#include "BasePresenter.h"
#include "VrLog.h"
#include "VrError.h"
#include <fstream>
#include <QFileInfo>
#include <QString>
#include "PathManager.h"

BasePresenter::BasePresenter(QObject *parent)
    : QObject(parent)
    , m_currentCameraIndex(0)
    , m_bCameraConnected(false)
    , m_bAlgoDetectThreadRunning(false)
    , m_pCameraReconnectTimer(nullptr)
{
    // 创建相机重连定时器
    m_pCameraReconnectTimer = new QTimer(this);
    m_pCameraReconnectTimer->setInterval(2000); // 默认2秒
    connect(m_pCameraReconnectTimer, &QTimer::timeout, this, &BasePresenter::OnCameraReconnectTimer);
}

BasePresenter::~BasePresenter()
{
    // 停止检测线程
    StopAlgoDetectThread();

    // 停止重连定时器
    StopCameraReconnectTimer();

    // 清理相机设备
    for (auto& camera : m_vrEyeDeviceList) {
        if (camera.second) {
            camera.second->CloseDevice();
            delete camera.second;
            camera.second = nullptr;
        }
    }
    m_vrEyeDeviceList.clear();
}

int BasePresenter::Init()
{
    LOG_INFO("BasePresenter::Init()\n");

    int nRet = SUCCESS;

    nRet = InitApp();
    ERR_CODE_RETURN(nRet);

    // 初始化算法参数
    nRet = InitAlgoParams();
    LOG_INFO("Algorithm parameters initialization result : %d\n", nRet);

    return nRet;
}

int BasePresenter::StartDetection(int cameraIndex, bool isAuto)
{
    LOG_INFO("[BasePresenter] StartDetection - cameraIndex=%d, isAuto=%d\n", cameraIndex, isAuto);

    // 设置当前相机索引
    if (cameraIndex >= 0 && cameraIndex != -1) {
        m_currentCameraIndex = cameraIndex;
    }
    int currentCamera = m_currentCameraIndex;

    // 检查相机列表是否为空
    if (m_vrEyeDeviceList.empty()) {
        LOG_ERROR("[BasePresenter] No camera device found\n");
        return ERR_CODE(DEV_NOT_FIND);
    }

    // 清空检测数据缓存
    ClearDetectionDataCache();

    int nRet = SUCCESS;

    // 启动指定相机（cameraIndex为相机ID，从1开始编号）
    int arrayIndex = currentCamera - 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("[BasePresenter] Camera %d is not connected or invalid\n", currentCamera);
        return ERR_CODE(DEV_NOT_FIND);
    }

    IVrEyeDevice* pDevice = m_vrEyeDeviceList[arrayIndex].second;

    // 获取数据类型（由子类决定）
    EVzResultDataType eDataType = GetDetectionDataType();

    // 设置状态回调
    VzNL_OnNotifyStatusCBEx statusCallback = GetCameraStatusCallback();
    pDevice->SetStatusCallback(statusCallback, this);

    // 获取检测回调函数（由子类提供）
    VzNL_AutoOutputLaserLineExCB detectCallback = GetDetectionCallback();

    // 开始检测
    nRet = pDevice->StartDetect(detectCallback, eDataType, this);
    LOG_INFO("[BasePresenter] Camera %d start detection result: %d\n", currentCamera, nRet);

    if (nRet == SUCCESS) {
        // 启动算法检测线程
        StartAlgoDetectThread();
    }

    return nRet;
}

int BasePresenter::StopDetection()
{
    LOG_INFO("[BasePresenter] StopDetection\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("[BasePresenter] Camera %zu stop detection successfully\n", i + 1);
            } else {
                LOG_WARNING("[BasePresenter] Camera %zu stop detection failed, error code: %d\n", i + 1, ret);
            }
        }
    }

    // 停止算法检测线程
    StopAlgoDetectThread();

    return SUCCESS;
}

int BasePresenter::GetDetectionDataCacheSize() const
{
    std::lock_guard<std::mutex> lock(const_cast<std::mutex&>(m_detectionDataMutex));
    return static_cast<int>(m_detectionDataCache.size());
}

int BasePresenter::SaveDetectionDataToFile(const std::string& filePath)
{
    LOG_INFO("[BasePresenter] 保存检测数据到文件: %s\n", filePath.c_str());

    std::lock_guard<std::mutex> lock(m_detectionDataMutex);

    if(m_detectionDataCache.empty()){
        LOG_WARNING("[BasePresenter] 检测数据缓存为空，无数据可保存\n");
        return ERR_CODE(DATA_ERR_INVALID);
    }

