GrabBag/App/TunnelChannel/TunnelChannelApp/mainwindow.cpp

#include "mainwindow.h"
#include "ui_mainwindow.h"
#include <QGraphicsScene>
#include <QStandardItemModel>
#include <QDebug>
#include <QPainter>
#include <QBrush>
#include <QMessageBox>
#include <QFileDialog>
#include <QListWidgetItem>
#include <QtMath>
#include <QThread>
#include <QDateTime>
#include <QTextCursor>
#include <QStringListModel>
#include <QScreen>
#include <QApplication>
#include "VrLog.h"
#include "VrDateUtils.h"
#include <QIcon>
#include <QMetaType>
#include <QLabel>
#include <QVBoxLayout>
#include <QMenu>
#include <QAction>
#include <QStandardPaths>
#include <QDir>
#include <QGraphicsView>
#include <QEvent>
#include "TunnelChannelPresenter.h"

#include "Version.h"
#include "IVrUtils.h"

MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , ui(new Ui::MainWindow)
    , m_selectedButton(nullptr)
    , m_contextMenu(nullptr)
    , m_saveDataAction(nullptr)
{
    ui->setupUi(this);

    // 设置窗口图标（Windows使用.ico格式）
#ifdef _WIN32
    this->setWindowIcon(QIcon(":/common/resource/logo.ico"));
#else
    this->setWindowIcon(QIcon(":/common/resource/logo.png"));
#endif

    // 设置状态栏字体
    QFont statusFont = statusBar()->font();
    statusFont.setPointSize(12);
    statusBar()->setFont(statusFont);

    // 设置状态栏颜色和padding
    statusBar()->setStyleSheet("QStatusBar { color: rgb(239, 241, 245); padding: 20px; }");

    // 在状态栏右侧添加版本信息（包含编译时间）
    QString versionWithBuildTime = QString("%1_%2%3%4%5%6%7")
        .arg(GetTunnelChannelFullVersion())
        .arg(YEAR)
        .arg(MONTH, 2, 10, QChar('0'))
        .arg(DAY, 2, 10, QChar('0'))
        .arg(HOUR, 2, 10, QChar('0'))
        .arg(MINUTE, 2, 10, QChar('0'))
        .arg(SECOND, 2, 10, QChar('0'));

    QLabel* buildLabel = new QLabel(versionWithBuildTime);
    buildLabel->setStyleSheet("color: rgb(239, 241, 245); font-size: 20px; margin-right: 16px;");
    statusBar()->addPermanentWidget(buildLabel);

    // 隐藏标题栏
    setWindowFlags(Qt::FramelessWindowHint);

    // 启动后自动最大化显示
    this->showMaximized();

    // 初始化时隐藏label_work
    ui->label_work->setVisible(false);

    // 初始化3D图像视图的GraphicsScene
    QGraphicsScene* scene3d = new QGraphicsScene(this);
    ui->detect_image_3d->setScene(scene3d);

    // 初始化2D图像视图的GraphicsScene
    QGraphicsScene* scene2d = new QGraphicsScene(this);
    ui->detect_image_2d->setScene(scene2d);

    // 初始化日志模型
    m_logModel = new QStringListModel(this);
    ui->detect_log->setModel(m_logModel);

    // 注册自定义类型，使其能够在信号槽中跨线程传递
    qRegisterMetaType<TunnelDetectionResult>("TunnelDetectionResult");
    qRegisterMetaType<WorkStatus>("WorkStatus");
    qRegisterMetaType<TunnelPosition>("TunnelPosition");

    // 连接工作状态更新信号槽
    connect(this, &MainWindow::workStatusUpdateRequested, this, &MainWindow::updateWorkStatusLabel);

    // 连接检测结果更新信号槽
    connect(this, &MainWindow::detectionResultUpdateRequested, this, &MainWindow::updateDetectionResultDisplay);

    // 连接日志更新信号槽
    connect(this, &MainWindow::logUpdateRequested, this, &MainWindow::updateDetectionLog);

    // 连接清空日志信号槽
    connect(this, &MainWindow::logClearRequested, this, &MainWindow::clearDetectionLogUI);

    // 连接2D图像更新信号槽
    connect(this, &MainWindow::hikImageUpdateRequested, this, &MainWindow::updateHikImageDisplay);

