".."));
    }

    const QString resolvedXmlPath = resolveCandidatePath(xmlPath, xmlBases);
    calibration["sourcePath"] = resolvedXmlPath;

    QFile file(resolvedXmlPath);
    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
    {
        calibration["valid"] = false;
        calibration["message"] = QString("open calibration xml failed: %1").arg(file.errorString());
        return calibration;
    }

    QDomDocument doc;
    QString errorText;
    int errorLine = 0;
    int errorColumn = 0;
    if (!doc.setContent(&file, &errorText, &errorLine, &errorColumn))
    {
        calibration["valid"] = false;
        calibration["message"] = QString("parse calibration xml failed at %1:%2: %3")
                                     .arg(errorLine)
                                     .arg(errorColumn)
                                     .arg(errorText);
        return calibration;
    }

    const QDomElement root = doc.documentElement();
    const QJsonObject left = cameraCalibrationToJson(root, "LeftCamera");
    const QJsonObject right = cameraCalibrationToJson(root, "RightCamera");
    const QJsonObject stereo = stereoCalibrationToJson(root);

    calibration["left"] = left;
    calibration["right"] = right;
    calibration["stereo"] = stereo;
    calibration["valid"] = left["valid"].toBool() &&
                           right["valid"].toBool() &&
                           stereo["valid"].toBool();
    calibration["message"] = calibration["valid"].toBool() ? "ok" : "calibration xml incomplete";
    return calibration;
}

int DroneScrewServerPresenter::startDetectionWork()
{
    if (m_bLiveStreaming.load())
    {
        LOG_WARN("[DETECT] start rejected: live stream is running\n");
        emit statusChanged(QStringLiteral("live stream is running"));
        return ERR_CODE(DRONESCREW_ERR_MODE_CONFLICT);
    }

    if (m_bIsDetecting.load())
    {
        LOG_DEBUG("Detection already started\n");
        return 0;
    }

    if (m_bLiveStreaming.load())
    {
        LOG_WARN("[DETECT] start rejected: live stream is running\n");
        emit statusChanged(QStringLiteral("实时传图中，不能启动检测"));
        return ERR_CODE(DRONESCREW_ERR_MODE_CONFLICT);
    }

    if (!m_pLeftCamera || !m_pRightCamera)
    {
        LOG_DEBUG("Cameras not connected\n");
        emit statusChanged(QStringLiteral("双目相机未连接"));
        return ERR_CODE(DRONESCREW_ERR_CAMERA_NOT_CONNECTED);
    }

    m_detectPipelineMode = kDetectPipelinePrecision;
    m_activeTriggerFps = static_cast<int>(kPrecisionFrameRate);

    const int acqRet = prepareDetectionAcquisition(kPrecisionFrameRate,
                                                   kPrecisionBinningHorizontal,
                                                   kPrecisionBinningVertical,
                                                   kPrecisionDecimationHorizontal,
                                                   kPrecisionDecimationVertical,
                                                   "PRECISION");
    if (acqRet != 0)
    {
        emit statusChanged(QStringLiteral("双目相机采集启动失败"));
        return acqRet;
    }

    // 停止 RTSP 推流（检测和推流互斥）
    if (m_pPusher)
    {
        LOG_DEBUG("[DETECT] stopping RTSP pusher (detection mode)\n");
        releaseRtspPusher();
    }
    m_bRtspStarted = false;
    resetFrameReadyFlags();

    m_bThreadExit  = false;
    m_bIsDetecting = true;
    startImageSaveThread(imageSaveModeName());
    startGpioTriggerLoop();
    m_detectThread = std::thread(&DroneScrewServerPresenter::detectThreadFunc, this);
    emit statusChanged(QStringLiteral("开始持续检测（双目）"));
    LOG_INFO("Detection started (binocular mode, fps=%.1f trigger=%s)\n",
             kPrecisionFrameRate, m_useIoTrigger ? "io" : "off");
    return 0;
}

int DroneScrewServerPresenter::stopDetectionWork()
{
    if (m_bLiveStreaming.load())
    {
        LOG_INFO("[DETECT] stop ignored: live stream keeps binocular detection running\n");
        return 0;
    }

    if (!m_bIsDetecting.load())
    {
        stopGpioTriggerLoop();
        stopImageSaveThread();
        LOG_WARN("Detection not started\n");
        return 0;
    }

    stopGpioTriggerLoop();
    m_bThreadExit  = true;
    if (m_detectThread.joinable())
        m_detectThread.join();
    stopImageSaveThread();
    m_bIsDetecting = false;
    m_detectPipelineMode = kDetectPipelinePrecision;
    m_activeTriggerFps = static_cast<int>(kPrecisionFrameRate);

    emit statusChanged(QStringLiteral("停止持续检测"));
    LOG_DEBUG("Detection stopped\n");
    return 0;
}

int DroneScrewServerPresenter::startLiveStream()
{
    if (m_bLiveStreaming.load())
    {
        LOG_DEBUG("[LIVE] already started\n");
        return 0;
    }

    releaseRtspPusher();

    if (m_bIsDetecting.load())
    {
        LOG_WARN("[LIVE] start rejected: detection is running\n");
        emit statusChanged(QStringLiteral("检测中，不能启动实时传图"));
        return ERR_CODE(DRONESCREW_ERR_MODE_CONFLICT);
    }

    IMvsDevice* streamCamera = liveStreamCamera();
    const char* streamRole = liveStreamCameraRole();
    auto stopLiveCameras = [this]() {
        if (m_pLeftCamera && m_pLeftCamera->IsAcquisitioning())
            m_pLeftCamera->StopAcquisition();
        if (m_pRightCamera && m_pRightCamera->IsAcquisitioning())
            m_pRightCamera->StopAcquisition();
    };
    if (!streamCamera)
    {
        LOG_DEBUG("[LIVE] stream camera role=%s not connected\n", streamRole);
        emit statusChanged(QStringLiteral("实时传图相机未连接"));
        return ERR_CODE(DRONESCREW_ERR_CAMERA_NOT_CONNECTED);
    }

    m_detectPipelineMode = kDetectPipelineDistance;
    m_activeTriggerFps = static_cast<int>(kDistanceFrameRate);

    const int acqRet = prepareDetectionAcquisition(kDistanceFrameRate,
                                                   kDistanceBinningHorizontal,
                                                   kDistanceBinningVertical,
                                                   kDistanceDecimationHorizontal,
                                                   kDistanceDecimationVertical,
                                                   "DISTANCE");
    if (acqRet != 0)
    {
        emit statusChanged(QStringLiteral("实时传图相机采集启动失败"));
        releaseRtspPusher();
        m_detectPipelineMode = kDetectPipelinePrecision;
        m_activeTriggerFps = static_cast<int>(kPrecisionFrameRate);
        return acqRet;
    }

    const unsigned int outWidth = alignEven(m_liveStreamWidth > 0 ? m_liveStreamWidth : kLiveStreamWidth);
    const unsigned int outHeight = alignEven(m_liveStreamHeight > 0 ? m_liveStreamHeight : kLiveStreamHeight);
    m_liveStreamWidth = outWidth;
    m_liveStreamHeight = outHeight;
    int ret = initRtspPusher(outWidth, outHeight, static_cast<unsigned int>(m_liveStreamFps));
    if (ret != 0 || !m_pPusher)
    {
        LOG_ERROR("[LIVE] RTSP pusher init failed ret=%d\n", ret);
        stopLiveCameras();
        releaseRtspPusher();
        m_detectPipelineMode = kDetectPipelinePrecision;
        m_activeTriggerFps = static_cast<int>(kPrecisionFrameRate);
        return ERR_CODE(DRONESCREW_ERR_RTSP_INIT);
    }

    ret = startRtspPusher();
    if (ret != 0)
    {
        LOG_ERROR("[LIVE] RTSP pusher start failed ret=%d\n", ret);
        m_bRtspStarted = false;
        stopLiveCameras();
        releaseRtspPusher();
        m_detectPipelineMode = kDetectPipelinePrecision;
        m_activeTriggerFps = static_cast<int>(kPrecisionFrameRate);
        return ERR_CODE(DRONESCREW_ERR_RTSP_START);
    }

