#include "LapWeldPresenter.h"
#include "VrError.h"
#include "VrLog.h"
#include <QtCore/QCoreApplication>
#include <QtCore/QFileInfo>
#include <QtCore/QDir>
#include <QtCore/QString>
#include <QtCore/QStandardPaths>
#include <QtCore/QFile>
#include <cmath>
#include <algorithm>
#include <QImage>
#include <QThread>
#include <atomic>

#include "Version.h"
#include "VrTimeUtils.h"
#include "VrDateUtils.h"
#include "SX_lapWeldDetection_Export.h"
#include "SG_baseDataType.h"
#include "VrConvert.h"
#include "PointCloudImageUtils.h"

LapWeldPresenter::LapWeldPresenter()
    : m_pConfigManager(nullptr)
    , m_pStatus(nullptr)
    , m_pDetectPresenter(nullptr)
    , m_pTCPServer(nullptr)
    , m_bCameraConnected(false)
    , m_bTCPConnected(false)
    , m_currentWorkStatus(WorkStatus::Error)
{
    m_detectionDataCache.clear();
}

LapWeldPresenter::~LapWeldPresenter()
{
    // 停止算法检测线程
    m_bAlgoDetectThreadRunning = false;
    m_algoDetectCondition.notify_all();

    // 等待算法检测线程结束
    if (m_algoDetectThread.joinable()) {
        m_algoDetectThread.join();
    }

    // 释放缓存的检测数据
    _ClearDetectionDataCache();

    // 释放TCP服务器
    if (m_pTCPServer) {
        m_pTCPServer->Deinitialize();
        delete m_pTCPServer;
        m_pTCPServer = nullptr;
    }

    // 释放相机设备资源
    for(auto it = m_vrEyeDeviceList.begin(); it != m_vrEyeDeviceList.end(); it++)
    {
        if (it->second != nullptr) {
            it->second->CloseDevice();
            delete it->second;
            it->second = nullptr;
        }
    }
    m_vrEyeDeviceList.clear();

    // 释放检测处理器
    if(m_pDetectPresenter)
    {
        delete m_pDetectPresenter;
        m_pDetectPresenter = nullptr;
    }

    // 释放配置管理器
    if (m_pConfigManager) {
        m_pConfigManager->Shutdown();
        delete m_pConfigManager;
        m_pConfigManager = nullptr;
    }
}

int LapWeldPresenter::Init()
{
    LOG_DEBUG("Start APP Version: %s\n", LAPWELD_FULL_VERSION_STRING);
    // 初始化连接状态
    m_bCameraConnected = false;
    m_currentWorkStatus = WorkStatus::InitIng;

    m_pStatus->OnWorkStatusChanged(m_currentWorkStatus);

    m_pDetectPresenter = new DetectPresenter();

    // 创建 ConfigManager 实例
    m_pConfigManager = new ConfigManager();
    if (!m_pConfigManager) {
        LOG_ERROR("Failed to create ConfigManager instance\n");
        m_pStatus->OnStatusUpdate("配置管理器创建失败");
        return ERR_CODE(DEV_CONFIG_ERR);
    }

    // 初始化 ConfigManager
    if (!m_pConfigManager->Initialize()) {
        LOG_ERROR("Failed to initialize ConfigManager\n");
        m_pStatus->OnStatusUpdate("配置管理器初始化失败");
        return ERR_CODE(DEV_CONFIG_ERR);
    }

    // 获取配置结果
    ConfigResult configResult = m_pConfigManager->GetConfigResult();
    m_projectType = configResult.projectType;
    int nRet = SUCCESS;

    // 初始化算法参数
    nRet = InitAlgorithmParams();
    if (nRet != 0) {
        m_pStatus->OnStatusUpdate("算法参数初始化失败");
        LOG_ERROR("Algorithm parameters initialization failed with error: %d\n", nRet);
    } else {
        m_pStatus->OnStatusUpdate("算法参数初始化成功");
        LOG_INFO("Algorithm parameters initialization successful\n");
    }

    InitCamera(configResult.cameraList);

    LOG_INFO("Camera initialization completed. Connected cameras: %zu, default camera index: %d\n",
             m_vrEyeDeviceList.size(), m_currentCameraIndex);

    // 初始化TCP服务器
    nRet = InitTCPServer();
    if (nRet != 0) {
        m_pStatus->OnStatusUpdate("TCP服务器初始化失败");
        m_bTCPConnected = false;
    } else {
        m_pStatus->OnStatusUpdate("TCP服务器初始化成功");
    }

    m_bAlgoDetectThreadRunning = true;
    m_algoDetectThread = std::thread(&LapWeldPresenter::_AlgoDetectThread, this);
    m_algoDetectThread.detach();

    m_pStatus->OnStatusUpdate("设备初始化完成");

    CheckAndUpdateWorkStatus();

    QString str = QString("%1 配置初始化成功").arg(ProjectTypeToString(configResult.projectType).c_str());
    m_pStatus->OnStatusUpdate(str.toStdString());
    LOG_INFO("Configuration initialized successfully\n");

    return SUCCESS;
}

// TCP服务器初始化
int LapWeldPresenter::InitTCPServer()
{
    LOG_DEBUG("Initializing TCP server\n");

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

    // 初始化TCP服务器（使用默认端口5020）
    int result = m_pTCPServer->Initialize(5020);
    if (result != 0) {
        LOG_ERROR("Failed to initialize TCP server: %d\n", result);
        return result;
    }

    // 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 initialized successfully on port 5020\n");
    m_bTCPConnected = true;
    return SUCCESS;
}

// 相机协议相关方法
int LapWeldPresenter::InitCamera(std::vector<DeviceInfo>& cameraList)
{
    // 通知UI相机个数
    int cameraCount = cameraList.size();
        