    // 初始化右键菜单
    setupContextMenu();

    // 初始化补光灯按钮
    setupSupplementLightButton();

    updateStatusLog(tr("设备开始初始化..."));

    // 初始化模块
    Init();
}

MainWindow::~MainWindow()
{
    // 释放业务逻辑处理类
    if (m_presenter) {
        delete m_presenter;
        m_presenter = nullptr;
    }

    delete ui;
}

void MainWindow::updateStatusLog(const QString& message)
{
    // 通过信号槽机制更新detect_log控件
    emit logUpdateRequested(message);
}

void MainWindow::clearDetectionLog()
{
    // 通过信号槽机制清空日志
    emit logClearRequested();
}

void MainWindow::Init()
{
    // 创建业务逻辑处理类
    m_presenter = new TunnelChannelPresenter();

    // 设置状态回调接口（使用BasePresenter的模板方法）
    m_presenter->SetStatusCallback<IYTunnelChannelStatus>(this);

    // 设置海康相机显示窗口句柄（使用 QGraphicsView 的 viewport 进行硬件渲染）
    // viewport() 返回内部用于显示的 QWidget，适合作为海康SDK的渲染目标
    m_presenter->SetHikDisplayWindow((void*)ui->detect_image_2d->viewport()->winId());

    m_deviceStatusWidget = new DeviceStatusWidget();

    // 连接DeviceStatusWidget的相机点击信号到MainWindow的槽函数
    connect(m_deviceStatusWidget, SIGNAL(cameraClicked(int)), this, SLOT(onCameraClicked(int)));

    // 将设备状态widget添加到frame_dev中
    QVBoxLayout* frameDevLayout = new QVBoxLayout(ui->frame_dev);
    frameDevLayout->setContentsMargins(0, 0, 0, 0);
    frameDevLayout->addWidget(m_deviceStatusWidget);

    // 设置列表视图模式（双相机布局配置）
    ui->detect_result_list->setViewMode(QListView::IconMode);
    ui->detect_result_list->setResizeMode(QListView::Adjust);
    ui->detect_result_list->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
    ui->detect_result_list->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);

    // 设置网格大小（双相机布局）
    int gridWidth = 530;
    int gridHeight = 200;
    ui->detect_result_list->setGridSize(QSize(gridWidth, gridHeight));

    // 设置默认相机数量为2（3D相机 + 海康2D相机）
    m_deviceStatusWidget->setCameraCount(2);
    m_deviceStatusWidget->setCamera1Name(tr("3D相机"));
    m_deviceStatusWidget->setCamera2Name(tr("2D相机"));

    // 隐藏机械臂状态显示（TunnelChannel项目不需要显示机械臂）
    m_deviceStatusWidget->setRobotVisible(false);

    // 禁用相机点击功能（TunnelChannel项目不需要切换相机）
    m_deviceStatusWidget->setCameraClickable(false);

    // 初始化期间禁用所有功能按钮
    setButtonsEnabled(false);

#if 1
    // 在线程中执行初始化业务逻辑
    std::thread initThread([this]() {
        updateStatusLog(tr("正在初始化系统..."));

        int result = m_presenter->Init();
        if (result != 0) {
            updateStatusLog(tr("初始化失败，错误码：%1").arg(result));
        } else {
            updateStatusLog(tr("系统初始化完成"));
        }
    });

    // 分离线程，让其在后台运行
    initThread.detach();
#endif
}

void MainWindow::display3DImage(const QImage& image)
{
    if (image.isNull()) {
        updateStatusLog(tr("3D图片无效"));
        return;
    }

    QGraphicsScene* scene = ui->detect_image_3d->scene();
    scene->clear();

    QPixmap pixmap = QPixmap::fromImage(image);
    scene->addPixmap(pixmap);
    ui->detect_image_3d->fitInView(scene->sceneRect(), Qt::KeepAspectRatio);
}

void MainWindow::display2DImage(const QImage& image)
{
    if (image.isNull()) {
        updateStatusLog(tr("2D图片无效"));
        return;
    }

    QGraphicsScene* scene = ui->detect_image_2d->scene();
    scene->clear();