    m_rtspFrameCounter = 0;  // 重置帧计数器
    resetRtspPushState();
    m_bRtspStarted = true;
    m_bLiveStreaming = true;
    m_bThreadExit = false;
    m_bIsDetecting = true;
    startGpioTriggerLoop();
    m_detectThread = std::thread(&DroneScrewServerPresenter::detectThreadFunc, this);
    emit statusChanged(QStringLiteral("开始实时传图"));
    LOG_INFO("[LIVE] started streamCamera=%s fps=%d out=%ux%u url=%s\n",
             streamRole, m_liveStreamFps, m_rtspWidth, m_rtspHeight,
             m_rtspAdvertiseUrl.toStdString().c_str());
    return 0;
}

int DroneScrewServerPresenter::stopLiveStream()
{
    if (!m_bLiveStreaming.load())
    {
        if (m_pPusher)
            releaseRtspPusher();
        else
            m_bRtspStarted = false;
        m_rtspFrameCounter = 0;  // 重置计数器，防止下次开流时 DTS 残留
        return 0;
    }

    m_bLiveStreaming = false;
    m_bRtspStarted = false;
    stopGpioTriggerLoop();
    m_bThreadExit = true;
    if (m_detectThread.joinable())
        m_detectThread.join();
    stopImageSaveThread();
    m_bIsDetecting = false;
    m_detectPipelineMode = kDetectPipelinePrecision;
    m_activeTriggerFps = static_cast<int>(kPrecisionFrameRate);
    m_rtspFrameCounter = 0;  // 重置计数器，下次开流从 0 开始
    IMvsDevice* streamCamera = liveStreamCamera();
    const char* streamRole = liveStreamCameraRole();
    if (streamCamera && streamCamera->IsAcquisitioning())
    {
        const int ret = streamCamera->StopAcquisition();
        LOG_DEBUG("[LIVE] stream camera role=%s StopAcquisition ret=%d\n",
                  streamRole, ret);
    }
    if (m_pLeftCamera && m_pLeftCamera != streamCamera && m_pLeftCamera->IsAcquisitioning())
    {
        const int ret = m_pLeftCamera->StopAcquisition();
        LOG_DEBUG("[LIVE] left StopAcquisition ret=%d\n", ret);
    }
    if (m_pRightCamera && m_pRightCamera != streamCamera && m_pRightCamera->IsAcquisitioning())
    {
        const int ret = m_pRightCamera->StopAcquisition();
        LOG_DEBUG("[LIVE] right StopAcquisition ret=%d\n", ret);
    }

    if (m_pPusher)
    {
        LOG_DEBUG("[LIVE] releasing RTMP pusher\n");
        releaseRtspPusher();
    }

    m_detectPipelineMode = kDetectPipelinePrecision;
    m_activeTriggerFps = static_cast<int>(kPrecisionFrameRate);

    if (m_pLeftCamera)
        configureCamera(m_pLeftCamera, "left", m_useIoTrigger, kPrecisionFrameRate,
                        kPrecisionBinningHorizontal, kPrecisionBinningVertical);
    if (m_pRightCamera)
        configureCamera(m_pRightCamera, "right", m_useIoTrigger, kPrecisionFrameRate,
                        kPrecisionBinningHorizontal, kPrecisionBinningVertical);

    emit statusChanged(QStringLiteral("停止实时传图"));
    LOG_INFO("[LIVE] stopped\n");
    return 0;
}

int DroneScrewServerPresenter::swapCameraRoles()
{
    if (m_bIsDetecting.load() || m_bLiveStreaming.load())
    {
        LOG_WARN("[CAM] swap rejected: stop detection/live stream first\n");
        return ERR_CODE(DRONESCREW_ERR_MODE_CONFLICT);
    }

    if (m_pReconnectTimer)
        m_pReconnectTimer->stop();

    closeCamera();

    std::swap(m_strLeftCameraSerial, m_strRightCameraSerial);
    std::swap(m_nLeftCameraIndex, m_nRightCameraIndex);
    std::swap(m_leftExposureTime, m_rightExposureTime);
    std::swap(m_leftGain, m_rightGain);
    m_liveStreamCameraRole = "left";
    resetFrameReadyFlags();

    const int ret = tryConnectCamera();
    if (ret != 0)
    {
        LOG_ERROR("[CAM] swap reconnect failed ret=%d\n", ret);
        if (m_pReconnectTimer)
            m_pReconnectTimer->start();
        return ret;
    }

    if (!saveConfiguration())
    {
        LOG_ERROR("[CAM] swap save configuration failed\n");
        return ERR_CODE(FILE_ERR_WRITE);
    }

    LOG_INFO("[CAM] swapped roles: left index=%u serial=%s, right index=%u serial=%s, streamCamera=%s\n",
             m_nLeftCameraIndex, m_strLeftCameraSerial.c_str(),
             m_nRightCameraIndex, m_strRightCameraSerial.c_str(),
             m_liveStreamCameraRole.c_str());
    emit statusChanged(QStringLiteral("左右目已交换"));
    return 0;
}

bool DroneScrewServerPresenter::saveConfiguration()
{
    if (m_configFilePath.isEmpty())
    {
        LOG_WARN("[CONFIG] save skipped: config path empty\n");
        return false;
    }

    QFile in(m_configFilePath);
    QDomDocument doc;
    if (in.open(QIODevice::ReadOnly))
    {
        QString errMsg;
        int errLine = 0;
        int errCol = 0;
        if (!doc.setContent(&in, false, &errMsg, &errLine, &errCol))
        {
            LOG_WARN("[CONFIG] parse failed before save: %s line=%d col=%d\n",
                     errMsg.toStdString().c_str(), errLine, errCol);
            doc.clear();
        }
        in.close();
    }

    if (doc.isNull())
    {
        QDomProcessingInstruction pi =
            doc.createProcessingInstruction("xml", "version=\"1.0\" encoding=\"UTF-8\"");
        doc.appendChild(pi);
        doc.appendChild(doc.createElement("DroneScrewServerConfig"));
    }

    QDomElement root = doc.documentElement();
    if (root.isNull())
    {
        root = doc.createElement("DroneScrewServerConfig");
        doc.appendChild(root);
    }

    auto ensureCamera = [&](const QString& role, int index) -> QDomElement {
        QDomNodeList nodes = root.elementsByTagName("Camera");
        for (int i = 0; i < nodes.count(); ++i)
        {
            QDomElement e = nodes.at(i).toElement();
            if (e.attribute("role") == role || e.attribute("index").toInt() == index)
                return e;
        }
        QDomElement e = doc.createElement("Camera");
        root.appendChild(e);
        return e;
    };

    QDomElement left = ensureCamera("left", static_cast<int>(m_nLeftCameraIndex));
    left.setAttribute("role", "left");
    left.setAttribute("index", static_cast<int>(m_nLeftCameraIndex));
    left.setAttribute("serialNumber", QString::fromStdString(m_strLeftCameraSerial));
    left.setAttribute("exposureTime", QString::number(m_leftExposureTime, 'f', 3));
    left.setAttribute("gain", QString::number(m_leftGain, 'f', 3));

    QDomElement right = ensureCamera("right", static_cast<int>(m_nRightCameraIndex));
    right.setAttribute("role", "right");
    right.setAttribute("index", static_cast<int>(m_nRightCameraIndex));
    right.setAttribute("serialNumber", QString::fromStdString(m_strRightCameraSerial));
    right.setAttribute("exposureTime", QString::number(m_rightExposureTime, 'f', 3));
    right.setAttribute("gain", QString::number(m_rightGain, 'f', 3));

    QDomElement rtsp = root.firstChildElement("Rtsp");
    if (rtsp.isNull())
    {
        rtsp = doc.createElement("Rtsp");
        root.appendChild(rtsp);
    }
    rtsp.setAttribute("streamCamera", QString::fromStdString(m_liveStreamCameraRole));

    QDomElement trigger = root.firstChildElement("Trigger");
    if (trigger.isNull())
    {
        trigger = doc.createElement("Trigger");
        root.appendChild(trigger);
    }
    trigger.setAttribute("useIoTrigger", m_useIoTrigger ? "true" : "false");
    trigger.setAttribute("gpio", m_triggerGpio);
    trigger.setAttribute("source", m_triggerSource);
    trigger.setAttribute("activation", m_triggerActivation);

