GrabBag/App/ScrewPosition/ScrewPositionApp/Presenter/Inc/ScrewPositionTCPProtocol.h

#ifndef SCREWPOSITIONTCPPROTOCOL_H
#define SCREWPOSITIONTCPPROTOCOL_H

#include <functional>
#include <vector>
#include <string>
#include <map>
#include <QByteArray>
#include "IYTCPServer.h"
#include "IVrConfig.h"

/**
 * @brief 机器人法兰位姿（触发信号中携带）
 */
struct RobotPose6D
{
    double x = 0.0;
    double y = 0.0;
    double z = 0.0;
    double rx = 0.0;
    double ry = 0.0;
    double rz = 0.0;
};

/**
 * @brief ScrewPosition 文本协议 TCP 服务器
 *
 * 触发格式（客户端→服务端，换行符结尾）：
 *   S1 RbtX-23.45 RbtY-23.45 RbtZ-23.45 RbtRX-23.45 RbtRY-123.45 RbtRZ-23.45\n
 *   S 表示螺杆检测，T 表示工具盘检测，后跟相机索引
 *
 * 返回格式（服务端→客户端）：
 *   PointNum_X1_Y1_Z1_RX1_RY1_RZ1/X2_Y2_Z2_RX2_RY2_RZ2/\n
 */
class ScrewPositionTCPProtocol
{
public:
    using ConnectionCallback = std::function<void(bool connected)>;

    /**
     * @brief 检测触发回调
     * @param cameraIndex 相机索引
     * @param detectionType 检测类型
     * @param robotPose 机器人当前位姿
     * @return 是否成功触发
     */
    using DetectionTriggerCallback = std::function<bool(int cameraIndex,
                                                         DetectionType detectionType,
                                                         const RobotPose6D& robotPose)>;

    ScrewPositionTCPProtocol();
    ~ScrewPositionTCPProtocol();

    int Initialize(uint16_t port = 7800);
    void Deinitialize();
    bool IsRunning() const;

    void SetConnectionCallback(const ConnectionCallback& callback);
    void SetDetectionTriggerCallback(const DetectionTriggerCallback& callback);

    /**
     * @brief 发送文本结果
     * @param text 文本内容（不含换行，内部自动添加）
     * @param pClient nullptr 则广播
     */
    int SendTextResult(const std::string& text, const TCPClient* pClient = nullptr);

private:
    void OnTCPEvent(const TCPClient* pClient, TCPServerEventType eventType);
    void OnTCPDataReceived(const TCPClient* pClient, const char* pData, unsigned int nLen);
    void ParseTextCommand(const TCPClient* pClient, const QByteArray& line);

private:
    IYTCPServer* m_pTCPServer = nullptr;
    bool m_bServerRunning = false;
    uint16_t m_nPort = 7800;

    ConnectionCallback m_connectionCallback;
    DetectionTriggerCallback m_detectionTriggerCallback;

    std::map<const TCPClient*, QByteArray> m_clientBuffers;
};

#endif // SCREWPOSITIONTCPPROTOCOL_H