    QPixmap pixmap = QPixmap::fromImage(image);
    scene->addPixmap(pixmap);
    ui->detect_image_2d->fitInView(scene->sceneRect(), Qt::KeepAspectRatio);
}

void MainWindow::addDetectionResult(const TunnelDetectionResult& result)
{
    // 清空之前的所有检测结果数据
    ui->detect_result_list->clear();

    // 添加检测结果信息
    QWidget* resultWidget = new QWidget();
    resultWidget->setAutoFillBackground(true);
    QVBoxLayout* layout = new QVBoxLayout(resultWidget);
    layout->setContentsMargins(20, 20, 20, 20);
    layout->setSpacing(12);

    // 状态信息
    QLabel* statusLabel = new QLabel(QString("状态: %1").arg(0 == result.errorCode ? "成功" : "失败"));
    statusLabel->setStyleSheet("color: rgb(239, 241, 245); font-size: 16pt; font-weight: bold;");
    layout->addWidget(statusLabel);

    // 通道间距
    QLabel* spaceLabel = new QLabel(QString("通道间距: %1 mm").arg(result.channelSpace, 0, 'f', 2));
    spaceLabel->setStyleSheet("color: rgb(100, 200, 255); font-size: 18pt; font-weight: bold;");
    layout->addWidget(spaceLabel);

    // 通道1宽度和深度
    QLabel* channel1Label = new QLabel(QString("通道1 - 宽度: %1 mm, 深度: %2 mm")
                                        .arg(result.channelWidth[0], 0, 'f', 2)
                                        .arg(result.channelDepth[0], 0, 'f', 2));
    channel1Label->setStyleSheet("color: rgb(239, 241, 245); font-size: 15pt;");
    layout->addWidget(channel1Label);

    // 通道2宽度和深度
    QLabel* channel2Label = new QLabel(QString("通道2 - 宽度: %1 mm, 深度: %2 mm")
                                        .arg(result.channelWidth[1], 0, 'f', 2)
                                        .arg(result.channelDepth[1], 0, 'f', 2));
    channel2Label->setStyleSheet("color: rgb(239, 241, 245); font-size: 15pt;");
    layout->addWidget(channel2Label);

    // 报警信息
    if (!result.alarmMessage.empty()) {
        QLabel* alarmLabel = new QLabel(QString("报警: %1").arg(QString::fromStdString(result.alarmMessage)));
        alarmLabel->setStyleSheet("color: rgb(255, 100, 100); font-size: 15pt;");
        alarmLabel->setWordWrap(true);
        layout->addWidget(alarmLabel);
    }

    resultWidget->setStyleSheet("background-color: rgb(37, 38, 42); border: 1px solid #191A1C;");

    QListWidgetItem* item = new QListWidgetItem();
    item->setBackground(QBrush(Qt::transparent));
    item->setSizeHint(QSize(480, 220));
    item->setFlags(item->flags() & ~Qt::ItemIsDragEnabled & ~Qt::ItemIsDropEnabled);

    ui->detect_result_list->addItem(item);
    ui->detect_result_list->setItemWidget(item, resultWidget);
}

// 状态更新槽函数
void MainWindow::OnStatusUpdate(const std::string& statusMessage)
{
    LOG_DEBUG("[UI Display] Status update: %s\n", statusMessage.c_str());
    updateStatusLog(QString::fromStdString(statusMessage));
}

void MainWindow::OnDetectionResult(const TunnelDetectionResult& result)
{
    // 通过信号槽机制更新UI（确保在主线程中执行）
    emit detectionResultUpdateRequested(result);
}

void MainWindow::OnCamera1StatusChanged(bool isConnected)
{
    // 直接更新设备状态widget
    if (m_deviceStatusWidget) {
        m_deviceStatusWidget->updateCamera1Status(isConnected);
    }
}

void MainWindow::OnCamera2StatusChanged(bool isConnected)
{
    // 直接更新设备状态widget
    if (m_deviceStatusWidget) {
        m_deviceStatusWidget->updateCamera2Status(isConnected);
    }
}

void MainWindow::OnCameraCountChanged(int cameraCount)
{
    // 设置设备状态widget中的相机数量
    if (m_deviceStatusWidget) {
        m_deviceStatusWidget->setCameraCount(cameraCount);