    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("[BasePresenter] 成功保存 %d 行检测数据到文件: %s\n", lineNum, filePath.c_str());
    } else {
        LOG_ERROR("[BasePresenter] 保存检测数据失败，错误: %s\n", m_dataLoader.GetLastError().c_str());
    }

    return result;
}

int BasePresenter::LoadDebugDataAndDetect(const std::string& filePath)
{
    LOG_INFO("[BasePresenter] Loading debug data from file: %s\n", filePath.c_str());

    std::string fileName = QFileInfo(QString::fromStdString(filePath)).fileName().toStdString();

    OnStatusUpdate(QString("加载文件:%1").arg(fileName.c_str()).toStdString());

    SetWorkStatus(WorkStatus::Working);
    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();

    // 2. 加载数据到缓存
    {
        std::lock_guard<std::mutex> lock(m_detectionDataMutex);
        result = m_dataLoader.LoadLaserScanData(filePath, m_detectionDataCache, lineNum, scanSpeed, maxTimeStamp, clockPerSecond);
    }

    if (result != SUCCESS) {
        LOG_ERROR("[BasePresenter] 加载调试数据失败: %s\n", m_dataLoader.GetLastError().c_str());
        OnStatusUpdate("调试数据加载失败");
        return result;
    }

    OnStatusUpdate(QString("成功加载 %1 行调试数据").arg(lineNum).toStdString());
    LOG_INFO("[BasePresenter] 成功加载 %d 行调试数据\n", lineNum);

    // 3. 执行检测任务
    result = DetectTask();

    return result;
}

void BasePresenter::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("[BasePresenter] Status callback set for camera %zu\n", i + 1);
        }
    }
}

void BasePresenter::SetWorkStatus(WorkStatus status)
{
    if (m_currentWorkStatus != status) {
        m_currentWorkStatus = status;
        LOG_INFO("[BasePresenter] Work status changed to: %s\n", WorkStatusToString(status).c_str());

        // 调用虚函数通知子类，子类可以在此调用UI回调
        OnWorkStatusChanged(status);
    }
}

// ============ InitCamera 完整实现 ============
int BasePresenter::InitCamera(std::vector<DeviceInfo>& cameraList, bool bRGB, bool bSwing)
{
    LOG_INFO("[BasePresenter] InitCamera\n");

    m_bRGB = bRGB;
    m_bSwing = bSwing;

    // 保存相机配置信息，用于重连尝试
    m_expectedList = cameraList;

    // 通知UI相机个数
    int cameraCount = cameraList.size();
    OnCameraCountChanged(cameraCount);

    // 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);
    }

    LOG_INFO("[BasePresenter] camera count : %d\n", cameraCount);

    // 尝试初始化所有相机
    bool allCamerasConnected = true;

    if(cameraCount > 0){
        // 循环打开所有配置的相机
        for (int i = 0; i < cameraCount; i++) {
            int cameraIndex = i + 1;  // 相机索引从1开始
            int nRet = OpenDevice(cameraIndex, cameraList[i].name.c_str(), cameraList[i].ip.c_str(), bRGB, bSwing);

            bool isConnected = (nRet == SUCCESS);

            // 通知相机状态变化
            OnCameraStatusChanged(cameraIndex, isConnected);

            if (!isConnected) {
                allCamerasConnected = false;
                LOG_WARNING("[BasePresenter] 相机%d (%s) 连接失败\n", cameraIndex, cameraList[i].name.c_str());
            } else {
                LOG_INFO("[BasePresenter] 相机%d (%s) 连接成功\n", cameraIndex, cameraList[i].name.c_str());
            }
        }
    } else {
        // 没有配置相机，创建一个默认项
        m_vrEyeDeviceList.resize(1, std::make_pair("", nullptr));
        DeviceInfo devInfo;
        devInfo.index = 1;
        devInfo.ip = "";
        devInfo.name = "相机";
        m_expectedList.push_back(devInfo);

        int nRet = OpenDevice(1, "相机", nullptr, bRGB, bSwing);
        if (nRet != SUCCESS) {
            allCamerasConnected = false;
        }

        // 通知相机状态变化
        OnCameraStatusChanged(1, SUCCESS == nRet);
    }

    // 检查连接状态
    int connectedCount = 0;
    for (const auto& device : m_vrEyeDeviceList) {
        if (device.second != nullptr) {
            connectedCount++;
        }
    }
    m_bCameraConnected = (connectedCount > 0);  // 至少有一个相机连接成功

    // 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;
        }
    }

    LOG_INFO("[BasePresenter] 相机初始化完成: %d/%d 台相机连接成功, 默认相机索引: %d\n",
             connectedCount, m_expectedList.size(), m_currentCameraIndex);

