GrabBag/App/Workpiece/WorkpieceApp/dialogcameralevel.h

#ifndef DialogCameraLevel_H
#define DialogCameraLevel_H

#include <QDialog>
#include <QWidget>
#include <QComboBox>
#include <QLineEdit>
#include <QMessageBox>
#include <QThread>
#include <vector>
#include <mutex>
#include "IVrEyeDevice.h"
#include "WorkpiecePresenter.h"
#include "VZNL_Types.h"


// #define LEVEL_DEBUG_MODE

namespace Ui {
class DialogCameraLevel;
}

class DialogCameraLevel : public QDialog
{
    Q_OBJECT

public:
    explicit DialogCameraLevel(QWidget *parent = nullptr);
    ~DialogCameraLevel();
    
    // Delete copy constructor and assignment operator due to atomic members
    DialogCameraLevel(const DialogCameraLevel&) = delete;
    DialogCameraLevel& operator=(const DialogCameraLevel&) = delete;

    // 设置相机列表和presenter
    void setCameraList(const std::vector<std::pair<std::string, IVrEyeDevice*>>& cameraList,
                      WorkpiecePresenter* presenter);

private slots:
    void on_btn_apply_clicked();
    void on_btn_cancel_clicked();
    void on_combo_camera_currentIndexChanged(int index);

private:
    Ui::DialogCameraLevel *ui;
    
    // 相机列表和名称
    std::vector<std::pair<std::string, IVrEyeDevice*>> m_cameraList;
    WorkpiecePresenter* m_presenter = nullptr;
    
    // 扫描数据缓存
    std::vector<SVzNL3DLaserLine> m_scanDataCache;
    std::mutex m_scanDataMutex;
    
    // 状态回调相关
    std::atomic<bool> m_swingFinished = false;  // 摆动完成标志，同时表示扫描完成
    std::atomic<bool> m_callbackRestored = false;
    
    // 初始化相机选择框
    void initializeCameraCombo();
    
    // 执行相机调平
    bool performCameraLeveling();
    
    // 直接使用相机接口进行扫描
    bool startCameraScan(int cameraIndex);
    bool stopCameraScan(int cameraIndex);
    
    // 检测数据回调函数
    static void StaticDetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pUserData);
    void DetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint);
    
    // 状态回调函数
    static void StaticStatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam);
    void StatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam);
    
    // 设置和恢复状态回调
    void setLevelingStatusCallback();
    void restorePresenterStatusCallback();
    
    // 处理扫描到的地面数据进行调平计算
    bool calculatePlaneCalibration(double planeCalib[9], double& planeHeight, double invRMatrix[9]);
    
    // 清空扫描数据缓存
    void clearScanDataCache();
    
    // Debug模式方法
    QString selectDebugDataFile();
    bool loadDebugDataAndSimulateScan(const QString& filePath);
    void simulateScanProcess();
    
    // 更新调平结果显示
    void updateLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9]);
    
    // 保存调平结果到配置
    bool saveLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9], int cameraIndex, const QString& cameraName);
    
    // 加载相机标定数据
    bool loadCameraCalibrationData(int cameraIndex, const QString& cameraName, 
                                   double planeCalib[9], double& planeHeight, double invRMatrix[9]);
    
    // 检查并显示相机标定状态
    void checkAndDisplayCalibrationStatus(int cameraIndex);
};

#endif // DialogCameraLevel_H