GrabBag/App/Workpiece/WorkpieceConfig/Inc/IVrConfig.h

#ifndef IVRCONFIG_H
#define IVRCONFIG_H

#include <iostream>
#include <string>
#include <vector>
#include <utility>
#include <algorithm>
#include <cstring>

// 包含公共配置结构体
#include "VrCommonConfig.h"

/**
 * @brief 离群点滤波参数
 */
struct VrOutlierFilterParam
{
    double continuityTh = 20.0;  // 连续性阈值
    double outlierTh = 5.0;      // 离群点判断阈值
};

/**
 * @brief 拐角参数
 */
struct VrCornerParam
{
    double cornerTh = 60;         // 拐角阈值
    double scale = 50;            // 计算方向角的窗口比例因子
    double minEndingGap = 20;     // Y方向最小结束间隔
    double minEndingGap_z = 20;   // Z方向最小结束间隔
    double jumpCornerTh_1 = 10;   // 跳跃拐角阈值1
    double jumpCornerTh_2 = 60;   // 跳跃拐角阈值2
};

/**
 * @brief 树生长参数
 */
struct VrTreeGrowParam
{
    int maxLineSkipNum = 10;             // 生长时允许跳过的最大线条数
    double yDeviation_max = 10.0;       // 生长时允许的最大Y偏差
    double maxSkipDistance = 10.0;         // 最大跳跃距离
    double zDeviation_max = 10;         // 生长时允许的最大Z偏差
    double minLTypeTreeLen = 100.0;      // L型树的最小长度
    double minVTypeTreeLen = 100.0;      // V型树的最小长度
};

/**
 * @brief 激光焊接参数
 */
struct VrWorkpieceParam
{
    double lineLen = 180.0;        // 工件角点提取：直线段长度阈值
    double dirAngleScale = 25.0;   // 计算方向角的尺度
    double lineDeviation = 20.0;   // 直线偏差
    double minCutAngleTh = 15.0;   // 最小截角阈值
};

/**
 * @brief 单个相机的手眼标定参数（4x4变换矩阵）
 */
struct VrHandEyeCalibParam
{
    int cameraIndex = 1;                        // 相机索引（1-based）
    std::string cameraName = "";                // 相机名称
    double transformMatrix[16] = {              // 4x4变换矩阵（默认单位矩阵）
        1.0, 0.0, 0.0, 0.0,
        0.0, 1.0, 0.0, 0.0,
        0.0, 0.0, 1.0, 0.0,
        0.0, 0.0, 0.0, 1.0
    };
    bool isCalibrated = false;                  // 是否已经校准

    VrHandEyeCalibParam& operator=(const VrHandEyeCalibParam& other) {
        if (this != &other) {
            cameraIndex = other.cameraIndex;
            cameraName = other.cameraName;
            memcpy(transformMatrix, other.transformMatrix, sizeof(transformMatrix));
            isCalibrated = other.isCalibrated;
        }
        return *this;
    }

    VrHandEyeCalibParam(const VrHandEyeCalibParam& other)
        : cameraIndex(other.cameraIndex)
        , cameraName(other.cameraName)
        , isCalibrated(other.isCalibrated) {
        memcpy(transformMatrix, other.transformMatrix, sizeof(transformMatrix));
    }

    VrHandEyeCalibParam() = default;
};

/**
 * @brief 手眼标定参数集合（支持多相机）
 */
struct VrHandEyeCalibParams
{
    std::vector<VrHandEyeCalibParam> cameraHandEyeParams;

    VrHandEyeCalibParam* GetCameraHandEyeParam(int cameraIndex) {
        for (auto& param : cameraHandEyeParams) {
            if (param.cameraIndex == cameraIndex) {
                return &param;
            }
        }
        return nullptr;
    }

    const VrHandEyeCalibParam* GetCameraHandEyeParam(int cameraIndex) const {
        for (const auto& param : cameraHandEyeParams) {
            if (param.cameraIndex == cameraIndex) {
                return &param;
            }
        }
        return nullptr;
    }

    void SetCameraHandEyeParam(const VrHandEyeCalibParam& param) {
        for (auto& existingParam : cameraHandEyeParams) {
            if (existingParam.cameraIndex == param.cameraIndex) {
                existingParam = param;
                return;
            }
        }
        cameraHandEyeParams.push_back(param);
    }

    void RemoveCameraHandEyeParam(int cameraIndex) {
        cameraHandEyeParams.erase(
            std::remove_if(cameraHandEyeParams.begin(), cameraHandEyeParams.end(),
                          [cameraIndex](const VrHandEyeCalibParam& param) {
                              return param.cameraIndex == cameraIndex;
                          }),
            cameraHandEyeParams.end());
    }
};