    // 如果不是所有期望的相机都连接成功，启动重连定时器
    if (!allCamerasConnected && !m_expectedList.empty()) {
        LOG_INFO("[BasePresenter] 部分相机未连接 (%d/%d)，启动重连定时器\n", connectedCount, m_expectedList.size());
        StartCameraReconnectTimer();
    } else if (allCamerasConnected) {
        LOG_INFO("[BasePresenter] 所有相机连接成功\n");
        // 确保定时器停止
        StopCameraReconnectTimer();
    } else {
        LOG_WARNING("[BasePresenter] 没有配置相机 (expectedCount=%d)\n", m_expectedList.size());
    }

    return SUCCESS;
}

// ============ OpenDevice 完整实现 ============
int BasePresenter::OpenDevice(int cameraIndex, const char* cameraName, const char* cameraIp, bool bRGB, bool bSwing)
{
    LOG_INFO("[BasePresenter] OpenDevice - index %d (%s, %s)\n", cameraIndex, cameraName, cameraIp ? cameraIp : "NULL");

    // 1. 创建相机设备对象
    IVrEyeDevice* pDevice = nullptr;
    IVrEyeDevice::CreateObject(&pDevice);
    if (!pDevice) {
        LOG_ERROR("[BasePresenter] Failed to create IVrEyeDevice object\n");
        return ERR_CODE(DEV_OPEN_ERR);
    }

    // 2. 初始化设备
    int nRet = pDevice->InitDevice();
    if(nRet != SUCCESS){
        delete pDevice;
        LOG_ERROR("[BasePresenter] InitDevice failed, error code: %d\n", nRet);
    }
    ERR_CODE_RETURN(nRet);

    // 3. 打开相机设备
    nRet = pDevice->OpenDevice(cameraIp, bRGB, bSwing);
    LOG_INFO("[BasePresenter] OpenDevice camera %d (%s/%s) result: %d \n", cameraIndex,
                            bRGB ? "RGB" : "Normal", bSwing ? "Swing" : "Normal", nRet);

    // 4. 处理打开结果
    bool cameraConnected = (SUCCESS == nRet);
    if(!cameraConnected){
        delete pDevice; // 释放失败的设备
        pDevice = nullptr;
    } else     {

        // 设置状态回调（调用子类提供的回调函数）
        VzNL_OnNotifyStatusCBEx callback = GetCameraStatusCallback();
        nRet = pDevice->SetStatusCallback(callback, this);
        LOG_DEBUG("[BasePresenter] SetStatusCallback result: %d\n", nRet);
        if (nRet != SUCCESS) {
            delete pDevice;
            pDevice = nullptr;
        }
    }
    LOG_DEBUG("[BasePresenter] Camera %d (%s) connected %s\n", cameraIndex, cameraName, cameraConnected ? "success" : "failed");

    // 6. 存储到设备列表
    int arrIdx = cameraIndex - 1;
    if(m_vrEyeDeviceList.size() > static_cast<size_t>(arrIdx)){
        m_vrEyeDeviceList[arrIdx] = std::make_pair(cameraName, pDevice);
    } else {
        LOG_WARNING("[BasePresenter] Camera index %d out of range, list size: %zu\n", cameraIndex, m_vrEyeDeviceList.size());
    }

    return nRet;
}

// ============ AlgoDetectThreadFunc 实现 ============
void BasePresenter::AlgoDetectThreadFunc()
{
    LOG_INFO("[BasePresenter] 算法检测线程启动\n");

    while(m_bAlgoDetectThreadRunning)
    {
        std::unique_lock<std::mutex> lock(m_algoDetectMutex);

        // 等待检测触发（子类需要调用 m_algoDetectCondition.notify_one() 来触发）
        m_algoDetectCondition.wait(lock);

        if(!m_bAlgoDetectThreadRunning){
            break;
        }

        LOG_INFO("[BasePresenter] 检测线程被唤醒，开始执行检测任务\n");

        // 执行检测任务
        int nRet = DetectTask();

        if(nRet != SUCCESS){
            LOG_ERROR("[BasePresenter] 检测任务执行失败，错误码: %d\n", nRet);
        } else {
            LOG_INFO("[BasePresenter] 检测任务执行成功\n");
        }
    }

    LOG_INFO("[BasePresenter] 算法检测线程退出\n");
}

// ============ DetectTask 实现 ============
int BasePresenter::DetectTask()
{
    LOG_INFO("[BasePresenter] DetectTask - 开始执行检测任务\n");