    QDomElement algorithm = root.firstChildElement("Algorithm");
    if (algorithm.isNull())
    {
        algorithm = doc.createElement("Algorithm");
        root.appendChild(algorithm);
    }
    algorithm.setAttribute("scoreThreshold", QString::number(m_algoParams.scoreThreshold, 'f', 3));
    algorithm.setAttribute("nmsThreshold", QString::number(m_algoParams.nmsThreshold, 'f', 3));
    algorithm.setAttribute("inputWidth", m_algoParams.inputWidth);
    algorithm.setAttribute("inputHeight", m_algoParams.inputHeight);
    algorithm.setAttribute("modelType", m_algoParams.modelType);
    algorithm.setAttribute("configPath", QString::fromStdString(m_algoParams.modelPath));
    algorithm.setAttribute("expectedBoltCount", m_algoParams.expectedBoltCount);

    QFileInfo fi(m_configFilePath);
    if (!fi.absolutePath().isEmpty())
        QDir().mkpath(fi.absolutePath());

    QFile out(m_configFilePath);
    if (!out.open(QIODevice::WriteOnly | QIODevice::Truncate | QIODevice::Text))
    {
        LOG_WARN("[CONFIG] open for save failed: %s\n",
                 m_configFilePath.toStdString().c_str());
        return false;
    }

    QTextStream ts(&out);
    doc.save(ts, 4);
    out.close();
    LOG_INFO("[CONFIG] saved runtime config to %s\n",
             m_configFilePath.toStdString().c_str());
    return true;
}

int DroneScrewServerPresenter::pulseGpioTrigger(bool logOk)
{
    if (!m_useIoTrigger)
        return 0;

#if defined(__linux__)
    const QString gpio = QString::number(m_triggerGpio);
    const QString gpioDir = QString("/sys/class/gpio/gpio%1").arg(gpio);

    auto writeText = [](const QString& path, const QByteArray& data) -> bool {
        QFile f(path);
        if (!f.open(QIODevice::WriteOnly | QIODevice::Text))
            return false;
        return f.write(data) == data.size();
    };

    if (!QFileInfo::exists(gpioDir))
    {
        if (!writeText("/sys/class/gpio/export", gpio.toUtf8()))
        {
            LOG_WARN("[GPIO] export gpio=%s failed\n", gpio.toStdString().c_str());
            return ERR_CODE(DRONESCREW_ERR_GPIO_EXPORT);
        }
        for (int i = 0; i < 50 && !QFileInfo::exists(gpioDir); ++i)
            std::this_thread::sleep_for(std::chrono::milliseconds(2));
    }

    if (!writeText(gpioDir + "/direction", "out"))
    {
        LOG_WARN("[GPIO] set direction failed gpio=%s\n", gpio.toStdString().c_str());
        return ERR_CODE(DRONESCREW_ERR_GPIO_DIRECTION);
    }

    if (!writeText(gpioDir + "/value", "1"))
    {
        LOG_WARN("[GPIO] set value=1 failed gpio=%s\n", gpio.toStdString().c_str());
        return ERR_CODE(DRONESCREW_ERR_GPIO_VALUE);
    }
    std::this_thread::sleep_for(std::chrono::milliseconds(kGpioTriggerHighMs));
    if (!writeText(gpioDir + "/value", "0"))
    {
        LOG_WARN("[GPIO] set value=0 failed gpio=%s\n", gpio.toStdString().c_str());
        return ERR_CODE(DRONESCREW_ERR_GPIO_VALUE);
    }
    if (logOk)
        LOG_DEBUG("[GPIO] pulse gpio=%s ok high=%dms\n",
                  gpio.toStdString().c_str(), kGpioTriggerHighMs);
    return 0;
#else
    if (logOk)
        LOG_WARN("[GPIO] io trigger requested but ignored on non-linux platform\n");
    return 0;
#endif
}

void DroneScrewServerPresenter::startGpioTriggerLoop()
{
    if (!m_useIoTrigger)
        return;

    stopGpioTriggerLoop();
    m_bTriggerThreadExit = false;
    m_triggerThread = std::thread(&DroneScrewServerPresenter::triggerThreadFunc, this);
}

void DroneScrewServerPresenter::stopGpioTriggerLoop()
{
    m_bTriggerThreadExit = true;
    if (m_triggerThread.joinable())
        m_triggerThread.join();
}

void DroneScrewServerPresenter::triggerThreadFunc()
{
    const int fps = std::max(1, m_activeTriggerFps.load());
    {
        std::ostringstream oss;
        oss << std::this_thread::get_id();
        LOG_DEBUG("[GPIO] trigger thread started gpio=%d fps=%.1f high=%dms tid=%s\n",
                  m_triggerGpio, static_cast<double>(fps), kGpioTriggerHighMs, oss.str().c_str());
    }

    try
    {
        const int periodMs = std::max(kGpioTriggerHighMs + 1,
                                      static_cast<int>(1000.0 / static_cast<double>(fps)));
        const auto period = std::chrono::milliseconds(periodMs);
        auto nextPulseAt = std::chrono::steady_clock::now();
        int failCnt = 0;
        while (!m_bTriggerThreadExit.load())
        {
            const int ret = pulseGpioTrigger(false);
            if (ret != 0)
            {
                ++failCnt;
                if (failCnt == 1 || failCnt % 50 == 0)
                    LOG_WARN("[GPIO] trigger pulse failed ret=%d count=%d\n", ret, failCnt);
            }
            else
            {
                failCnt = 0;
            }

            nextPulseAt += period;
            for (;;)
            {
                if (m_bTriggerThreadExit.load())
                    break;

                const auto now = std::chrono::steady_clock::now();
                if (now >= nextPulseAt)
                    break;

                const auto remain =
                    std::chrono::duration_cast<std::chrono::milliseconds>(nextPulseAt - now);
                const auto sleepMs = std::min<std::chrono::milliseconds>(
                    remain, std::chrono::milliseconds(5));
                if (sleepMs.count() <= 0)
                    break;
                std::this_thread::sleep_for(sleepMs);
            }

            if (std::chrono::steady_clock::now() > nextPulseAt + period)
                nextPulseAt = std::chrono::steady_clock::now();
        }
    }
    catch (const std::exception& e)
    {
        LOG_ERROR("[GPIO] trigger thread exception: %s\n", e.what());
    }
    catch (...)
    {
        LOG_ERROR("[GPIO] trigger thread unknown exception\n");
    }

    LOG_DEBUG("[GPIO] trigger thread stopped gpio=%d\n", m_triggerGpio);
}

bool DroneScrewServerPresenter::waitAndCopyLatestBinocular(MvsImageData& leftImg,
                                                           MvsImageData& rightImg,
                                                           unsigned int timeoutMs)
{
    const auto deadline = std::chrono::steady_clock::now() +
                          std::chrono::milliseconds(timeoutMs);

    while (std::chrono::steady_clock::now() < deadline)
    {
        {
            QMutexLocker lk(&m_frameMutex);
            if (m_bLeftImageReady && m_bRightImageReady &&
                m_leftImageData.pData && m_rightImageData.pData &&
                m_leftImageData.dataSize > 0 && m_rightImageData.dataSize > 0)
            {
                leftImg = m_leftImageData;
                rightImg = m_rightImageData;
                std::unique_ptr<unsigned char[]> leftBuf(new (std::nothrow) unsigned char[leftImg.dataSize]);
                std::unique_ptr<unsigned char[]> rightBuf(new (std::nothrow) unsigned char[rightImg.dataSize]);
                if (!leftBuf || !rightBuf)
                {
                    leftImg.pData = nullptr;
                    rightImg.pData = nullptr;
                    LOG_ERROR("[SINGLE] alloc latest binocular failed left=%u right=%u\n",
                              m_leftImageData.dataSize, m_rightImageData.dataSize);
                    return false;
                }
                std::memcpy(leftBuf.get(), m_leftImageData.pData, leftImg.dataSize);
                std::memcpy(rightBuf.get(), m_rightImageData.pData, rightImg.dataSize);
                leftImg.pData = leftBuf.release();
                rightImg.pData = rightBuf.release();
                m_bLeftImageReady = false;
                m_bRightImageReady = false;
                return true;
            }
        }