    // 初始化相机列表，预分配空间
    m_vrEyeDeviceList.resize(cameraCount, std::make_pair("", nullptr));
    for(int i = 0; i < cameraCount; i++)
    {
        m_vrEyeDeviceList[i] = std::make_pair(cameraList[i].name, nullptr);
    }   
    m_pStatus->OnCameraCountChanged(cameraCount);

    if(cameraCount > 0){
        if (cameraCount >= 1) {
            // 尝试打开相机
            int nRet = _OpenDevice(1, cameraList[0].name.c_str(), cameraList[0].ip.c_str(), m_projectType);

            m_pStatus->OnCamera1StatusChanged(nRet == SUCCESS);
            m_bCameraConnected = (nRet == SUCCESS);
        }
        
        if (cameraCount >= 2) {

            // 尝试打开相机
            int nRet = _OpenDevice(2, cameraList[1].name.c_str(), cameraList[1].ip.c_str(), m_projectType);

            m_pStatus->OnCamera2StatusChanged(nRet == SUCCESS);
            m_bCameraConnected = (nRet == SUCCESS);
        }
    } else {
        m_vrEyeDeviceList.resize(1, std::make_pair("", nullptr));
        _OpenDevice(1, "相机", nullptr, m_projectType);
    }

    // 设置默认相机索引为第一个连接的相机
    m_currentCameraIndex = 1; // 默认从1开始
    for (int i = 0; i < static_cast<int>(m_vrEyeDeviceList.size()); i++) {
        if (m_vrEyeDeviceList[i].second != nullptr) {
            m_currentCameraIndex = i + 1; // 找到第一个连接的相机
            break;
        }
    }
return SUCCESS;
}

// 初始化算法参数
int LapWeldPresenter::InitAlgorithmParams()
{
    LOG_DEBUG("Start initializing algorithm parameters\n");
    QString exePath = QCoreApplication::applicationFilePath();

    // 清空现有的手眼标定矩阵列表
    m_clibMatrixList.clear();
    
    // 获取手眼标定文件路径并确保文件存在
    QString clibPath = PathManager::GetInstance().GetCalibrationFilePath();
    
    LOG_INFO("Loading hand-eye matrices from: %s\n", clibPath.toStdString().c_str());
    
    // 读取存在的矩阵数量
    int nExistMatrixNum = CVrConvert::GetClibMatrixCount(clibPath.toStdString().c_str());
    LOG_INFO("Found %d hand-eye calibration matrices\n", nExistMatrixNum);
            
    // 循环加载每个矩阵
    for(int matrixIndex = 0; matrixIndex < nExistMatrixNum; matrixIndex++)
    {
        // 构造矩阵标识符
        char matrixIdent[64];
#ifdef _WIN32
        sprintf_s(matrixIdent, "CalibMatrixInfo_%d", matrixIndex);
#else
        sprintf(matrixIdent, "CalibMatrixInfo_%d", matrixIndex);
#endif
        
        // 创建新的标定矩阵结构
        CalibMatrix calibMatrix;
        
        // 初始化为单位矩阵
        double initClibMatrix[16] = {
            1.0, 0.0, 0.0, 0.0,  // 第一行
            0.0, 1.0, 0.0, 0.0,  // 第二行
            0.0, 0.0, 1.0, 0.0,  // 第三行
            0.0, 0.0, 0.0, 1.0   // 第四行
        };
                
        // 加载矩阵数据
        bool loadSuccess = CVrConvert::LoadClibMatrix(clibPath.toStdString().c_str(), matrixIdent, "dCalibMatrix",  calibMatrix.clibMatrix);
        
        if(loadSuccess)
        {
            m_clibMatrixList.push_back(calibMatrix);
            LOG_INFO("Successfully loaded matrix %d\n", matrixIndex);
            
            // 输出矩阵内容
            QString clibMatrixStr;
            LOG_INFO("Matrix %d content:\n", matrixIndex);
            for (int i = 0; i < 4; ++i) {
                clibMatrixStr.clear();
                for (int j = 0; j < 4; ++j) {
                    clibMatrixStr += QString::asprintf("%8.4f ", calibMatrix.clibMatrix[i * 4 + j]);
                }
                LOG_INFO("  %s\n", clibMatrixStr.toStdString().c_str());
            }
        }
        else
        {
            LOG_WARNING("Failed to load matrix %d, using identity matrix\n", matrixIndex);
            // 如果加载失败，使用单位矩阵
            memcpy(calibMatrix.clibMatrix, initClibMatrix, sizeof(initClibMatrix));
            m_clibMatrixList.push_back(calibMatrix);
        }
        
    }

    LOG_INFO("Total loaded %zu hand-eye calibration matrices\n", m_clibMatrixList.size());

    // 从 ConfigManager 获取配置结果
    ConfigResult configResult = m_pConfigManager->GetConfigResult();
    const VrAlgorithmParams& xmlParams = configResult.algorithmParams;
    const VrDebugParam& debugParam = configResult.debugParam;

    LOG_INFO("Loaded XML params - LapWeld: lapHeight=%.1f, weldMinLen=%.1f, weldRefPoints=%d\n",
             xmlParams.lapWeldParam.lapHeight, xmlParams.lapWeldParam.weldMinLen, xmlParams.lapWeldParam.weldRefPoints);
    LOG_INFO("Loaded XML params - Filter: continuityTh=%.1f, outlierTh=%d\n",
             xmlParams.filterParam.continuityTh, xmlParams.filterParam.outlierTh);

    LOG_INFO("projectType: %s\n", ProjectTypeToString(m_projectType).c_str());

    LOG_INFO("Algorithm parameters initialized successfully:\n");
    LOG_INFO("  LapWeld: lapHeight=%.1f, weldMinLen=%.1f, weldRefPoints=%d\n",
             xmlParams.lapWeldParam.lapHeight, xmlParams.lapWeldParam.weldMinLen, xmlParams.lapWeldParam.weldRefPoints);