        // 设置相机名称
        if (m_presenter) {
            const auto& cameraList = m_presenter->GetCameraList();
            if (cameraList.size() >= 1) {
                QString camera1Name = QString::fromStdString(cameraList[0].first);
                m_deviceStatusWidget->setCamera1Name(camera1Name);
            }
            if (cameraList.size() >= 2) {
                QString camera2Name = QString::fromStdString(cameraList[1].first);
                m_deviceStatusWidget->setCamera2Name(camera2Name);
            }
        }
    }

    // 更新状态消息
    updateStatusLog(tr("3D相机数量: %1").arg(cameraCount));
}

void MainWindow::OnRobotConnectionChanged(bool isConnected)
{
    // 直接更新设备状态widget
    if (m_deviceStatusWidget) {
        m_deviceStatusWidget->updateRobotStatus(isConnected);
    }
}

void MainWindow::OnSerialConnectionChanged(bool isConnected)
{
    // 直接更新设备状态widget
    if (m_deviceStatusWidget) {
        m_deviceStatusWidget->updateSerialStatus(isConnected);
    }
}

void MainWindow::OnWorkStatusChanged(WorkStatus status)
{
    // 通过信号槽机制更新UI（确保在主线程中执行）
    emit workStatusUpdateRequested(status);
}

void MainWindow::OnHikImageUpdated(const QImage& image)
{
    // 通过信号槽机制更新UI（确保在主线程中执行）
    emit hikImageUpdateRequested(image);
}

void MainWindow::updateWorkStatusLabel(WorkStatus status)
{
    // 如果状态变为Working，清空检测日志（表示开始新的检测）
    if (status == WorkStatus::Working) {
        clearDetectionLog();
    }

    // 获取状态对应的显示文本
    QString statusText = QString::fromStdString(WorkStatusToString(status));

    // 在label_work中显示状态
    if (!ui->label_work) return;

    ui->label_work->setText(statusText);

    statusText = "【工作状态】" + statusText;
    updateStatusLog(statusText);

    // 根据不同状态设置不同的样式和按钮启用状态
    switch (status) {
        case WorkStatus::Ready:
            ui->label_work->setStyleSheet("color: green;");
            setButtonsEnabled(true);
            break;
        case WorkStatus::InitIng:
            ui->label_work->setStyleSheet("color: blue;");
            setButtonsEnabled(false);
            break;
        case WorkStatus::Working:
            ui->label_work->setStyleSheet("color: blue;");
            setButtonsEnabled(false);
            break;
        case WorkStatus::Completed:
            ui->label_work->setStyleSheet("color: green; font-weight: bold;");
            setButtonsEnabled(true);
            break;
        case WorkStatus::Error:
            ui->label_work->setStyleSheet("color: red; font-weight: bold;");
            setButtonsEnabled(true);
            break;
        default:
            ui->label_work->setStyleSheet("");
            setButtonsEnabled(false);
            break;
    }
}

void MainWindow::updateDetectionResultDisplay(const TunnelDetectionResult& result)
{
    // 显示3D点云图像
    if (!result.image.isNull()) {
        updateDetectionLog(tr("3D检测结果更新"));
        display3DImage(result.image);
    }

    // 显示2D图像（海康相机）
    if (!result.hikImage.isNull()) {
        updateDetectionLog(tr("2D图像更新"));
        display2DImage(result.hikImage);
    }

    // 更新检测结果到列表
    addDetectionResult(result);
}

void MainWindow::updateHikImageDisplay(const QImage& image)
{
    display2DImage(image);
}

void MainWindow::updateDetectionLog(const QString& message)
{
    // 在UI线程中更新detect_log控件
    if (!m_logModel) return;

    // 获取当前数据
    QStringList logList = m_logModel->stringList();

    // 检查是否与最后一条消息相同
    if (message == m_lastLogMessage && !logList.isEmpty()) {
        // 相同消息，增加计数并替换最后一条
        m_lastLogCount++;

        // 添加时间戳
        QString timestamp = QDateTime::currentDateTime().toString("hh:mm:ss");
        QString logEntry = QString("[%1] %2 (x%3)").arg(timestamp).arg(message).arg(m_lastLogCount);

        // 替换最后一条
        logList[logList.size() - 1] = logEntry;
    } else {
        // 新消息，重置计数
        m_lastLogMessage = message;
        m_lastLogCount = 1;