        std::this_thread::sleep_for(std::chrono::milliseconds(2));
    }

    return false;
}

QString DroneScrewServerPresenter::imageSaveModeName() const
{
    if (m_detectPipelineMode.load() == kDetectPipelineDistance)
        return QStringLiteral("distance");

    return QStringLiteral("precision");
}

void DroneScrewServerPresenter::startImageSaveThread(const QString& modeName)
{
    stopImageSaveThread();

    const QDateTime now = QDateTime::currentDateTime();
    const QString dateDir = now.toString(QStringLiteral("yyyyMMdd"));
    const QString sessionName = QStringLiteral("%1_%2")
                                    .arg(modeName,
                                         now.toString(QStringLiteral("HHmmss_zzz")));
    const QString sessionDir =
        QDir(QDir(QString::fromLatin1(kImageSaveRootDir)).filePath(dateDir)).filePath(sessionName);
    if (!QDir().mkpath(sessionDir))
    {
        LOG_WARN("[SAVE] create image save dir failed: %s\n",
                 sessionDir.toStdString().c_str());
    }

    {
        std::lock_guard<std::mutex> lk(m_imageSaveMutex);
        m_imageSaveQueue.clear();
        m_imageSaveSessionDir = sessionDir;
        m_imageSaveDropped = 0;
        m_imageSaveThreadExit = false;
    }

    m_imageSaveThreads.reserve(kImageSaveWorkerCount);
    for (size_t i = 0; i < kImageSaveWorkerCount; ++i)
    {
        m_imageSaveThreads.emplace_back(&DroneScrewServerPresenter::imageSaveThreadFunc,
                                        this,
                                        static_cast<int>(i));
    }
    LOG_INFO("[SAVE] image save workers started count=%zu mode=%s dir=%s\n",
             m_imageSaveThreads.size(),
             modeName.toStdString().c_str(),
             sessionDir.toStdString().c_str());
}

void DroneScrewServerPresenter::stopImageSaveThread()
{
    const bool shouldJoin = !m_imageSaveThreads.empty();
    size_t pendingJobs = 0;
    {
        std::lock_guard<std::mutex> lk(m_imageSaveMutex);
        if (!shouldJoin)
        {
            m_imageSaveQueue.clear();
            m_imageSaveSessionDir.clear();
            m_imageSaveThreadExit = false;
            return;
        }
        pendingJobs = m_imageSaveQueue.size();
        m_imageSaveThreadExit = true;
    }

    if (pendingJobs > 0)
    {
        LOG_INFO("[SAVE] stop requested, flush pending save jobs=%zu\n",
                 pendingJobs);
    }

    m_imageSaveCv.notify_all();
    for (std::thread& worker : m_imageSaveThreads)
    {
        if (worker.joinable())
            worker.join();
    }
    m_imageSaveThreads.clear();

    {
        std::lock_guard<std::mutex> lk(m_imageSaveMutex);
        m_imageSaveQueue.clear();
        m_imageSaveSessionDir.clear();
        m_imageSaveThreadExit = false;
    }
}

void DroneScrewServerPresenter::enqueueImageSave(const MvsImageData& leftImg,
                                                 const MvsImageData& rightImg,
                                                 const DroneScrewResult& result,
                                                 unsigned long long index)
{
    auto dropIfQueueFull = [this, index]() -> bool {
        if (m_imageSaveQueue.size() < kMaxImageSaveQueueDepth)
            return false;

        ++m_imageSaveDropped;
        if (m_imageSaveDropped == 1 || (m_imageSaveDropped % 50) == 0)
        {
            LOG_WARN("[SAVE] image save queue full, drop index=%llu dropped=%llu pending=%zu\n",
                     index, m_imageSaveDropped, m_imageSaveQueue.size());
        }
        return true;
    };

    {
        std::lock_guard<std::mutex> lk(m_imageSaveMutex);
        if (m_imageSaveThreadExit.load() || m_imageSaveSessionDir.isEmpty())
            return;
        if (dropIfQueueFull())
            return;
    }

    auto copyMono8 = [](const MvsImageData& src, ImageSaveBuffer& dst) -> bool {
        if (!src.pData || src.width == 0 || src.height == 0 ||
            src.pixelFormat != kMvsPixelTypeMono8)
        {
            return false;
        }

        const size_t expectedSize =
            static_cast<size_t>(src.width) * static_cast<size_t>(src.height);
        if (src.dataSize < expectedSize)
            return false;

        dst.width = src.width;
        dst.height = src.height;
        dst.pixelFormat = src.pixelFormat;
        dst.data.resize(expectedSize);
        std::memcpy(dst.data.data(), src.pData, expectedSize);
        dst.valid = true;
        return true;
    };

    ImageSaveJob job;
    job.index = index;
    job.result = result;
    job.hasResult = true;
    if (!copyMono8(leftImg, job.left) || !copyMono8(rightImg, job.right))
    {
        LOG_WARN("[SAVE] skip image save: unsupported image pair index=%llu left=%ux%u pf=0x%x right=%ux%u pf=0x%x\n",
                 index, leftImg.width, leftImg.height, leftImg.pixelFormat,
                 rightImg.width, rightImg.height, rightImg.pixelFormat);
        return;
    }

    {
        std::lock_guard<std::mutex> lk(m_imageSaveMutex);
        if (m_imageSaveThreadExit.load() || m_imageSaveSessionDir.isEmpty())
            return;

        if (dropIfQueueFull())
            return;

        job.dirPath = m_imageSaveSessionDir;
        m_imageSaveQueue.emplace_back(std::move(job));
    }
    m_imageSaveCv.notify_one();
}

void DroneScrewServerPresenter::imageSaveThreadFunc(int workerIndex)
{
    LOG_DEBUG("[SAVE] worker #%d entered\n", workerIndex);
    for (;;)
    {
        ImageSaveJob job;
        {
            std::unique_lock<std::mutex> lk(m_imageSaveMutex);
            m_imageSaveCv.wait(lk, [this]() {
                return m_imageSaveThreadExit.load() || !m_imageSaveQueue.empty();
            });

            if (m_imageSaveQueue.empty())
            {
                if (m_imageSaveThreadExit.load())
                    break;
                continue;
            }

            job = std::move(m_imageSaveQueue.front());
            m_imageSaveQueue.pop_front();
        }

        if (job.dirPath.isEmpty())
            continue;
        QDir().mkpath(job.dirPath);

        auto saveMono8 = [&job](const ImageSaveBuffer& img, const QString& prefix) {
            if (!img.valid || img.data.empty())
                return;

            QImage q(img.data.data(),
                     static_cast<int>(img.width),
                     static_cast<int>(img.height),
                     static_cast<int>(img.width),
                     QImage::Format_Grayscale8);
            const QString filePath = QDir(job.dirPath).filePath(
                savedImageFileName(job.index, prefix));
            if (!q.save(filePath, "PNG"))
            {
                LOG_WARN("[SAVE] image save failed: %s\n",
                         filePath.toStdString().c_str());
            }
        };

        saveMono8(job.left, QStringLiteral("left"));
        saveMono8(job.right, QStringLiteral("right"));
        if (job.hasResult)
            saveDetectionResultText(job.dirPath, job.index, job.result);
    }
    LOG_DEBUG("[SAVE] worker #%d stopped\n", workerIndex);
}

DroneScrewResult DroneScrewServerPresenter::runSingleDetection()
{
    DroneScrewResult result;

    auto releaseImage = [](MvsImageData& img) {
        delete[] img.pData;
        img.pData = nullptr;
        img.dataSize = 0;
    };

    auto fail = [&](int code, const std::string& msg) {
        result.success = false;
        result.errorCode = code;
        result.message = msg;
        LOG_ERROR("[SINGLE] %s\n", msg.c_str());
        logDetectionResultFixed("SINGLE", 0, result);
        emit detectionResult(result);
        return result;
    };

    if (!m_pLeftCamera || !m_pRightCamera)
    {
        return fail(ERR_CODE(DRONESCREW_ERR_CAMERA_NOT_CONNECTED), "cameras not connected");
    }