    // 循环打印所有相机的调平参数
    LOG_INFO("Loading plane calibration parameters for all cameras:\n");
    for (const auto& cameraParam : xmlParams.planeCalibParam.cameraCalibParams) {
        LOG_INFO("Camera %d (%s) calibration parameters:\n",
                 cameraParam.cameraIndex, cameraParam.cameraName.c_str());
        LOG_INFO("  Is calibrated: %s\n", cameraParam.isCalibrated ? "YES" : "NO");
        LOG_INFO("  Plane height: %.3f\n", cameraParam.planeHeight);
        LOG_INFO("  Plane calibration matrix:\n");
        LOG_INFO("    [%.3f, %.3f, %.3f]\n", cameraParam.planeCalib[0], cameraParam.planeCalib[1], cameraParam.planeCalib[2]);
        LOG_INFO("    [%.3f, %.3f, %.3f]\n", cameraParam.planeCalib[3], cameraParam.planeCalib[4], cameraParam.planeCalib[5]);
        LOG_INFO("    [%.3f, %.3f, %.3f]\n", cameraParam.planeCalib[6], cameraParam.planeCalib[7], cameraParam.planeCalib[8]);
        LOG_INFO("  Inverse rotation matrix:\n");
        LOG_INFO("    [%.3f, %.3f, %.3f]\n", cameraParam.invRMatrix[0], cameraParam.invRMatrix[1], cameraParam.invRMatrix[2]);
        LOG_INFO("    [%.3f, %.3f, %.3f]\n", cameraParam.invRMatrix[3], cameraParam.invRMatrix[4], cameraParam.invRMatrix[5]);
        LOG_INFO("    [%.3f, %.3f, %.3f]\n", cameraParam.invRMatrix[6], cameraParam.invRMatrix[7], cameraParam.invRMatrix[8]);
        LOG_INFO("  --------------------------------\n");
    }

    
    return SUCCESS;
}

// 手眼标定矩阵管理方法实现
const CalibMatrix LapWeldPresenter::GetClibMatrix(int index) const
{
    CalibMatrix clibMatrix;

    double initClibMatrix[16] = {
        1.0, 0.0, 0.0, 0.0,  // 第一行
        0.0, 1.0, 0.0, 0.0,  // 第二行
        0.0, 0.0, 1.0, 0.0,  // 第三行
        0.0, 0.0, 0.0, 1.0   // 第四行
    };
    memcpy(clibMatrix.clibMatrix, initClibMatrix, sizeof(initClibMatrix));

    if (index >= 0 && index < static_cast<int>(m_clibMatrixList.size())) {
        clibMatrix = m_clibMatrixList[index];
        memcpy(clibMatrix.clibMatrix, m_clibMatrixList[index].clibMatrix, sizeof(initClibMatrix));
    } else {
        LOG_WARNING("Invalid hand-eye calibration matrix\n");
    }

    return clibMatrix;
}

void LapWeldPresenter::SetStatusCallback(IYLapWeldStatus* status)
{
    m_pStatus = status;
}

// TCP服务器回调函数实现
void LapWeldPresenter::OnTCPConnectionChanged(bool connected)
{
    LOG_INFO("TCP connection status changed: %s\n", (connected ? "connected" : "disconnected"));

    // 更新TCP连接状态
    m_bTCPConnected = connected;

    if (m_pStatus) {
        // 发送详细的页面状态信息
        if (connected) {
            m_pStatus->OnStatusUpdate("TCP客户端连接成功，通信正常");
        } else {
            m_pStatus->OnStatusUpdate("TCP客户端连接断开，等待重新连接");
        }
    }

    // 检查并更新工作状态
    CheckAndUpdateWorkStatus();
}

bool LapWeldPresenter::OnTCPDetectionTrigger(bool startWork, int cameraIndex, qint64 timestamp)
{
    LOG_INFO("Received TCP detection trigger: %s for camera index: %d, timestamp: %lld\n",
             (startWork ? "start work" : "stop work"), cameraIndex, timestamp);

    if (startWork) {
        // 启动检测
        int result = StartDetection(cameraIndex, false); // 手动触发模式
        if (result == SUCCESS) {
            LOG_INFO("Detection started successfully via TCP trigger\n");
            return true;
        } else {
            LOG_ERROR("Failed to start detection via TCP trigger, error: %d\n", result);
            return false;
        }
    } else {
        // 停止检测
        int result = StopDetection();
        if (result == SUCCESS) {
            LOG_INFO("Detection stopped successfully via TCP trigger\n");
            return true;
        } else {
            LOG_ERROR("Failed to stop detection via TCP trigger, error: %d\n", result);
            return false;
        }
    }
}

// 模拟检测函数，用于演示
int LapWeldPresenter::StartDetection(int cameraIdx, bool isAuto)
{    
    LOG_INFO("--------------------------------\n");
    LOG_INFO("Start detection with camera index: %d\n", cameraIdx);
    
    // 检查设备状态是否准备就绪
    if (isAuto && m_currentWorkStatus != WorkStatus::Ready) {
        LOG_INFO("Device not ready, cannot start detection\n");
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("设备未准备就绪，无法开始检测");
        }
        return ERR_CODE(DEV_BUSY);
    }

    // 保存当前使用的相机ID（从1开始编号）
    if(-1 != cameraIdx){
        m_currentCameraIndex = cameraIdx;
    }
    int cameraIndex = m_currentCameraIndex;

    m_currentWorkStatus = WorkStatus::Working;

    // 通知UI工作状态变更为"正在工作"
    if (m_pStatus) {
        m_pStatus->OnWorkStatusChanged(WorkStatus::Working);
    }
    
    // 设置机械臂工作状态为忙碌

    if(m_vrEyeDeviceList.empty()){
        LOG_ERROR("No camera device found\n");
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("未找到相机设备");
        }
        return ERR_CODE(DEV_NOT_FIND);
    }

    // 清空检测数据缓存（释放之前的内存）
    _ClearDetectionDataCache();

    int nRet = SUCCESS;
    
    // 根据参数决定启动哪些相机
    
    // 启动指定相机（cameraIndex为相机ID，从1开始编号）
    int arrayIndex = cameraIndex - 1;  // 转换为数组索引（从0开始）
    