/**
 * @brief 算法参数配置结构
 */
struct VrAlgorithmParams
{
    VrOutlierFilterParam    filterParam;        // 离群点滤波参数
    VrCornerParam           cornerParam;        // 拐角参数
    VrTreeGrowParam         growParam;          // 树生长参数
    VrPlaneCalibParam       planeCalibParam;    // 平面校准参数
    VrWorkpieceParam        workpieceParam;     // 工件参数
    VrHandEyeCalibParams    handEyeCalibParam;  // 手眼标定参数

    // 显式赋值构造函数，确保正确的深拷贝
    VrAlgorithmParams& operator=(const VrAlgorithmParams& other) {
        if (this != &other) {
            filterParam = other.filterParam;
            cornerParam = other.cornerParam;
            growParam = other.growParam;
            planeCalibParam = other.planeCalibParam;
            workpieceParam = other.workpieceParam;
            handEyeCalibParam = other.handEyeCalibParam;
        }
        return *this;
    }

    // 显式复制构造函数
    VrAlgorithmParams(const VrAlgorithmParams& other)
        : filterParam(other.filterParam)
        , cornerParam(other.cornerParam)
        , growParam(other.growParam)
        , planeCalibParam(other.planeCalibParam)
        , workpieceParam(other.workpieceParam)
        , handEyeCalibParam(other.handEyeCalibParam) {
    }

    // 默认构造函数
    VrAlgorithmParams() = default;
};

/**
 * @brief 配置加载结果
 */
struct ConfigResult
{
    std::vector<DeviceInfo>    cameraList;
    std::vector<DeviceInfo>    deviceList;
    VrAlgorithmParams          algorithmParams;  // 算法参数
    VrDebugParam               debugParam;         // 调试参数
    SerialConfig               serialConfig;      // 串口配置

    // 显式赋值构造函数，确保正确的深拷贝
    ConfigResult& operator=(const ConfigResult& other) {
        if (this != &other) {
            cameraList = other.cameraList;
            deviceList = other.deviceList;
            algorithmParams = other.algorithmParams;
            debugParam = other.debugParam;
            serialConfig = other.serialConfig;
        }
        return *this;
    }

    // 显式复制构造函数
    ConfigResult(const ConfigResult& other)
        : cameraList(other.cameraList)
        , deviceList(other.deviceList)
        , algorithmParams(other.algorithmParams)
        , debugParam(other.debugParam)
        , serialConfig(other.serialConfig) {
    }

    // 默认构造函数
    ConfigResult() = default;
};

/**
 * @brief 配置加载错误代码
 */
enum LoadConfigErrorCode
{
    LOAD_CONFIG_SUCCESS = 0,              // 加载成功
    LOAD_CONFIG_FILE_NOT_FOUND = -1,      // 配置文件不存在
    LOAD_CONFIG_PARSE_ERROR = -2,         // 配置文件解析错误
    LOAD_CONFIG_INVALID_FORMAT = -3,      // 配置文件格式无效
    LOAD_CONFIG_UNKNOWN_ERROR = -99       // 未知错误
};

/**
 * @brief VrConfig接口类
 */
class IVrConfig
{
public:
    /**
     * @brief 虚析构函数
     */
    virtual ~IVrConfig() {}

    /**
     * @brief 创建实例
     * @return 实例
     */
    static bool CreateInstance(IVrConfig** ppVrConfig);

    /**
     * @brief 加载配置文件
     * @param filePath 配置文件路径
     * @param configResult 输出参数，加载的配置结果
     * @return 错误代码 (LoadConfigErrorCode): 0=成功, 负值表示错误
     */
    virtual int LoadConfig(const std::string& filePath, ConfigResult& configResult) = 0;

    /**
     * @brief 保存配置文件
     * @param filePath 配置文件路径
     * @param configResult 配置结果
     * @return 是否保存成功
     */
    virtual bool SaveConfig(const std::string& filePath, ConfigResult& configResult) = 0;
    
    /**
     * @brief 设置配置改变通知回调
     * @param notify 通知接口指针
     */
    virtual void SetConfigChangeNotify(IVrConfigChangeNotify* notify) = 0;
};  

#endif // IVRCONFIG_H