GrabBag/App/HolePitPosition/HolePitPositionApp/Presenter/Inc/HolePitPositionPresenter.h

#ifndef HOLEPITPOSITIONPRESENTER_H
#define HOLEPITPOSITIONPRESENTER_H

#include <condition_variable>
#include <thread>
#include <map>
#include <mutex>
#include <memory>

#include "BasePresenter.h"
#include "IVrEyeDevice.h"
#include "ConfigManager.h"
#include "TCPServerProtocol.h"
#include "IYHolePitPositionStatus.h"
#include "VrConvert.h"
#include "LaserDataLoader.h"
#include "CoordinateTransform.h"
#include <QImage>
#include <QPainter>
#include <QColor>
#include <QObject>
#include <QTimer>
#include <memory>

// 前向声明
class DetectPresenter;
class HolePitPositionPresenter;

// 配置变化监听器代理类
class ConfigChangeListenerProxy : public IConfigChangeListener
{
public:
    explicit ConfigChangeListenerProxy(HolePitPositionPresenter* presenter) : m_presenter(presenter) {}

    void OnSystemConfigChanged(const SystemConfig& config) override;
    void OnCameraParamChanged(int cameraIndex, const CameraUIParam& cameraParam) override {}
    void OnAlgorithmParamChanged(const VrAlgorithmParams& algorithmParams) override {}

private:
    HolePitPositionPresenter* m_presenter;
};

class HolePitPositionPresenter : public BasePresenter, public IVrConfigChangeNotify
{
    Q_OBJECT

    // 声明友元类，允许访问 protected 成员
    friend class ConfigChangeListenerProxy;

public:
    explicit HolePitPositionPresenter(QObject *parent = nullptr);
    ~HolePitPositionPresenter();

    // 初始化
    int InitApp() override;

    // 获取配置管理器
    ConfigManager* GetConfigManager() { return m_pConfigManager; }

    // 手眼标定矩阵管理
    CalibMatrix GetClibMatrix(int index) const;

    // 获取算法版本号
    std::string GetAlgoVersion() const;

    // 实现IVrConfigChangeNotify接口
    virtual void OnConfigChanged(const ConfigResult& configResult) override;

protected:
    // ============ 实现 BasePresenter 纯虚函数 ============

    int InitAlgoParams() override;

    int ProcessAlgoDetection(std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& detectionDataCache) override;

    EVzResultDataType GetDetectionDataType() override {
        return keResultDataType_Position;
    }

    void OnCameraStatusChanged(int cameraIndex, bool isConnected) override;
    void OnWorkStatusChanged(WorkStatus status) override;
    void OnCameraCountChanged(int count) override;
    void OnStatusUpdate(const std::string& statusMessage) override;

    // HolePitPosition 不需要 ModbusTCP 服务器（使用 TCPServerProtocol 通信）
    bool ShouldStartModbusServer() const override { return false; }

private:
    // TCP服务器相关方法
    int InitTCPServer();
    void OnTCPConnectionChanged(bool connected);
    bool OnTCPDetectionTrigger(int cameraIndex, const RobotFlangePose& robotPose);
    void _SendDetectionResultToTCP(const HoleDetectionResult& detectionResult, int cameraIndex);

    // 连接状态检查和更新
    void CheckAndUpdateWorkStatus();

private:
    ConfigManager*                  m_pConfigManager = nullptr;

    // TCP服务器相关
    TCPServerProtocol*              m_pTCPServer = nullptr;
    bool                            m_bTCPConnected = false;

    // 检测处理器
    DetectPresenter*                m_pDetectPresenter = nullptr;

    // 手眼标定矩阵列表
    std::vector<CalibMatrix>        m_clibMatrixList;

    // 当前机器人法兰位姿（从TCP触发信号中获取）
    RobotFlangePose                 m_currentRobotPose;

    // 配置变化监听器代理
    std::shared_ptr<ConfigChangeListenerProxy> m_pConfigListener;
};

#endif // HOLEPITPOSITIONPRESENTER_H