    // 检查相机是否连接
    if (arrayIndex < 0 || arrayIndex >= static_cast<int>(m_vrEyeDeviceList.size()) || m_vrEyeDeviceList[arrayIndex].second == nullptr) {
        LOG_ERROR("Camera %d is not connected\n", cameraIndex);
        QString cameraName = (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) ? 
            QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first) : QString("相机%1").arg(cameraIndex);
        m_pStatus->OnStatusUpdate(QString("%1 未连接").arg(cameraName).toStdString());
        return ERR_CODE(DEV_NOT_FIND);
    }
    
    if (arrayIndex >= 0 && arrayIndex < static_cast<int>(m_vrEyeDeviceList.size())) {

        IVrEyeDevice* pDevice = m_vrEyeDeviceList[arrayIndex].second;

        EVzResultDataType eDataType = keResultDataType_Position;
        if(m_projectType == ProjectType::DirectBag){
            eDataType = keResultDataType_PointXYZRGBA;
        }

        pDevice->SetStatusCallback(&LapWeldPresenter::_StaticCameraNotify, this);

        // 开始
        nRet = pDevice->StartDetect(&LapWeldPresenter::_StaticDetectionCallback, eDataType, this);
        LOG_INFO("Camera ID %d start detection nRet: %d\n", cameraIndex, nRet);
        if (nRet == SUCCESS) {
            QString cameraName = QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first);
            m_pStatus->OnStatusUpdate(QString("启动%1检测成功").arg(cameraName).toStdString());
        } else {
            LOG_ERROR("Camera ID %d start detection failed with error: %d\n", cameraIndex, nRet);
            QString cameraName = QString::fromStdString(m_vrEyeDeviceList[arrayIndex].first);
            m_pStatus->OnStatusUpdate(QString("启动%1检测失败[%d]").arg(cameraName).arg(nRet).toStdString());
        }
    } else {
        LOG_ERROR("Invalid camera ID: %d, valid range is 1-%zu\n", cameraIndex, m_vrEyeDeviceList.size());
        m_pStatus->OnStatusUpdate(QString("无效的相机ID: %1，有效范围: 1-%2").arg(cameraIndex).arg(m_vrEyeDeviceList.size()).toStdString());
        nRet = ERR_CODE(DEV_NOT_FIND);
    }
    
    return nRet;
}

int LapWeldPresenter::StopDetection()
{
    LOG_INFO("Stop detection\n");
    
    // 停止所有相机的检测
    for (size_t i = 0; i < m_vrEyeDeviceList.size(); ++i) {
        IVrEyeDevice* pDevice = m_vrEyeDeviceList[i].second;
        if (pDevice) {
            int ret = pDevice->StopDetect();
            if (ret == 0) {
                LOG_INFO("Camera %zu stop detection successfully\n", i + 1);
            } else {
                LOG_WARNING("Camera %zu stop detection failed, error code: %d\n", i + 1, ret);
            }
        }
    }
    
    // 通知UI工作状态变更为"就绪"（如果设备连接正常）
    if (m_pStatus) {
        // 检查设备连接状态，决定停止后的状态
        if (m_bCameraConnected) {
            m_currentWorkStatus = WorkStatus::Ready;
            m_pStatus->OnWorkStatusChanged(WorkStatus::Ready);
        } else {
            m_currentWorkStatus = WorkStatus::Error;
            m_pStatus->OnWorkStatusChanged(WorkStatus::Error);
        }
        m_pStatus->OnStatusUpdate("检测已停止");
    }
    
    // 设置机械臂工作状态为空闲

    return 0;
}

// 加载调试数据进行检测
int LapWeldPresenter::LoadDebugDataAndDetect(const std::string& filePath)
{
    LOG_INFO("Loading debug data from file: %s\n", filePath.c_str());

    m_currentWorkStatus = WorkStatus::Working;

    if (m_pStatus) {
        m_pStatus->OnWorkStatusChanged(WorkStatus::Working);
        std::string fileName = QFileInfo(QString::fromStdString(filePath)).fileName().toStdString();
        m_pStatus->OnStatusUpdate(QString("加载文件:%1").arg(fileName.c_str()).toStdString());
    }
    
    // 设置机械臂工作状态为忙碌

    
    int lineNum = 0;
    float scanSpeed = 0.0f;
    int maxTimeStamp = 0;
    int clockPerSecond = 0;
    

    int result = SUCCESS;
    // 1. 清空现有的检测数据缓存
    _ClearDetectionDataCache();
    
    {
        std::lock_guard<std::mutex> lock(m_detectionDataMutex);
        // 使用统一的LoadLaserScanData接口，自动判断文件格式
        result = m_dataLoader.LoadLaserScanData(filePath, m_detectionDataCache, lineNum, scanSpeed, maxTimeStamp, clockPerSecond);
    }
    
    if (result != SUCCESS) {
        LOG_ERROR("Failed to load debug data: %s\n", m_dataLoader.GetLastError().c_str());
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("调试数据加载失败: " + m_dataLoader.GetLastError());
        }
        return result;
    }
    
    LOG_INFO("Successfully loaded %d lines of debug data\n", lineNum);
    if (m_pStatus) {
        m_pStatus->OnStatusUpdate(QString("成功加载 %1 行调试数据").arg(lineNum).toStdString());
    }
        
    // 等待检测完成
    result = _DetectTask();
    
    return result;
}

// 为所有相机设置状态回调
void LapWeldPresenter::SetCameraStatusCallback(VzNL_OnNotifyStatusCBEx fNotify, void* param)
{
    for (size_t i = 0; i < m_vrEyeDeviceList.size(); i++) {
        IVrEyeDevice* pDevice = m_vrEyeDeviceList[i].second;
        if (pDevice) {
            pDevice->SetStatusCallback(fNotify, param);
            LOG_DEBUG("Status callback set for camera %zu\n", i + 1);
        }
    }
}