        // 添加时间戳
        QString timestamp = QDateTime::currentDateTime().toString("hh:mm:ss");
        QString logEntry = QString("[%1] %2").arg(timestamp).arg(message);

        // 添加新的日志条目
        logList.append(logEntry);
    }

    // 更新模型
    m_logModel->setStringList(logList);

    // 自动滚动到最底部
    QModelIndex lastIndex = m_logModel->index(logList.size() - 1);
    ui->detect_log->scrollTo(lastIndex);
}

void MainWindow::clearDetectionLogUI()
{
    // 在UI线程中清空检测日志
    if (m_logModel) {
        m_logModel->setStringList(QStringList());
    }

    // 重置日志计数器
    m_lastLogMessage.clear();
    m_lastLogCount = 0;
}

void MainWindow::on_btn_start_clicked()
{
    // 检查Presenter是否已初始化
    if (!m_presenter) {
        updateStatusLog(tr("系统未初始化，请等待初始化完成"));
        return;
    }

    // 清空检测日志，开始新的检测
    clearDetectionLog();

    // 使用Presenter启动检测
    m_presenter->StartDetection(-1, false);
}

void MainWindow::on_btn_stop_clicked()
{
    // 检查Presenter是否已初始化
    if (!m_presenter) {
        updateStatusLog(tr("系统未初始化，请等待初始化完成"));
        return;
    }

    m_presenter->StopDetection();
}


void MainWindow::on_btn_camera_clicked()
{
    // 检查是否有其他按钮已被选中
    if (m_selectedButton != nullptr && m_selectedButton != ui->btn_camera) {
        updateStatusLog(tr("请先关闭当前打开的配置窗口"));
        return;
    }

    // 检查Presenter是否已初始化
    if (!m_presenter) {
        updateStatusLog(tr("系统未初始化，请等待初始化完成"));
        return;
    }

    // 设置当前按钮为选中状态
    setButtonSelectedState(ui->btn_camera, true);

    // 如果对话框不存在，创建新的CommonDialogCamera
    if (nullptr == ui_dialogCamera) {
        ui_dialogCamera = new CommonDialogCamera(m_presenter->GetCameraList(), this);

        // 连接对话框关闭信号
        connect(ui_dialogCamera, &QDialog::finished, this, [this]() {
            setButtonSelectedState(ui->btn_camera, false);
        });
    }

    ui_dialogCamera->show();
}


void MainWindow::on_btn_algo_config_clicked()
{
    // 检查是否有其他按钮已被选中
    if (m_selectedButton != nullptr && m_selectedButton != ui->btn_algo_config) {
        updateStatusLog(tr("请先关闭当前打开的配置窗口"));
        return;
    }

    // 检查Presenter是否已初始化
    if (!m_presenter) {
        updateStatusLog(tr("系统未初始化，请等待初始化完成"));
        return;
    }

    // 设置当前按钮为选中状态
    setButtonSelectedState(ui->btn_algo_config, true);

    // 如果对话框不存在，创建新的DialogAlgoConfig
    if (nullptr == ui_dialogAlgoConfig) {
        ui_dialogAlgoConfig = new DialogAlgoConfig(m_presenter, this);

        // 连接对话框关闭信号
        connect(ui_dialogAlgoConfig, &QDialog::finished, this, [this]() {
            setButtonSelectedState(ui->btn_algo_config, false);
        });
    }

    ui_dialogAlgoConfig->show();
}


void MainWindow::on_btn_camera_levelling_clicked()
{
    // 检查是否有其他按钮已被选中
    if (m_selectedButton != nullptr && m_selectedButton != ui->btn_camera_levelling) {
        updateStatusLog(tr("请先关闭当前打开的配置窗口"));
        return;
    }

    // 检查Presenter是否已初始化
    if (!m_presenter) {
        updateStatusLog(tr("系统未初始化，请等待初始化完成"));
        return;
    }

    // 设置当前按钮为选中状态
    setButtonSelectedState(ui->btn_camera_levelling, true);

    if(nullptr == ui_dialogCameraLevel){
        ui_dialogCameraLevel = new CommonDialogCameraLevel(this);