    {
        MvsImageData leftImg{};
        MvsImageData rightImg{};
        bool usedCachedFrame = false;

        if (m_bIsDetecting.load())
        {
            QMutexLocker lk(&m_frameMutex);
            if (!m_leftImageData.pData || m_leftImageData.dataSize == 0 ||
                !m_rightImageData.pData || m_rightImageData.dataSize == 0)
            {
                return fail(ERR_CODE(DRONESCREW_ERR_CACHED_FRAME_NOT_READY),
                            "cached binocular image not ready");
            }

            leftImg = m_leftImageData;
            rightImg = m_rightImageData;
            std::unique_ptr<unsigned char[]> leftBuf(new (std::nothrow) unsigned char[leftImg.dataSize]);
            std::unique_ptr<unsigned char[]> rightBuf(new (std::nothrow) unsigned char[rightImg.dataSize]);
            if (!leftBuf || !rightBuf)
            {
                return fail(ERR_CODE(DATA_ERR_MEM), "copy cached frame memory allocation failed");
            }
            memcpy(leftBuf.get(), m_leftImageData.pData, leftImg.dataSize);
            memcpy(rightBuf.get(), m_rightImageData.pData, rightImg.dataSize);
            leftImg.pData = leftBuf.release();
            rightImg.pData = rightBuf.release();
            usedCachedFrame = true;
        }
        else
        {
            const bool leftGrabbing = m_pLeftCamera->IsAcquisitioning();
            const bool rightGrabbing = m_pRightCamera->IsAcquisitioning();
            if (!leftGrabbing || !rightGrabbing)
            {
                LOG_ERROR("[SINGLE] acquisition not started: left=%d right=%d\n",
                          leftGrabbing ? 1 : 0, rightGrabbing ? 1 : 0);
                if (!leftGrabbing)
                    return fail(ERR_CODE(DRONESCREW_ERR_LEFT_ACQ_NOT_STARTED),
                                "left camera acquisition not started");
                return fail(ERR_CODE(DRONESCREW_ERR_RIGHT_ACQ_NOT_STARTED),
                            "right camera acquisition not started");
            }

            resetFrameReadyFlags();

            const int gpioRet = pulseGpioTrigger();
            if (gpioRet != 0)
            {
                LOG_ERROR("[SINGLE] gpio trigger failed ret=%d\n", gpioRet);
                return fail(ERR_CODE(DRONESCREW_ERR_GPIO_TRIGGER), "gpio trigger failed");
            }

            if (!waitAndCopyLatestBinocular(leftImg, rightImg, kSingleFrameWaitTimeoutMs))
                return fail(ERR_CODE(DRONESCREW_ERR_BINOCULAR_FRAME_TIMEOUT),
                            "wait binocular callback frame timeout");
        }

        DroneScrewInputImage inLeft, inRight;

        inLeft.data        = leftImg.pData;
        inLeft.width       = leftImg.width;
        inLeft.height      = leftImg.height;
        inLeft.stride      = leftImg.width;
        inLeft.pixelFormat = 0;
        inLeft.frameId     = leftImg.frameID;
        inLeft.timestampUs = leftImg.timestamp;

        inRight.data        = rightImg.pData;
        inRight.width       = rightImg.width;
        inRight.height      = rightImg.height;
        inRight.stride      = rightImg.width;
        inRight.pixelFormat = 0;
        inRight.frameId     = rightImg.frameID;
        inRight.timestampUs = rightImg.timestamp;

        if (!m_pAlgo)
        {
            result.frameId = leftImg.frameID;
            result.timestampUs = static_cast<int64_t>(leftImg.timestamp);
            result.imageWidth = static_cast<int>(leftImg.width);
            result.imageHeight = static_cast<int>(leftImg.height);
            result.success = false;
            result.errorCode = ERR_CODE(DRONESCREW_ERR_ALGO_NOT_INIT);
            result.message = "algorithm not initialized";
        }
        else
        {
            LOG_INFO("[SINGLE] algo input: left=%llu %ux%u size=%u right=%llu %ux%u size=%u\n",
                     inLeft.frameId, inLeft.width, inLeft.height, leftImg.dataSize,
                     inRight.frameId, inRight.width, inRight.height, rightImg.dataSize);

            const auto t0 = std::chrono::steady_clock::now();
            const int algoRet = m_pAlgo->Detect(inLeft, inRight, result);
            const auto t1 = std::chrono::steady_clock::now();
            const double elapsedMs = std::chrono::duration<double, std::milli>(t1 - t0).count();

            if (result.frameId == 0) result.frameId = leftImg.frameID;
            if (result.timestampUs == 0) result.timestampUs = static_cast<int64_t>(leftImg.timestamp);
            if (result.imageWidth == 0) result.imageWidth = static_cast<int>(leftImg.width);
            if (result.imageHeight == 0) result.imageHeight = static_cast<int>(leftImg.height);

            LOG_INFO("[SINGLE] algo output: ret=%d success=%d boxes=%zu elapsed=%.1fms\n",
                     algoRet, result.success ? 1 : 0, result.boxes.size(), elapsedMs);

            for (size_t bi = 0; bi < result.boxes.size(); ++bi)
            {
                const auto& b = result.boxes[bi];
                LOG_DEBUG("[SINGLE]   box[%zu] cls=%d score=%.3f x=%d y=%d w=%d h=%d\n",
                          bi, b.classId, b.score, b.x, b.y, b.width, b.height);
            }

            if (algoRet != 0)
            {
                result.success = false;
                result.errorCode = algoRet;
                if (result.message.empty())
                    result.message = "algorithm Detect failed: " + std::to_string(algoRet);
            }
        }

        logDetectionResultFixed("SINGLE", 1, result);
        emit detectionResult(result);

        releaseImage(leftImg);
        releaseImage(rightImg);
        LOG_INFO("[SINGLE] completed frame=%llu source=%s success=%d code=%d\n",
                 result.frameId, usedCachedFrame ? "cache" : "callback",
                 result.success ? 1 : 0, result.errorCode);
        return result;
    }

}

void DroneScrewServerPresenter::handleSetExposure(double exposureTime)
{
    m_leftExposureTime = exposureTime;
    m_rightExposureTime = exposureTime;
    if (m_pLeftCamera)
    {
        applyCurrentExposureForRole("left");
        LOG_INFO("Left camera base exposure set to %.2f\n", exposureTime);
    }
    if (m_pRightCamera)
    {
        applyCurrentExposureForRole("right");
        LOG_INFO("Right camera base exposure set to %.2f\n", exposureTime);
    }
    saveConfiguration();
}

void DroneScrewServerPresenter::handleSetGain(double gain)
{
    m_leftGain = gain;
    m_rightGain = gain;
    if (m_pLeftCamera)
    {
        m_pLeftCamera->SetGain(gain);
        LOG_INFO("Left camera gain set to %.2f\n", gain);
    }
    if (m_pRightCamera)
    {
        m_pRightCamera->SetGain(gain);
        LOG_INFO("Right camera gain set to %.2f\n", gain);
    }
    saveConfiguration();
}

void DroneScrewServerPresenter::handleSetLeftExposure(double exposureTime)
{
    m_leftExposureTime = exposureTime;
    if (m_pLeftCamera)
    {
        applyCurrentExposureForRole("left");
        LOG_INFO("Left camera base exposure set to %.2f\n", exposureTime);
    }
    else
    {
        LOG_WARN("Left camera not initialized\n");
    }
    saveConfiguration();
}

void DroneScrewServerPresenter::handleSetRightExposure(double exposureTime)
{
    m_rightExposureTime = exposureTime;
    if (m_pRightCamera)
    {
        applyCurrentExposureForRole("right");
        LOG_INFO("Right camera base exposure set to %.2f\n", exposureTime);
    }
    else
    {
        LOG_WARN("Right camera not initialized\n");
    }
    saveConfiguration();
}

void DroneScrewServerPresenter::handleSetLeftGain(double gain)
{
    m_leftGain = gain;
    if (m_pLeftCamera)
    {
        m_pLeftCamera->SetGain(gain);
        LOG_INFO("Left camera gain set to %.2f\n", gain);
    }
    else
    {
        LOG_WARN("Left camera not initialized\n");
    }
    saveConfiguration();
}