// 打开相机
int LapWeldPresenter::_OpenDevice(int cameraIndex, const char* cameraName, const char* cameraIp, ProjectType& projectType)
{
    IVrEyeDevice* pDevice = nullptr;
    IVrEyeDevice::CreateObject(&pDevice);
    int nRet = pDevice->InitDevice();
    ERR_CODE_RETURN(nRet);
    
    // 先设置状态回调
    nRet = pDevice->SetStatusCallback(&LapWeldPresenter::_StaticCameraNotify, this);
    LOG_DEBUG("SetStatusCallback result: %d\n", nRet);
    ERR_CODE_RETURN(nRet);
    
    // 尝试打开相机1
    nRet = pDevice->OpenDevice(cameraIp, ProjectType::DirectBag ==  projectType);
    // 通过回调更新相机1状态
    bool cameraConnected = (SUCCESS == nRet);
    if(!cameraConnected){
        delete pDevice; // 释放失败的设备
        pDevice = nullptr;
    }

    int arrIdx = cameraIndex - 1;

    if(m_vrEyeDeviceList.size() > arrIdx){
        m_vrEyeDeviceList[arrIdx] = std::make_pair(cameraName, pDevice); // 直接存储到索引0
    }

    m_pStatus->OnCamera1StatusChanged(cameraConnected);
    m_pStatus->OnStatusUpdate(cameraConnected ? "相机连接成功" : "相机连接失败");
    m_bCameraConnected = cameraConnected;
    return nRet;
}


// 判断是否可以开始检测
bool LapWeldPresenter::_SinglePreDetection(int cameraIndex)
{
    if(m_vrEyeDeviceList.empty()){
        LOG_ERROR("No camera device found\n");
        if (nullptr != m_pStatus) {
            m_pStatus->OnStatusUpdate("未找到相机设备");
        }
        return false;
    }

    if(cameraIndex < 1 || cameraIndex > static_cast<int>(m_vrEyeDeviceList.size())){
        LOG_ERROR("Invalid camera index: %d, valid range: 1-%zu\n", cameraIndex, m_vrEyeDeviceList.size());
        return false;
    }

    if(m_vrEyeDeviceList[cameraIndex - 1].second == nullptr){
        LOG_ERROR("Camera %d is not connected\n", cameraIndex);
        return false;
    }

    return true;
}

int LapWeldPresenter::_SingleDetection(int cameraIndex, bool isStart)
{
    int nRet = SUCCESS;
    if (isStart) {
        QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ? 
            QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
        QString message = QString("收到信号，启动%1检测").arg(cameraName);
        if (nullptr != m_pStatus) {
            m_pStatus->OnStatusUpdate(message.toStdString());
        }
        nRet = StartDetection(cameraIndex);
    } else {
        QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ? 
            QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
        QString message = QString("收到信号，停止%1检测").arg(cameraName);
        if (nullptr != m_pStatus) {
            m_pStatus->OnStatusUpdate(message.toStdString());
        }
        nRet = StopDetection();
    }
    return nRet;
}


// 静态回调函数实现
void LapWeldPresenter::_StaticCameraNotify(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam)
{
    // 从pInfoParam获取this指针，转换回LapWeldPresenter*类型
    LapWeldPresenter* pThis = reinterpret_cast<LapWeldPresenter*>(pInfoParam);
    if (pThis)
    {
        // 调用实例的非静态成员函数
        pThis->_CameraNotify(eStatus, pExtData, nDataLength, pInfoParam);
    }
}   

void LapWeldPresenter::_CameraNotify(EVzDeviceWorkStatus eStatus, void *pExtData, unsigned int nDataLength, void *pInfoParam)
{
    LOG_DEBUG("[Camera Notify] received: status=%d\n", (int)eStatus);
    
    switch (eStatus) {
        case EVzDeviceWorkStatus::keDeviceWorkStatus_Offline:
        {
            LOG_WARNING("[Camera Notify] Camera device offline/disconnected\n");
            
            // 更新相机连接状态
            m_bCameraConnected = false;
            
            // 通知UI相机状态变更
            if (m_pStatus) {
                // 这里需要判断是哪个相机离线，暂时更新相机1状态
                // 实际应用中可能需要通过pInfoParam或其他方式区分具体哪个相机
                m_pStatus->OnCamera1StatusChanged(false);
                m_pStatus->OnStatusUpdate("相机设备离线");
            }
            
            // 检查并更新工作状态
            CheckAndUpdateWorkStatus();
            break;
        }
        
        case EVzDeviceWorkStatus::keDeviceWorkStatus_Eye_Reconnect:
        {
            LOG_INFO("[Camera Notify] Camera device online/connected\n");
            
            // 更新相机连接状态
            m_bCameraConnected = true;
            
            // 通知UI相机状态变更
            if (m_pStatus) {
                m_pStatus->OnCamera1StatusChanged(true);
                m_pStatus->OnStatusUpdate("相机设备已连接");
            }
            
            // 检查并更新工作状态
            CheckAndUpdateWorkStatus();
            break;
        }
        
        case EVzDeviceWorkStatus::keDeviceWorkStatus_Device_Swing_Finish:
        {
            LOG_INFO("[Camera Notify] Received scan finish signal from camera\n");
            
            // 发送页面提示信息
            if (m_pStatus) {
                m_pStatus->OnStatusUpdate("相机扫描完成，开始数据处理...");
            }
            
            // 通知检测线程开始处理
            m_algoDetectCondition.notify_one();
            break;
        }
        
        default:
            break;
    }
}

// 检测数据回调函数静态版本
void LapWeldPresenter::_StaticDetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pUserData)
{
    LapWeldPresenter* pThis = reinterpret_cast<LapWeldPresenter*>(pUserData);
    if (pThis) {
        pThis->_DetectionCallback(eDataType, pLaserLinePoint, pUserData);
    }
}

