GrabBag/App/Workpiece/WorkpieceApp/Presenter/Src/TCPServerMethods.cpp

#include "WorkpiecePresenter.h"
#include "VrLog.h"
#include "VrError.h"
#include <QDateTime>

// 初始化TCP服务器
int WorkpiecePresenter::InitTCPServer()
{
    LOG_DEBUG("Start initializing TCP server\n");

    if (m_pTCPServer) {
        LOG_WARNING("TCP server already initialized\n");
        return 0;
    }

    // 创建TCP服务器协议实例
    m_pTCPServer = new TCPServerProtocol();

    // 从配置获取端口，默认5020
    int port = 7800;
    if (m_vrConfig) {
        // TODO: 从配置文件获取端口配置
        // port = m_vrConfig->GetTCPPort();
    }

    // 初始化TCP服务器
    int nRet = m_pTCPServer->Initialize(port);
    if (nRet != 0) {
        LOG_ERROR("Failed to initialize TCP server, return code: %d\n", nRet);
        delete m_pTCPServer;
        m_pTCPServer = nullptr;
        return nRet;
    }

    // 设置连接状态回调
    m_pTCPServer->SetConnectionCallback([this](bool connected) {
        this->OnTCPConnectionChanged(connected);
    });

    // 设置检测触发回调
    m_pTCPServer->SetDetectionTriggerCallback([this](bool startWork, int cameraIndex, qint64 timestamp) {
        return this->OnTCPDetectionTrigger(startWork, cameraIndex, timestamp);
    });

    LOG_INFO("TCP server protocol initialized successfully on port %d\n", port);
    return 0;
}

// TCP连接状态改变回调
void WorkpiecePresenter::OnTCPConnectionChanged(bool connected)
{
    LOG_DEBUG("TCP connection status changed: %s\n", connected ? "connected" : "disconnected");

    m_bTCPConnected = connected;

    // 通知状态更新
    if (m_pStatus) {
        if (connected) {
            m_pStatus->OnStatusUpdate("TCP客户端已连接");
        } else {
            m_pStatus->OnStatusUpdate("TCP客户端已断开");
        }

        // 更新机械臂连接状态
        m_pStatus->OnRobotConnectionChanged(connected);
    }

    // 更新工作状态
    CheckAndUpdateWorkStatus();
}

// TCP检测触发回调
bool WorkpiecePresenter::OnTCPDetectionTrigger(bool startWork, int cameraIndex, qint64 timestamp)
{
    LOG_DEBUG("TCP detection trigger: startWork=%s, cameraIndex=%d, timestamp=%lld\n",
              startWork ? "true" : "false", cameraIndex, timestamp);

    if (!startWork) {
        LOG_WARNING("Received stop work signal, ignoring\n");
        return false;
    }

    // 检查相机连接状态
    if (!m_bCameraConnected) {
        LOG_ERROR("Camera not connected, cannot start detection\n");
        return false;
    }

    // 启动检测
    int result = StartDetection(cameraIndex, false); // false表示手动触发
    bool success = (result == 0);

    if (success) {
        LOG_DEBUG("Detection started successfully via TCP trigger\n");
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("TCP触发检测开始");
        }
    } else {
        LOG_ERROR("Failed to start detection via TCP trigger, error code: %d\n", result);
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("TCP触发检测失败");
        }
    }

    return success;
}

// 发送检测结果给TCP客户端
void WorkpiecePresenter::_SendDetectionResultToTCP(const DetectionResult& detectionResult, int cameraIndex)
{
    if (!m_pTCPServer || !m_bTCPConnected) {
        LOG_DEBUG("TCP server not available, skipping result transmission\n");
        return;
    }

    LOG_DEBUG("Sending detection result to TCP clients, camera index: %d\n", cameraIndex);

    // 创建主结果对象
    QJsonObject resultObject;
    // 添加工件类型
    resultObject["type"] = detectionResult.workpieceType;
    // 构造新的JSON格式：type + L/T/R/B分组
    try {
        // 检查角点数量是否为12个（左3、顶3、右3、底3）
        if (detectionResult.positions.size() != 12) {
            LOG_WARNING("Expected 12 corner points, but got %zu points\n", detectionResult.positions.size());
            // 如果点数不对，仍然发送，但可能数据不完整
        }

        resultObject["success"] = true;
        // 角点索引说明（根据DetectPresenter.cpp中的顺序）：
        // 索引 0-2:  左侧 (L) - 从下到上
        // 索引 3-5:  顶部 (T) - 从左到右
        // 索引 6-8:  右侧 (R) - 从上到下
        // 索引 9-11: 底部 (B) - 从右到左

        // 构造左侧角点 (L)
        QJsonObject L;
        for (int i = 0; i < 3 && i < (int)detectionResult.positions.size(); i++) {
            QJsonArray point;
            point.append(detectionResult.positions[i].x);
            point.append(detectionResult.positions[i].y);
            point.append(detectionResult.positions[i].z);
            L[QString("P%1").arg(i + 1)] = point;
        }
        resultObject["L"] = L;

        // 构造顶部角点 (T)
        QJsonObject T;
        for (int i = 0; i < 3 && (i + 3) < (int)detectionResult.positions.size(); i++) {
            QJsonArray point;
            point.append(detectionResult.positions[i + 3].x);
            point.append(detectionResult.positions[i + 3].y);
            point.append(detectionResult.positions[i + 3].z);
            T[QString("P%1").arg(i + 1)] = point;
        }
        resultObject["T"] = T;

        // 构造右侧角点 (R)
        QJsonObject R;
        for (int i = 0; i < 3 && (i + 6) < (int)detectionResult.positions.size(); i++) {
            QJsonArray point;
            point.append(detectionResult.positions[i + 6].x);
            point.append(detectionResult.positions[i + 6].y);
            point.append(detectionResult.positions[i + 6].z);
            R[QString("P%1").arg(i + 1)] = point;
        }
        resultObject["R"] = R;

        // 构造底部角点 (B)
        QJsonObject B;
        for (int i = 0; i < 3 && (i + 9) < (int)detectionResult.positions.size(); i++) {
            QJsonArray point;
            point.append(detectionResult.positions[i + 9].x);
            point.append(detectionResult.positions[i + 9].y);
            point.append(detectionResult.positions[i + 9].z);
            B[QString("P%1").arg(i + 1)] = point;
        }
        resultObject["B"] = B;

        // 发送结果
        int sendResult = m_pTCPServer->SendDetectionResult(resultObject);
        if (sendResult == 0) {
            LOG_INFO("Detection result sent to TCP clients successfully\n");
        } else {
            LOG_ERROR("Failed to send detection result to TCP clients, error code: %d\n", sendResult);
        }
    } catch (const std::exception& e) {
        LOG_ERROR("Exception while preparing TCP detection result: %s\n", e.what());
        m_pTCPServer->SendDetectionResult(resultObject);
    }
}