void DroneScrewServerPresenter::handleSetRightGain(double gain)
{
    m_rightGain = gain;
    if (m_pRightCamera)
    {
        m_pRightCamera->SetGain(gain);
        LOG_INFO("Right camera gain set to %.2f\n", gain);
    }
    else
    {
        LOG_WARN("Right camera not initialized\n");
    }
    saveConfiguration();
}

void DroneScrewServerPresenter::setDetectMode(const std::string& mode)
{
    if (mode == "mono" || mode == "binocular")
    {
        {
            std::lock_guard<std::mutex> lk(m_detectModeMutex);
            m_detectMode = mode;
        }
        LOG_INFO("[DETECT] detectMode set to: %s\n", mode.c_str());
    }
    else
    {
        const std::string current = detectMode();
        LOG_WARN("[DETECT] unknown detectMode: %s, keep current: %s\n",
                 mode.c_str(), current.c_str());
    }
}

std::string DroneScrewServerPresenter::detectMode() const
{
    std::lock_guard<std::mutex> lk(m_detectModeMutex);
    return m_detectMode;
}

void DroneScrewServerPresenter::handleUpdateAlgoParams(const DroneScrewAlgoParams& params)
{
    m_algoParams = params;
    if (m_pAlgo) m_pAlgo->UpdateParams(params);
    saveConfiguration();
}

void DroneScrewServerPresenter::detectThreadFunc()
{
    {
        std::ostringstream oss;
        oss << std::this_thread::get_id();
        LOG_DEBUG("[DETECT] thread started (binocular mode) tid=%s\n", oss.str().c_str());
    }

    int frameCnt = 0;
    unsigned long long savedFrameCnt = 0;
    bool haveProcessedFrame = false;
    unsigned long long lastProcessedLeftFrameId = 0;
    unsigned long long lastProcessedRightFrameId = 0;
    auto nextWaitLog = std::chrono::steady_clock::now();
    try
    {
        while (!m_bThreadExit.load())
        {
            try
            {
                // 等待双目图像都准备好
                bool leftReady = false;
                bool rightReady = false;
                bool pairValid = false;
                bool pairChanged = false;
                unsigned long long currentLeftFrameId = 0;
                unsigned long long currentRightFrameId = 0;

                // 取出双目图像（深拷贝）
                MvsImageData leftImg, rightImg;
                std::unique_ptr<unsigned char[]> leftBuf;
                std::unique_ptr<unsigned char[]> rightBuf;
                {
                    QMutexLocker lk(&m_frameMutex);

                    leftReady = m_bLeftImageReady;
                    rightReady = m_bRightImageReady;
                    currentLeftFrameId = m_leftImageData.frameID;
                    currentRightFrameId = m_rightImageData.frameID;
                    pairValid =
                        leftReady && rightReady &&
                        m_leftImageData.pData && m_rightImageData.pData &&
                        m_leftImageData.dataSize > 0 && m_rightImageData.dataSize > 0;
                    pairChanged =
                        pairValid &&
                        (!haveProcessedFrame ||
                         currentLeftFrameId != lastProcessedLeftFrameId ||
                         currentRightFrameId != lastProcessedRightFrameId);

                    if (pairChanged)
                    {
                        leftImg = m_leftImageData;
                        rightImg = m_rightImageData;

                        // Deep-copy the latest valid pair. Do not clear ready flags here;
                        // continuous detection advances by frame-id changes.
                        leftBuf.reset(new unsigned char[leftImg.dataSize]);
                        memcpy(leftBuf.get(), m_leftImageData.pData, leftImg.dataSize);
                        leftImg.pData = leftBuf.get();

                        rightBuf.reset(new unsigned char[rightImg.dataSize]);
                        memcpy(rightBuf.get(), m_rightImageData.pData, rightImg.dataSize);
                        rightImg.pData = rightBuf.get();
                    }
                }

                if (!pairValid || !pairChanged)
                {
                    const auto now = std::chrono::steady_clock::now();
                    if (now >= nextWaitLog)
                    {
                        LOG_DEBUG("[DETECT] waiting latest pair: leftReady=%d rightReady=%d left=%llu right=%llu last=%llu/%llu changed=%d\n",
                                  leftReady ? 1 : 0, rightReady ? 1 : 0,
                                  currentLeftFrameId, currentRightFrameId,
                                  lastProcessedLeftFrameId, lastProcessedRightFrameId,
                                  pairChanged ? 1 : 0);
                        nextWaitLog = now + std::chrono::seconds(1);
                    }
                    std::this_thread::sleep_for(std::chrono::milliseconds(2));
                    continue;
                }

                haveProcessedFrame = true;
                lastProcessedLeftFrameId = leftImg.frameID;
                lastProcessedRightFrameId = rightImg.frameID;

            // Publish the display frame before detection work. detectMode only controls raw transport.
            if (m_bRawPubEnabled.load())
            {
                const int rawPipelineMode = m_detectPipelineMode.load();
                const bool rawSingleImage = (detectMode() == "mono");
                LOG_DEBUG("[DETECT] frame #%d before rawImageReady emit, left=%llu right=%llu singleRaw=%d pipeline=%d\n",
                          frameCnt + 1, leftImg.frameID, rightImg.frameID,
                          rawSingleImage ? 1 : 0, rawPipelineMode);
                if (rawSingleImage)
                {
                    MvsImageData emptyRight{};
                    emit rawImageReady(leftImg, emptyRight);
                }
                else
                {
                    emit rawImageReady(leftImg, rightImg);
                }
                LOG_DEBUG("[DETECT] frame #%d after rawImageReady emit\n", frameCnt + 1);
            }

#if 0

            // ZMQ 原始图像 PUB（在检测之前发送，避免阻塞）
            if (m_bRawPubEnabled.load())
            {
                const bool isMono = (detectMode() == "mono");
                LOG_DEBUG("[DETECT] frame #%d before rawImageReady emit, left=%llu right=%llu mono=%d\n",
                          frameCnt + 1, leftImg.frameID, rightImg.frameID, isMono ? 1 : 0);
                if (isMono)
                {
                    // mono 模式：仅发送左目图像，右目传空
                    MvsImageData emptyRight{};
                    emit rawImageReady(leftImg, emptyRight);
                }
                else
                {
                    emit rawImageReady(leftImg, rightImg);
                }
                LOG_DEBUG("[DETECT] frame #%d after rawImageReady emit\n", frameCnt + 1);
            }

            // 调用算法进行检测（双目输入）
#endif

            DroneScrewResult result;
            DroneScrewInputImage inLeft, inRight;

            inLeft.data        = leftImg.pData;
            inLeft.width       = leftImg.width;
            inLeft.height      = leftImg.height;
            inLeft.stride      = leftImg.width;
            inLeft.pixelFormat = 0;
            inLeft.frameId     = leftImg.frameID;
            inLeft.timestampUs = leftImg.timestamp;

            inRight.data        = rightImg.pData;
            inRight.width       = rightImg.width;
            inRight.height      = rightImg.height;
            inRight.stride      = rightImg.width;
            inRight.pixelFormat = 0;
            inRight.frameId     = rightImg.frameID;
            inRight.timestampUs = rightImg.timestamp;

            result.frameId = leftImg.frameID;
            result.timestampUs = static_cast<int64_t>(leftImg.timestamp);
            result.imageWidth = static_cast<int>(leftImg.width);
            result.imageHeight = static_cast<int>(leftImg.height);

            const int pipelineMode = m_detectPipelineMode.load();
            const bool distanceMode = (pipelineMode == kDetectPipelineDistance);
            if (distanceMode)
            {
                if (m_pAlgo)
                {
                    try
                    {
                        const auto t0 = std::chrono::steady_clock::now();
                        const int algoRet = m_pAlgo->DetectDistance(inLeft, inRight, result);
                        const auto t1 = std::chrono::steady_clock::now();
                        const double elapsedMs =
                            std::chrono::duration<double, std::milli>(t1 - t0).count();

                        if (algoRet != 0)
                        {
                            result.success = false;
                            result.errorCode = algoRet;
                            if (result.message.empty())
                                result.message = "algorithm DetectDistance failed: " +
                                                 std::to_string(algoRet);
                        }