// 检测数据回调函数实例版本
void LapWeldPresenter::_DetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pUserData)
{
    if (!pLaserLinePoint) {
        LOG_WARNING("[Detection Callback] pLaserLinePoint is null\n");
        return;
    }

    if (pLaserLinePoint->nPointCount <= 0) {
        LOG_WARNING("[Detection Callback] Point count is zero or negative: %d\n", pLaserLinePoint->nPointCount);
        return;
    }

    if (!pLaserLinePoint->p3DPoint) {
        LOG_WARNING("[Detection Callback] p3DPoint is null\n");
        return;
    }

    // 直接存储SVzLaserLineData到统一缓存中
    SVzLaserLineData lineData;
    memset(&lineData, 0, sizeof(SVzLaserLineData));
    
    // 根据数据类型分配和复制点云数据
    if (eDataType == keResultDataType_Position) {
        // 复制SVzNL3DPosition数据
        if (pLaserLinePoint->p3DPoint && pLaserLinePoint->nPointCount > 0) {
            lineData.p3DPoint = new SVzNL3DPosition[pLaserLinePoint->nPointCount];
            if (lineData.p3DPoint) {
                memcpy(lineData.p3DPoint, pLaserLinePoint->p3DPoint, sizeof(SVzNL3DPosition) * pLaserLinePoint->nPointCount);
            }
            lineData.p2DPoint = new SVzNL2DPosition[pLaserLinePoint->nPointCount];
            if (lineData.p2DPoint) {
                memcpy(lineData.p2DPoint, pLaserLinePoint->p2DPoint, sizeof(SVzNL2DPosition) * pLaserLinePoint->nPointCount);
            }
        }
    } else if (eDataType == keResultDataType_PointXYZRGBA) {
        // 复制SVzNLPointXYZRGBA数据
        if (pLaserLinePoint->p3DPoint && pLaserLinePoint->nPointCount > 0) {
            lineData.p3DPoint = new SVzNLPointXYZRGBA[pLaserLinePoint->nPointCount];
            if (lineData.p3DPoint) {
                memcpy(lineData.p3DPoint, pLaserLinePoint->p3DPoint, sizeof(SVzNLPointXYZRGBA) * pLaserLinePoint->nPointCount);
            }
            lineData.p2DPoint = new SVzNL2DLRPoint[pLaserLinePoint->nPointCount];
            if (lineData.p2DPoint) {
                memcpy(lineData.p2DPoint, pLaserLinePoint->p2DPoint, sizeof(SVzNL2DLRPoint) * pLaserLinePoint->nPointCount);
            }
        }
    }

    
    lineData.nPointCount = pLaserLinePoint->nPointCount;
    lineData.llTimeStamp = pLaserLinePoint->llTimeStamp;
    lineData.llFrameIdx = pLaserLinePoint->llFrameIdx;
    lineData.nEncodeNo = pLaserLinePoint->nEncodeNo;
    lineData.fSwingAngle = pLaserLinePoint->fSwingAngle;
    lineData.bEndOnceScan = pLaserLinePoint->bEndOnceScan;
    
    std::lock_guard<std::mutex> lock(m_detectionDataMutex);
    m_detectionDataCache.push_back(std::make_pair(eDataType, lineData));
}

void LapWeldPresenter::CheckAndUpdateWorkStatus()
{
    if (m_bCameraConnected) {
        m_currentWorkStatus = WorkStatus::Ready;
        m_pStatus->OnWorkStatusChanged(WorkStatus::Ready);
    } else {
        m_currentWorkStatus = WorkStatus::Error;
        m_pStatus->OnWorkStatusChanged(WorkStatus::Error);
    }
}

void LapWeldPresenter::_AlgoDetectThread()
{
    while(m_bAlgoDetectThreadRunning)
    {
        std::unique_lock<std::mutex> lock(m_algoDetectMutex);
        m_algoDetectCondition.wait(lock, [this]() {
            return m_currentWorkStatus == WorkStatus::Working;
        });

        if(!m_bAlgoDetectThreadRunning){
            break;
        }

        // 检查设备状态是否准备就绪
        int nRet = _DetectTask();

        LOG_ERROR("DetectTask result: %d\n", nRet);
        if(nRet != SUCCESS){
            m_pStatus->OnWorkStatusChanged(WorkStatus::Error);

        }
        LOG_DEBUG("Algo Thread end\n");
        m_currentWorkStatus = WorkStatus::Ready;
    }
}

int LapWeldPresenter::_DetectTask()
{   
    LOG_INFO("[Algo Thread] Start real detection task using algorithm\n");
    
    std::lock_guard<std::mutex> lock(m_detectionDataMutex);
    // 1. 获取缓存的点云数据
    if (m_detectionDataCache.empty()) {
        LOG_WARNING("No cached detection data available\n");
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("无缓存的检测数据");
        }
        return ERR_CODE(DEV_DATA_INVALID);
    }
    
    // 2. 准备算法输入数据
    unsigned int lineNum = 0;
    lineNum = m_detectionDataCache.size();
    if(m_pStatus){
        m_pStatus->OnStatusUpdate("扫描线数:" + std::to_string(lineNum) + "，正在算法检测...");
    }

    CVrTimeUtils oTimeUtils;

    // 获取当前使用的手眼标定矩阵
    const CalibMatrix currentClibMatrix = GetClibMatrix(m_currentCameraIndex - 1);

    // 从 ConfigManager 获取算法参数和调试参数
    VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();
    ConfigResult configResult = m_pConfigManager->GetConfigResult();
    VrDebugParam debugParam = configResult.debugParam;

    DetectionResult detectionResult;

    int nRet = m_pDetectPresenter->DetectLapWeld(m_currentCameraIndex, m_detectionDataCache,
                                algorithmParams, debugParam, m_dataLoader,
                                currentClibMatrix.clibMatrix, detectionResult);
    // 根据项目类型选择处理方式
    if (m_pStatus) {
        QString err = QString("错误:%1").arg(nRet);
        m_pStatus->OnStatusUpdate(QString("检测%1").arg(SUCCESS == nRet ? "成功": err).toStdString());
    }

    ERR_CODE_RETURN(nRet);
        