    // 1. 验证检测数据缓存
    {
        std::lock_guard<std::mutex> lock(m_detectionDataMutex);
        if (m_detectionDataCache.empty()) {
            LOG_WARNING("[BasePresenter] 检测数据缓存为空\n");
            return ERR_CODE(DEV_DATA_INVALID);
        }
        LOG_INFO("[BasePresenter] 检测数据缓存大小: %zu\n", m_detectionDataCache.size());
    }

    // 2. 调用子类实现的算法检测，传入缓存数据引用
    LOG_INFO("[BasePresenter] 调用 ProcessAlgoDetection 执行算法检测\n");
    int nRet = ProcessAlgoDetection(m_detectionDataCache);

    if (nRet != SUCCESS) {
        LOG_ERROR("[BasePresenter] ProcessAlgoDetection 执行失败，错误码: %d\n", nRet);
        return nRet;
    }

    LOG_INFO("[BasePresenter] DetectTask - 检测任务执行成功\n");
    return SUCCESS;
}

void BasePresenter::StartAlgoDetectThread()
{
    if (m_bAlgoDetectThreadRunning) {
        LOG_WARNING("[BasePresenter] 算法检测线程已经在运行\n");
        return;
    }

    m_bAlgoDetectThreadRunning = true;

    // 启动检测线程
    m_algoDetectThread = std::thread(&BasePresenter::AlgoDetectThreadFunc, this);
    m_algoDetectThread.detach(); // 分离线程，让其独立运行

    LOG_INFO("[BasePresenter] 算法检测线程已启动\n");
}

void BasePresenter::StopAlgoDetectThread()
{
    if (!m_bAlgoDetectThreadRunning) {
        return;
    }

    LOG_INFO("[BasePresenter] 正在停止算法检测线程...\n");

    m_bAlgoDetectThreadRunning = false;

    // 唤醒可能在等待的线程
    m_algoDetectCondition.notify_all();

    // 注意：因为线程使用了 detach()，所以不需要 join()

    LOG_INFO("[BasePresenter] 算法检测线程已停止\n");
}

void BasePresenter::ClearDetectionDataCache()
{
    std::lock_guard<std::mutex> lock(m_detectionDataMutex);
    m_detectionDataCache.clear();
    LOG_DEBUG("[BasePresenter] 检测数据缓存已清空\n");
}

void BasePresenter::AddDetectionDataToCache(EVzResultDataType dataType, const SVzLaserLineData& laserData)
{
    std::lock_guard<std::mutex> lock(m_detectionDataMutex);
    m_detectionDataCache.push_back(std::make_pair(dataType, laserData));
}

// 通用的静态检测数据回调函数实现
void BasePresenter::_StaticDetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pUserData)
{
    // 验证输入参数
    if (!pLaserLinePoint) {
        LOG_WARNING("[BasePresenter Detection Callback] pLaserLinePoint is null\n");
        return;
    }

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

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

    // 获取 BasePresenter 实例指针
    BasePresenter* pThis = reinterpret_cast<BasePresenter*>(pUserData);
    if (!pThis) {
        LOG_ERROR("[BasePresenter Detection Callback] pUserData is null\n");
        return;
    }

    // 创建 SVzLaserLineData 副本
    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);
            }
        }
    }

    // 复制其他字段
    lineData.nPointCount = pLaserLinePoint->nPointCount;
    lineData.llTimeStamp = pLaserLinePoint->llTimeStamp;
    lineData.llFrameIdx = pLaserLinePoint->llFrameIdx;
    lineData.nEncodeNo = pLaserLinePoint->nEncodeNo;
    lineData.fSwingAngle = pLaserLinePoint->fSwingAngle;
    lineData.bEndOnceScan = pLaserLinePoint->bEndOnceScan;

    // 添加到检测数据缓存
    pThis->AddDetectionDataToCache(eDataType, lineData);
}

// 通用的静态相机状态回调函数实现
void BasePresenter::_StaticCameraStatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam)
{
    LOG_DEBUG("[BasePresenter Camera Status Callback] received: status=%d\n", (int)eStatus);

    // 获取 BasePresenter 实例指针
    BasePresenter* pThis = reinterpret_cast<BasePresenter*>(pInfoParam);
    if (!pThis) {
        LOG_ERROR("[BasePresenter Camera Status Callback] pInfoParam is null\n");
        return;
    }

    switch (eStatus) {
        case EVzDeviceWorkStatus::keDeviceWorkStatus_Offline:
        {
            LOG_WARNING("[BasePresenter Camera Status Callback] Camera device offline/disconnected\n");

            // 更新相机连接状态
            pThis->m_bCameraConnected = false;