                        if (frameCnt == 0)
                        {
                            LOG_INFO("[DISTANCE] first frame input: left=%llu %ux%u size=%u right=%llu %ux%u size=%u\n",
                                     inLeft.frameId, inLeft.width, inLeft.height, leftImg.dataSize,
                                     inRight.frameId, inRight.width, inRight.height, rightImg.dataSize);
                            LOG_INFO("[DISTANCE] first frame output: ret=%d success=%d code=%d boxes=%zu distances=%zu elapsed=%.1fms msg=%s\n",
                                     algoRet, result.success ? 1 : 0, result.errorCode,
                                     result.boxes.size(), result.distances.size(),
                                     elapsedMs, result.message.c_str());
                        }
                        else if (elapsedMs > 50.0)
                        {
                            LOG_WARN("[DISTANCE] frame #%d algo slow: elapsed=%.1fms left=%llu %ux%u success=%d code=%d distances=%zu msg=%s\n",
                                     frameCnt + 1, elapsedMs, leftImg.frameID,
                                     leftImg.width, leftImg.height, result.success ? 1 : 0,
                                     result.errorCode, result.distances.size(),
                                     result.message.c_str());
                        }
                    }
                    catch (const std::exception& e)
                    {
                        LOG_ERROR("[DISTANCE] algo exception frame=%llu: %s\n", leftImg.frameID, e.what());
                        result.success = false;
                        result.errorCode = -1;
                        result.message = std::string("Distance algorithm exception: ") + e.what();
                    }
                    catch (...)
                    {
                        LOG_ERROR("[DISTANCE] algo unknown exception frame=%llu\n", leftImg.frameID);
                        result.success = false;
                        result.errorCode = -1;
                        result.message = "Distance algorithm unknown exception";
                    }
                }
                else
                {
                    result.success = false;
                    result.errorCode = ERR_CODE(DRONESCREW_ERR_ALGO_NOT_INIT);
                    result.message = "algorithm not initialized";
                }
            }
            else
            {
                LOG_DEBUG("[DETECT] frame #%d before algo Detect, left=%llu right=%llu\n",
                          frameCnt + 1, leftImg.frameID, rightImg.frameID);

            if (m_pAlgo)
            {
                try
                {
                    const auto t0 = std::chrono::steady_clock::now();
                    const int algoRet = m_pAlgo->Detect(inLeft, inRight, result);
                    const auto t1 = std::chrono::steady_clock::now();
                    const double elapsedMs = std::chrono::duration<double, std::milli>(t1 - t0).count();

                    if (result.frameId == 0) result.frameId = leftImg.frameID;
                    if (result.timestampUs == 0) result.timestampUs = static_cast<int64_t>(leftImg.timestamp);
                    if (result.imageWidth == 0) result.imageWidth = static_cast<int>(leftImg.width);
                    if (result.imageHeight == 0) result.imageHeight = static_cast<int>(leftImg.height);

                    if (algoRet != 0)
                    {
                        result.success = false;
                        result.errorCode = algoRet;
                        if (result.message.empty())
                            result.message = "algorithm Detect failed: " + std::to_string(algoRet);
                    }

                    // 首帧打印 algo 输入输出详情
                    if (frameCnt == 0)
                    {
                        LOG_INFO("[DETECT] first frame algo input:  left=%llu %ux%u size=%u right=%llu %ux%u size=%u\n",
                                 inLeft.frameId,  inLeft.width,  inLeft.height,  leftImg.dataSize,
                                 inRight.frameId, inRight.width, inRight.height, rightImg.dataSize);
                        LOG_INFO("[DETECT] first frame algo output: ret=%d success=%d code=%d boxes=%zu distances=%zu elapsed=%.1fms msg=%s\n",
                                 algoRet, result.success ? 1 : 0, result.errorCode,
                                 result.boxes.size(), result.distances.size(),
                                 elapsedMs, result.message.c_str());
                        for (size_t bi = 0; bi < result.boxes.size(); ++bi)
                        {
                            const auto& b = result.boxes[bi];
                            LOG_INFO("[DETECT]   box[%zu] cls=%d score=%.3f x=%d y=%d w=%d h=%d\n",
                                     bi, b.classId, b.score, b.x, b.y, b.width, b.height);
                        }
                    }
                    else if (elapsedMs > 100.0)
                    {
                        // 耗时异常帧：打印告警
                        LOG_WARN("[DETECT] frame #%d algo slow: elapsed=%.1fms left=%llu %ux%u success=%d code=%d boxes=%zu distances=%zu msg=%s\n",
                                 frameCnt + 1, elapsedMs,
                                 leftImg.frameID, leftImg.width, leftImg.height,
                                 result.success ? 1 : 0, result.errorCode,
                                 result.boxes.size(), result.distances.size(),
                                 result.message.c_str());
                    }
                }
                catch (const std::exception& e)
                {
                    LOG_ERROR("[DETECT] algo exception frame=%llu: %s\n", leftImg.frameID, e.what());
                    result.success = false;
                    result.errorCode = -1;
                    result.message = std::string("Algorithm exception: ") + e.what();
                }
                catch (...)
                {
                    LOG_ERROR("[DETECT] algo unknown exception frame=%llu\n", leftImg.frameID);
                    result.success = false;
                    result.errorCode = -1;
                    result.message = "Algorithm unknown exception";
                }
            }
            else
            {
                result.success = false;
                result.errorCode = ERR_CODE(DRONESCREW_ERR_ALGO_NOT_INIT);
                result.message = "algorithm not initialized";
            }
            }

            if (result.frameId == 0) result.frameId = leftImg.frameID;
            if (result.timestampUs == 0) result.timestampUs = static_cast<int64_t>(leftImg.timestamp);
            result.imageWidth = static_cast<int>(leftImg.width);
            result.imageHeight = static_cast<int>(leftImg.height);

            logDetectionResultFixed(distanceMode ? "DISTANCE" : "DETECT",
                                    frameCnt + 1, result);

            LOG_DEBUG("[DETECT] frame #%d after %s pipeline, success=%d code=%d boxes=%zu distances=%zu\n",
                      frameCnt + 1, distanceMode ? "distance" : "precision",
                      result.success ? 1 : 0, result.errorCode,
                      result.boxes.size(), result.distances.size());

            if (!distanceMode)
                enqueueImageSave(leftImg, rightImg, result, ++savedFrameCnt);

            emit detectionResult(result);

            LOG_DEBUG("[DETECT] frame #%d after detectionResult emit\n", frameCnt + 1);

            frameCnt++;
            if (frameCnt % 100 == 0)
            {
                // 打印最近检测到的目标摘要
                std::ostringstream boxSummary;
                for (size_t bi = 0; bi < result.boxes.size() && bi < 5; ++bi)
                {
                    if (bi > 0) boxSummary << ", ";
                    boxSummary << "cls=" << result.boxes[bi].classId
                               << " score=" << result.boxes[bi].score;
                }
                if (result.boxes.size() > 5)
                    boxSummary << "... +" << (result.boxes.size() - 5);

                LOG_INFO("[DETECT] frame #%d id=%llu rawPub=%d boxes=%zu success=%d [%s]\n",
                         frameCnt, leftImg.frameID, m_bRawPubEnabled.load() ? 1 : 0,
                         result.boxes.size(), result.success ? 1 : 0,
                         boxSummary.str().c_str());
            }

            LOG_DEBUG("[DETECT] frame #%d loop end, checking exit flag=%d\n",
                      frameCnt, m_bThreadExit.load() ? 1 : 0);
        }
        catch (const std::bad_alloc& e)
        {
            LOG_ERROR("[DETECT] memory allocation failed: %s\n", e.what());
            std::this_thread::sleep_for(std::chrono::milliseconds(50));
        }
        catch (const std::exception& e)
        {
            LOG_ERROR("[DETECT] exception: %s\n", e.what());
            std::this_thread::sleep_for(std::chrono::milliseconds(20));
        }
        catch (...)
        {
            LOG_ERROR("[DETECT] unknown exception\n");
            std::this_thread::sleep_for(std::chrono::milliseconds(20));
        }
        } // end while