        // 连接对话框关闭信号
        connect(ui_dialogCameraLevel, &QDialog::finished, this, [this]() {
            setButtonSelectedState(ui->btn_camera_levelling, false);
        });
    }

    // 设置相机列表、presenter、计算器和结果保存器到对话框
    ui_dialogCameraLevel->SetCameraList(m_presenter->GetCameraList(), m_presenter, m_presenter, m_presenter);

    ui_dialogCameraLevel->show();
}

void MainWindow::on_btn_hide_clicked()
{
    // 最小化窗口
    this->showMinimized();
}

void MainWindow::on_btn_close_clicked()
{
    // 关闭应用程序
    this->close();
}

void MainWindow::on_btn_test_clicked()
{
    // 检查是否有其他按钮已被选中
    if (m_selectedButton != nullptr && m_selectedButton != ui->btn_test) {
        updateStatusLog(tr("请先关闭当前打开的配置窗口"));
        return;
    }

    // 设置当前按钮为选中状态
    setButtonSelectedState(ui->btn_test, true);

    // 打开文件选择对话框
    QString fileName = QFileDialog::getOpenFileName(
        this,
        tr("选择调试数据文件"),
        QString(),
        tr("激光数据文件 (*.txt);;所有文件 (*.*)")
        );

    if (fileName.isEmpty()) {
        // 用户取消了文件选择，恢复按钮状态
        setButtonSelectedState(ui->btn_test, false);
        return;
    }

    // 检查Presenter是否已初始化
    if (!m_presenter) {
        // 恢复按钮状态
        setButtonSelectedState(ui->btn_test, false);
        QMessageBox::warning(this, tr("错误"), tr("系统未正确初始化！"));
        return;
    }

    // 清空检测日志，开始新的检测
    clearDetectionLog();

    std::thread t([this, fileName]() {
        int result = m_presenter->LoadDebugDataAndDetect(fileName.toStdString());

        if (result == 0) {
            updateStatusLog(tr("调试数据加载和检测成功"));
        } else {
            QString errorMsg = tr("调试数据复检失败: %1").arg(result);
            updateStatusLog(errorMsg);
        }

        // 测试完成后恢复按钮状态
        QMetaObject::invokeMethod(this, [this]() {
            setButtonSelectedState(ui->btn_test, false);
        }, Qt::QueuedConnection);
    });
    t.detach();
}

// 设置按钮启用/禁用状态
void MainWindow::setButtonsEnabled(bool enabled)
{
    // 功能按钮
    if (ui->btn_start) ui->btn_start->setEnabled(enabled);
    if (ui->btn_stop) ui->btn_stop->setEnabled(enabled);
    if (ui->btn_camera) ui->btn_camera->setEnabled(enabled);
    if (ui->btn_algo_config) ui->btn_algo_config->setEnabled(enabled);
    if (ui->btn_camera_levelling) ui->btn_camera_levelling->setEnabled(enabled);
}

// 设置按钮图像
void MainWindow::setButtonImage(QPushButton* button, const QString& imagePath)
{
    if (button) {
        QString styleSheet = QString("image: url(%1);background-color: rgb(38, 40, 47);border: none;").arg(imagePath);
        button->setStyleSheet(styleSheet);
    }
}

// 设置按钮选中状态
void MainWindow::setButtonSelectedState(QPushButton* button, bool selected)
{
    if (!button) return;

    QString normalImage, selectedImage;

    // 根据按钮确定对应的图像路径
    if (button == ui->btn_camera) {
        normalImage = ":/common/resource/config_camera.png";
        selectedImage = ":/common/resource/config_camera_s.png";
    } else if (button == ui->btn_algo_config) {
        normalImage = ":/common/resource/config_algo.png";
        selectedImage = ":/common/resource/config_algo_s.png";
    } else if (button == ui->btn_camera_levelling) {
        normalImage = ":/common/resource/config_camera_level.png";
        selectedImage = ":/common/resource/config_camera_level_s.png";
    } else if (button == ui->btn_test) {
        normalImage = ":/common/resource/config_data_test.png";
        selectedImage = ":/common/resource/config_data_test_s.png";
    }