    LOG_INFO("[Algo Thread] sx_getLapWeldPostion detected %zu objects time : %.2f ms\n", detectionResult.positions.size(), oTimeUtils.GetElapsedTimeInMilliSec());
    
    // 8. 返回检测结果
    detectionResult.cameraIndex = m_currentCameraIndex;
    // 调用检测结果回调函数
    m_pStatus->OnDetectionResult(detectionResult);
    
    // 更新状态
    QString statusMsg = QString("检测完成，发现%1个目标").arg(detectionResult.positions.size());
    m_pStatus->OnStatusUpdate(statusMsg.toStdString());
    
    // 发送检测结果给TCP客户端
    _SendDetectionResultToTCP(detectionResult, m_currentCameraIndex);
    
    // 9. 检测完成后，将工作状态更新为"完成"
    if (m_pStatus) {
        m_currentWorkStatus = WorkStatus::Completed;
        m_pStatus->OnWorkStatusChanged(WorkStatus::Completed);
    }
    
    // 恢复到就绪状态
    m_currentWorkStatus = WorkStatus::Ready;
    
    return SUCCESS;
}

// 释放缓存的检测数据
void LapWeldPresenter::_ClearDetectionDataCache()
{
    std::lock_guard<std::mutex> lock(m_detectionDataMutex);
    
    // 释放加载的数据
    m_dataLoader.FreeLaserScanData(m_detectionDataCache);
    LOG_DEBUG("Detection data cache cleared successfully\n");
}

// 发送检测结果给TCP客户端
void LapWeldPresenter::_SendDetectionResultToTCP(const DetectionResult& detectionResult, int cameraIndex)
{
    LOG_INFO("Sending detection result for camera %d\n", cameraIndex);

    // 检查是否有检测结果
    if (detectionResult.positions.empty()) {
        LOG_INFO("No objects detected\n");
        if (m_pStatus) {
            QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ?
                QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
            m_pStatus->OnStatusUpdate(QString("检测完成，%1未发现目标").arg(cameraName).toStdString());
        }
    } else {
        LOG_INFO("Detected %zu objects for camera %d\n", detectionResult.positions.size(), cameraIndex);
        if (m_pStatus) {
            QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ?
                QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
            m_pStatus->OnStatusUpdate(QString("检测完成，%1发现%2个目标").arg(cameraName).arg(detectionResult.positions.size()).toStdString());
        }
    }
}

// 实现配置改变通知接口
void LapWeldPresenter::OnConfigChanged(const ConfigResult& configResult)
{
    LOG_INFO("Configuration changed notification received, reloading algorithm parameters\n");

    // 重新初始化算法参数
    int result = InitAlgorithmParams();
    if (result == SUCCESS) {
        LOG_INFO("Algorithm parameters reloaded successfully after config change\n");
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("配置已更新，算法参数重新加载成功");
        }
    } else {
        LOG_ERROR("Failed to reload algorithm parameters after config change, error: %d\n", result);
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("配置更新后算法参数重新加载失败");
        }
    }
}

// 根据相机索引获取调平参数
SSG_planeCalibPara LapWeldPresenter::_GetCameraCalibParam(int cameraIndex)
{
    // 查找指定相机索引的调平参数
    SSG_planeCalibPara calibParam;

    // 使用单位矩阵（未校准状态）
    double identityMatrix[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
    for (int i = 0; i < 9; i++) {
        calibParam.planeCalib[i] = identityMatrix[i];
        calibParam.invRMatrix[i] = identityMatrix[i];
    }
    calibParam.planeHeight = -1.0;  // 使用默认高度

    // 从 ConfigManager 获取算法参数
    VrAlgorithmParams algorithmParams = m_pConfigManager->GetAlgorithmParams();

    for (const auto& cameraParam : algorithmParams.planeCalibParam.cameraCalibParams) {
        if (cameraParam.cameraIndex == cameraIndex) {
            
            // 根据isCalibrated标志决定使用标定矩阵还是单位矩阵
            if (cameraParam.isCalibrated) {
                // 使用实际的标定矩阵
                for (int i = 0; i < 9; i++) {
                    calibParam.planeCalib[i] = cameraParam.planeCalib[i];
                    calibParam.invRMatrix[i] = cameraParam.invRMatrix[i];
                }
                calibParam.planeHeight = cameraParam.planeHeight;            
            } 
        }
    }
    return calibParam;
}

// 设置默认相机索引
void LapWeldPresenter::SetDefaultCameraIndex(int cameraIndex)
{
    LOG_INFO("Setting default camera index from %d to %d\n", m_currentCameraIndex, cameraIndex);
    
    // 验证相机索引的有效性（cameraIndex是配置中的索引，从1开始）
    if (cameraIndex < 1 || cameraIndex > static_cast<int>(m_vrEyeDeviceList.size())) {
        LOG_WARNING("Invalid camera index: %d, valid range: 1-%zu\n", cameraIndex, m_vrEyeDeviceList.size());
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate(QString("无效的相机索引: %1，有效范围: 1-%2").arg(cameraIndex).arg(m_vrEyeDeviceList.size()).toStdString());
        }
        return;
    }
    
    // 更新默认相机索引
    m_currentCameraIndex = cameraIndex;
    
    LOG_INFO("Default camera index updated to %d\n", m_currentCameraIndex);
    
    if (m_pStatus) {
        QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ? 
            QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) : QString("相机%1").arg(cameraIndex);
        m_pStatus->OnStatusUpdate(QString("设置%1为默认相机").arg(cameraName).toStdString());
    }
}