        LOG_DEBUG("[DETECT] thread stopped, total frames=%d\n", frameCnt);
    }
    catch (const std::exception& e)
    {
        LOG_ERROR("[DETECT] FATAL: outer exception (thread will exit): %s\n", e.what());
    }
    catch (...)
    {
        LOG_ERROR("[DETECT] FATAL: outer unknown exception (thread will exit)\n");
    }
}

bool DroneScrewServerPresenter::tryRgaScaleMonoToY(const MvsImageData& img,
                                                   unsigned char* dstY,
                                                   unsigned int outWidth,
                                                   unsigned int outHeight)
{
#if DRONESCREW_HAS_RGA
    if (!img.pData || !dstY || img.width == 0 || img.height == 0 ||
        outWidth == 0 || outHeight == 0)
        return false;

    rga_buffer_t src = wrapbuffer_virtualaddr(
        const_cast<unsigned char*>(img.pData),
        static_cast<int>(img.width),
        static_cast<int>(img.height),
        RK_FORMAT_YCbCr_400,
        static_cast<int>(img.width),
        static_cast<int>(img.height));
    rga_buffer_t dst = wrapbuffer_virtualaddr(
        dstY,
        static_cast<int>(outWidth),
        static_cast<int>(outHeight),
        RK_FORMAT_YCbCr_400,
        static_cast<int>(outWidth),
        static_cast<int>(outHeight));

    const IM_STATUS status = imresize(src, dst);
    if (status == IM_STATUS_SUCCESS)
    {
        if (!m_rtspRgaScaleLogged)
        {
            LOG_INFO("[RGA] live scale Mono8/Y %ux%u -> %ux%u enabled\n",
                     img.width, img.height, outWidth, outHeight);
            m_rtspRgaScaleLogged = true;
        }
        return true;
    }

    if (!m_rtspRgaScaleDisabled)
    {
        LOG_WARN("[RGA] live scale failed status=%d (%s), fallback to CPU\n",
                 static_cast<int>(status), rgaErrorText(status));
        m_rtspRgaScaleDisabled = true;
    }
    return false;
#else
    (void)img;
    (void)dstY;
    (void)outWidth;
    (void)outHeight;
    return false;
#endif
}

int DroneScrewServerPresenter::pushRtspFrame(const MvsImageData& img)
{
    try
    {
        std::lock_guard<std::mutex> pusherLock(m_rtspPusherMutex);
        if (!m_pPusher) return ERR_CODE(DRONESCREW_ERR_RTSP_INIT);
        if (!m_bLiveStreaming.load() || !m_bRtspStarted.load()) return 0;
        if (!img.pData || img.dataSize == 0 || img.width == 0 || img.height == 0)
        {
            const int ret = ERR_CODE(DATA_ERR_INVALID);
            recordRtspPushResult(ret, img.frameID);
            return ret;
        }

        const unsigned int outWidth = m_rtspWidth > 0 ? m_rtspWidth : img.width;
        const unsigned int outHeight = m_rtspHeight > 0 ? m_rtspHeight : img.height;
        if (outWidth == 0 || outHeight == 0)
        {
            const int ret = ERR_CODE(DATA_ERR_INVALID);
            recordRtspPushResult(ret, img.frameID);
            return ret;
        }

        if (img.pixelFormat == kMvsPixelTypeMono8)
        {
            const size_t monoSize = static_cast<size_t>(img.width) * static_cast<size_t>(img.height);
            if (img.dataSize < monoSize)
            {
                const int ret = ERR_CODE(DATA_ERR_LEN);
                recordRtspPushResult(ret, img.frameID);
                return ret;
            }

            const size_t ySize = static_cast<size_t>(outWidth) *
                                 static_cast<size_t>(outHeight);
            const size_t uvSize = ySize / 2;
            const size_t frameSize = ySize + uvSize;
            if (m_rtspFrameBuffer.size() != frameSize)
            {
                m_rtspFrameBuffer.resize(frameSize);
                m_rtspUvInitialized = false;
            }

            const unsigned char* src = img.pData;
            unsigned char* dstY = m_rtspFrameBuffer.data();

            const bool sameSize = (outWidth == img.width && outHeight == img.height);
            const bool scaledByRga =
                !sameSize &&
                !m_rtspRgaScaleDisabled &&
                tryRgaScaleMonoToY(img, dstY, outWidth, outHeight);

            if (!scaledByRga)
            {
                if (m_rtspScaleSrcWidth != img.width ||
                    m_rtspScaleSrcHeight != img.height ||
                    m_rtspScaleOutWidth != outWidth ||
                    m_rtspScaleOutHeight != outHeight ||
                    m_rtspScaleX.size() != outWidth ||
                    m_rtspScaleY.size() != outHeight)
                {
                    m_rtspScaleX.resize(outWidth);
                    m_rtspScaleY.resize(outHeight);
                    for (unsigned int x = 0; x < outWidth; ++x)
                    {
                        m_rtspScaleX[x] =
                            static_cast<unsigned int>((static_cast<uint64_t>(x) * img.width) / outWidth);
                    }
                    for (unsigned int y = 0; y < outHeight; ++y)
                    {
                        m_rtspScaleY[y] =
                            static_cast<unsigned int>((static_cast<uint64_t>(y) * img.height) / outHeight);
                    }
                    m_rtspScaleSrcWidth = img.width;
                    m_rtspScaleSrcHeight = img.height;
                    m_rtspScaleOutWidth = outWidth;
                    m_rtspScaleOutHeight = outHeight;
                }

                if (sameSize)
                {
                    std::memcpy(dstY, src, ySize);
                }
                else
                {
                    for (unsigned int y = 0; y < outHeight; ++y)
                    {
                        const unsigned char* srcRow =
                            src + static_cast<size_t>(m_rtspScaleY[y]) * img.width;
                        unsigned char* dstRow = dstY + static_cast<size_t>(y) * outWidth;
                        for (unsigned int x = 0; x < outWidth; ++x)
                        {
                            dstRow[x] = srcRow[m_rtspScaleX[x]];
                        }
                    }
                }
            }

            if (!m_rtspUvInitialized)
            {
                std::memset(m_rtspFrameBuffer.data() + ySize, 128, uvSize);
                m_rtspUvInitialized = true;
            }

            // 计算 PTS（微秒）：按实际直播 fps 递增，避免 RTMP 时间戳被误放大到检测帧率。
            const int64_t frameIdx = m_rtspFrameCounter.fetch_add(1, std::memory_order_relaxed);
            const double streamFps = m_liveStreamFps > 0
                                   ? static_cast<double>(m_liveStreamFps)
                                   : static_cast<double>(kLiveStreamFrameRate);
            const int64_t ptsUs = static_cast<int64_t>(
                (static_cast<double>(frameIdx) / streamFps) * 1000000.0
            );
            const int ret = m_pPusher->PushFrame(m_rtspFrameBuffer.data(),
                                                 m_rtspFrameBuffer.size(),
                                                 ptsUs);
            recordRtspPushResult(ret, img.frameID);
            return ret;
        }

        const int ret = ERR_CODE(DATA_ERR_INVALID);
        recordRtspPushResult(ret, img.frameID);
        return ret;
    }
    catch (const std::bad_alloc& e)
    {
        LOG_ERROR("[RTSP] push memory allocation failed frame=%llu src=%ux%u: %s\n",
                  img.frameID, img.width, img.height, e.what());
        const int ret = ERR_CODE(DATA_ERR_MEM);
        recordRtspPushResult(ret, img.frameID);
        return ret;
    }
    catch (const std::exception& e)
    {
        LOG_ERROR("[RTSP] push exception frame=%llu src=%ux%u: %s\n",
                  img.frameID, img.width, img.height, e.what());
        const int ret = ERR_CODE(DATA_ERR_INVALID);
        recordRtspPushResult(ret, img.frameID);
        return ret;
    }
    catch (...)
    {
        LOG_ERROR("[RTSP] push unknown exception frame=%llu src=%ux%u\n",
                  img.frameID, img.width, img.height);
        const int ret = ERR_CODE(DATA_ERR_INVALID);
        recordRtspPushResult(ret, img.frameID);
        return ret;
    }
}