    // 设置对应的图像
    if (selected) {
        setButtonImage(button, selectedImage);
        m_selectedButton = button;
        // 禁用其他按钮
        setOtherButtonsEnabled(button, false);
    } else {
        setButtonImage(button, normalImage);
        if (m_selectedButton == button) {
            m_selectedButton = nullptr;
            // 启用所有按钮
            setOtherButtonsEnabled(nullptr, true);
        }
    }
}

// 恢复所有按钮状态
void MainWindow::restoreAllButtonStates()
{
    setButtonSelectedState(ui->btn_camera, false);
    setButtonSelectedState(ui->btn_algo_config, false);
    setButtonSelectedState(ui->btn_camera_levelling, false);
    setButtonSelectedState(ui->btn_test, false);
}

// 设置其他按钮的启用状态（用于互斥控制）
void MainWindow::setOtherButtonsEnabled(QPushButton* exceptButton, bool enabled)
{
    QList<QPushButton*> configButtons = {
        ui->btn_camera,
        ui->btn_algo_config,
        ui->btn_camera_levelling,
        ui->btn_test
    };

    for (QPushButton* button : configButtons) {
        if (button && button != exceptButton) {
            button->setEnabled(enabled);
        }
    }
}

// 处理相机点击事件
void MainWindow::onCameraClicked(int cameraIndex)
{
    if (m_presenter) {
        m_presenter->SetDefaultCameraIndex(cameraIndex);
    }
}

// 设置右键菜单
void MainWindow::setupContextMenu()
{
    // 创建右键菜单
    m_contextMenu = new QMenu(this);

    // 创建保存数据动作
    m_saveDataAction = new QAction(tr("保存检测数据"), this);

    // 设置右键菜单的样式表
    m_contextMenu->setStyleSheet(
        "QMenu::item { color: gray; }"
        "QMenu::item:enabled { color: gray; }"
        "QMenu::item:disabled { color: gray; }"
    );

    // 添加动作到菜单
    m_contextMenu->addAction(m_saveDataAction);

    // 连接信号槽
    connect(m_saveDataAction, &QAction::triggered, this, &MainWindow::onSaveDetectionData);

    // 为图像视图设置右键菜单事件
    ui->detect_image_3d->setContextMenuPolicy(Qt::CustomContextMenu);
    ui->detect_image_2d->setContextMenuPolicy(Qt::CustomContextMenu);

    // 连接右键菜单信号
    connect(ui->detect_image_3d, &QGraphicsView::customContextMenuRequested,
            this, [this](const QPoint& pos) { showContextMenu(pos, ui->detect_image_3d); });
    connect(ui->detect_image_2d, &QGraphicsView::customContextMenuRequested,
            this, [this](const QPoint& pos) { showContextMenu(pos, ui->detect_image_2d); });
}

// 显示右键菜单
void MainWindow::showContextMenu(const QPoint& pos, QGraphicsView* view)
{
    // 检查是否有检测数据可以保存
    if (!m_presenter) {
        updateStatusLog(tr("系统未初始化，无法保存数据"));
        return;
    }

    if (m_presenter->GetDetectionDataCacheSize() == 0) {
        updateStatusLog(tr("没有检测数据可以保存"));
        return;
    }

    // 显示右键菜单
    m_contextMenu->exec(view->mapToGlobal(pos));
}

// 保存检测数据槽函数
void MainWindow::onSaveDetectionData()
{
    if (!m_presenter) {
        updateStatusLog(tr("系统未初始化，无法保存数据"));
        return;
    }

    // 让用户选择保存目录
    QString dirPath = QFileDialog::getExistingDirectory(this,
        tr("选择保存目录"),
        QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation),
        QFileDialog::ShowDirsOnly | QFileDialog::DontResolveSymlinks);

    if (dirPath.isEmpty()) {
        updateStatusLog(tr("用户取消了保存操作"));
        return;
    }

    // 生成文件名（包含时间戳和相机信息）
    std::string timeStamp = CVrDateUtils::GetNowTime();
    std::string fileName = "Laserline_" + std::to_string(m_presenter->GetDetectIndex())  + "_" + timeStamp + ".txt";
    QString fullPath = QDir(dirPath).filePath(QString::fromStdString(fileName));

    // 保存数据
    if (saveDetectionDataToFile(fullPath, m_presenter->GetDetectIndex())) {
        updateStatusLog(tr("检测数据已保存到：%1").arg(fileName.c_str()));
    } else {
        updateStatusLog(tr("保存检测数据失败"));
    }
}