// 保存检测数据到文件（默认实现）
int LapWeldPresenter::SaveDetectionDataToFile(const std::string& filePath)
{
    LOG_INFO("Saving detection data to file: %s\n", filePath.c_str());
    
    if (m_detectionDataCache.empty()) {
        LOG_WARNING("No detection data available for saving\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    // 保存数据到文件
    int lineNum = static_cast<int>(m_detectionDataCache.size());
    float scanSpeed = 0.0f;
    int maxTimeStamp = 0;
    int clockPerSecond = 0;

    int result = m_dataLoader.SaveLaserScanData(filePath, m_detectionDataCache, lineNum, scanSpeed, maxTimeStamp, clockPerSecond);
    
    if (result == SUCCESS) {
        LOG_INFO("Successfully saved %d lines of detection data to file: %s\n", lineNum, filePath.c_str());
    } else {
        LOG_ERROR("Failed to save detection data, error: %s\n", m_dataLoader.GetLastError().c_str());
    }

    return result;
}

// ============ 实现 ICameraLevelCalculator 接口 ============

bool LapWeldPresenter::CalculatePlaneCalibration(
    const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& scanData,
    double planeCalib[9],
    double& planeHeight,
    double invRMatrix[9])
{
    try {
        // 检查是否有足够的扫描数据
        if (scanData.empty()) {
            LOG_ERROR("No scan data available for plane calibration\n");
            return false;
        }

        LOG_INFO("Calculating plane calibration from %zu scan lines\n", scanData.size());

        // 转换为算法需要的XYZ格式
        LaserDataLoader dataLoader;
        std::vector<std::vector<SVzNL3DPosition>> xyzData;
        int convertResult = dataLoader.ConvertToSVzNL3DPosition(scanData, xyzData);
        if (convertResult != SUCCESS || xyzData.empty()) {
            LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
            return false;
        }

        // 调用焊接项目的调平算法
        SSG_planeCalibPara calibResult = sx_getBaseCalibPara(xyzData);

        // 将结构体中的数据复制到输出参数
        for (int i = 0; i < 9; i++) {
            planeCalib[i] = calibResult.planeCalib[i];
            invRMatrix[i] = calibResult.invRMatrix[i];
        }
        planeHeight = calibResult.planeHeight;

        LOG_INFO("Plane calibration calculated successfully: height=%.3f\n", planeHeight);
        return true;

    } catch (const std::exception& e) {
        LOG_ERROR("Exception in CalculatePlaneCalibration: %s\n", e.what());
        return false;
    } catch (...) {
        LOG_ERROR("Unknown exception in CalculatePlaneCalibration\n");
        return false;
    }
}

// ============ 实现 ICameraLevelResultSaver 接口 ============

bool LapWeldPresenter::SaveLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9],
                                           int cameraIndex, const QString& cameraName)
{
    try {
        if (!m_pConfigManager) {
            LOG_ERROR("ConfigManager is null, cannot save leveling results\n");
            return false;
        }

        // 验证传入的相机参数
        if (cameraIndex <= 0) {
            LOG_ERROR("Invalid camera index: %d\n", cameraIndex);
            return false;
        }

        if (cameraName.isEmpty()) {
            LOG_ERROR("Camera name is empty\n");
            return false;
        }

        // 获取当前配置
        QString configPath = PathManager::GetInstance().GetConfigFilePath();
        LOG_INFO("Config path: %s\n", configPath.toUtf8().constData());

        SystemConfig systemConfig = m_pConfigManager->GetConfig();

        // 创建或更新指定相机的调平参数
        VrCameraPlaneCalibParam cameraParam;
        cameraParam.cameraIndex = cameraIndex;
        cameraParam.cameraName = cameraName.toStdString();
        cameraParam.planeHeight = planeHeight;
        cameraParam.isCalibrated = true;

        // 复制校准矩阵
        for (int i = 0; i < 9; i++) {
            cameraParam.planeCalib[i] = planeCalib[i];
            cameraParam.invRMatrix[i] = invRMatrix[i];
        }

        // 更新配置中的相机校准参数
        systemConfig.configResult.algorithmParams.planeCalibParam.SetCameraCalibParam(cameraParam);

        // 更新并保存配置
        if (!m_pConfigManager->UpdateFullConfig(systemConfig)) {
            LOG_ERROR("Failed to update config with leveling results\n");
            return false;
        }

        if (!m_pConfigManager->SaveConfigToFile(configPath.toStdString())) {
            LOG_ERROR("Failed to save config file with leveling results\n");
            return false;
        }

        LOG_INFO("Leveling results saved successfully for camera %d (%s)\n", cameraIndex, cameraName.toUtf8().constData());
        LOG_INFO("Plane height: %.3f\n", planeHeight);
        LOG_INFO("Calibration marked as completed\n");

        return true;

    } catch (const std::exception& e) {
        LOG_ERROR("Exception in SaveLevelingResults: %s\n", e.what());
        return false;
    }
}

bool LapWeldPresenter::LoadLevelingResults(int cameraIndex, const QString& cameraName,
                                           double planeCalib[9], double& planeHeight, double invRMatrix[9])
{
    try {
        if (!m_pConfigManager) {
            LOG_ERROR("ConfigManager is null, cannot load calibration data\n");
            return false;
        }

        // 从ConfigManager获取配置结果
        ConfigResult configResult = m_pConfigManager->GetConfigResult();

        // 获取指定相机的标定参数
        VrCameraPlaneCalibParam cameraParamValue;
        if (!configResult.algorithmParams.planeCalibParam.GetCameraCalibParam(cameraIndex, cameraParamValue) || !cameraParamValue.isCalibrated) {
            LOG_INFO("No calibration data found for camera %d (%s)\n", cameraIndex, cameraName.toUtf8().constData());
            return false;
        }

        // 复制标定数据
        for (int i = 0; i < 9; i++) {
            planeCalib[i] = cameraParamValue.planeCalib[i];
            invRMatrix[i] = cameraParamValue.invRMatrix[i];
        }
        planeHeight = cameraParamValue.planeHeight;

        LOG_INFO("Calibration data loaded successfully for camera %d (%s)\n", cameraIndex, cameraName.toUtf8().constData());
        LOG_INFO("Plane height: %.3f\n", planeHeight);

        return true;

    } catch (const std::exception& e) {
        LOG_ERROR("Exception in LoadLevelingResults: %s\n", e.what());
        return false;
    }
}