// 保存检测数据到文件
bool MainWindow::saveDetectionDataToFile(const QString& filePath, int cameraIndex)
{
    try {
        // 直接调用Presenter的保存方法
        int result = m_presenter->SaveDetectionDataToFile(filePath.toStdString());

        if (result == 0) {
            updateStatusLog(tr("检测数据保存成功"));
            return true;
        } else {
            updateStatusLog(tr("保存数据失败，错误码：%1").arg(result));
            return false;
        }

    } catch (const std::exception& e) {
        updateStatusLog(tr("保存数据时发生异常：%1").arg(e.what()));
        return false;
    }
}

// ============ 补光灯控制相关 ============

void MainWindow::setupSupplementLightButton()
{
    return;

    // 创建补光灯按钮（悬浮在2D图像视图上）
    m_btnSupplementLight = new QPushButton(ui->detect_image_2d);
    m_btnSupplementLight->setFixedSize(32, 32);
    m_btnSupplementLight->setToolTip(tr("补光灯开关"));
    m_btnSupplementLight->setCursor(Qt::PointingHandCursor);
    m_btnSupplementLight->setFlat(true);
    m_btnSupplementLight->setAttribute(Qt::WA_TranslucentBackground);
    m_btnSupplementLight->setAutoFillBackground(false);

    // 设置按钮样式
    updateSupplementLightButtonState(false);

    // 设置初始位置到右上角
    int viewWidth = ui->detect_image_2d->width();
    if (viewWidth < 100) viewWidth = 400;
    m_btnSupplementLight->move(viewWidth - 42, 10);

    m_btnSupplementLight->raise();
    m_btnSupplementLight->show();

    connect(m_btnSupplementLight, &QPushButton::clicked, this, &MainWindow::onSupplementLightToggle);
    ui->detect_image_2d->installEventFilter(this);
}

void MainWindow::updateSupplementLightButtonState(bool enabled)
{
    if (!m_btnSupplementLight) return;

    m_bSupplementLightOn = enabled;

    // 简单的圆形指示灯样式
    if (enabled) {
        m_btnSupplementLight->setStyleSheet(
            "QPushButton { background: qradialgradient(cx:0.5, cy:0.5, radius:0.5, fx:0.3, fy:0.3, stop:0 #FFFF00, stop:1 #FF8C00); "
            "border: 2px solid #FFD700; border-radius: 16px; }"
            "QPushButton:hover { border: 2px solid #FFFFFF; }"
        );
    } else {
        m_btnSupplementLight->setStyleSheet(
            "QPushButton { background: qradialgradient(cx:0.5, cy:0.5, radius:0.5, fx:0.3, fy:0.3, stop:0 #666666, stop:1 #333333); "
            "border: 2px solid #555555; border-radius: 16px; }"
            "QPushButton:hover { border: 2px solid #888888; }"
        );
    }
    m_btnSupplementLight->setText("");
}

void MainWindow::onSupplementLightToggle()
{
    if (!m_presenter) {
        updateStatusLog(tr("系统未初始化"));
        return;
    }

    // 切换状态
    bool newState = !m_bSupplementLightOn;

    // TODO: 在此处添加控制其他补光设备的代码
    // 例如：通过串口、Modbus、GPIO等方式控制外部补光灯
    // int result = m_presenter->SetExternalSupplementLight(newState);

    // 暂时直接更新UI状态
    updateSupplementLightButtonState(newState);
    updateStatusLog(tr("补光灯已%1").arg(newState ? tr("开启") : tr("关闭")));
}

bool MainWindow::eventFilter(QObject* watched, QEvent* event)
{
    // 处理2D图像视图的resize和show事件，重新定位补光灯按钮到右上角
    if (watched == ui->detect_image_2d) {
        if (event->type() == QEvent::Resize || event->type() == QEvent::Show) {
            if (m_btnSupplementLight) {
                int viewWidth = ui->detect_image_2d->width();
                m_btnSupplementLight->move(viewWidth - 42, 10);
                m_btnSupplementLight->raise();
            }
        }
    }

    return QMainWindow::eventFilter(watched, event);
}