            // 通知子类相机状态变更（这里暂时通知相机1，实际应用中可能需要区分）
            pThis->OnCameraStatusChanged(1, false);
            break;
        }

        case EVzDeviceWorkStatus::keDeviceWorkStatus_Eye_Reconnect:
        {
            LOG_INFO("[BasePresenter Camera Status Callback] Camera device online/connected\n");

            // 更新相机连接状态
            pThis->m_bCameraConnected = true;

            // 通知子类相机状态变更
            pThis->OnCameraStatusChanged(1, true);
            break;
        }

        case EVzDeviceWorkStatus::keDeviceWorkStatus_Device_Swing_Finish:
        {
            LOG_INFO("[BasePresenter Camera Status Callback] Received scan finish signal from camera\n");

            // 通知算法检测线程开始处理
            pThis->m_algoDetectCondition.notify_one();
            break;
        }

        default:
            break;
    }
}


void BasePresenter::StartCameraReconnectTimer()
{
    LOG_DEBUG("[BasePresenter] StartCameraReconnectTimer called\n");

    // 使用QMetaObject::invokeMethod确保在正确的线程中操作定时器
    QMetaObject::invokeMethod(this, [this]() {
        if (!m_pCameraReconnectTimer) {
            LOG_ERROR("[BasePresenter] m_pCameraReconnectTimer is nullptr!\n");
            return;
        }

        if (m_pCameraReconnectTimer->isActive()) {
            LOG_DEBUG("[BasePresenter] 相机重连定时器已在运行\n");
            return;
        }

        m_pCameraReconnectTimer->start();
        LOG_INFO("[BasePresenter] 启动相机重连定时器（间隔: %d ms）\n", m_pCameraReconnectTimer->interval());
    }, Qt::QueuedConnection);
}

void BasePresenter::StopCameraReconnectTimer()
{
    // 使用QMetaObject::invokeMethod确保在正确的线程中操作定时器
    QMetaObject::invokeMethod(this, [this]() {
        if (m_pCameraReconnectTimer && m_pCameraReconnectTimer->isActive()) {
            m_pCameraReconnectTimer->stop();
            LOG_INFO("[BasePresenter] 停止相机重连定时器\n");
        }
    }, Qt::QueuedConnection);
}

// ============ OnCameraReconnectTimer 实现 ============
void BasePresenter::OnCameraReconnectTimer()
{
#ifdef _WIN32
    return;
#endif
    // 调用子类实现的重连逻辑
    bool allConnected = TryReconnectCameras();

    if (allConnected) {
        LOG_INFO("[BasePresenter] 所有相机重连成功，停止定时器\n");
        StopCameraReconnectTimer();
    }
}

// ============ TryReconnectCameras 默认实现 ============
bool BasePresenter::TryReconnectCameras()
{
    LOG_DEBUG("[BasePresenter] TryReconnectCameras all %zd \n", m_expectedList.size());

    bool allConnected = true;
    int connectedCount = 0;

    // 遍历所有配置的相机，尝试重连失败的相机
    for (int i = 0; i < static_cast<int>(m_expectedList.size()); i++) {
        // 检查该位置的相机是否已连接
        if (i < static_cast<int>(m_vrEyeDeviceList.size()) && m_vrEyeDeviceList[i].second != nullptr) {
            // 相机已连接，跳过
            connectedCount++;
            continue;
        }

        // 尝试重连相机
        int cameraIndex = i + 1;  // 相机索引从1开始
        const DeviceInfo& cameraInfo = m_expectedList[i];

        LOG_DEBUG("[BasePresenter] 尝试重连相机 %d (%s, %s)\n", cameraIndex, cameraInfo.name.c_str(), cameraInfo.ip.c_str());

        // 调用 OpenDevice 重连（使用初始化时的 RGB/Swing 参数）
        int nRet = OpenDevice(cameraIndex, cameraInfo.name.c_str(), cameraInfo.ip.c_str(), m_bRGB, m_bSwing);

        OnCameraStatusChanged(cameraIndex, SUCCESS == nRet);
        if (nRet == SUCCESS) {
            LOG_INFO("[BasePresenter] 相机 %d (%s) 重连成功\n", cameraIndex, cameraInfo.name.c_str());
            connectedCount++;
        } else {
            LOG_DEBUG("[BasePresenter] 相机 %d (%s) 重连失败，错误码: %d\n", cameraIndex, cameraInfo.name.c_str(), nRet);
            allConnected = false;
        }
    }

    // 更新相机连接状态
    m_bCameraConnected = (connectedCount > 0);

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

    LOG_INFO("[BasePresenter] 相机重连尝试完成: %d/%d 台相机已连接\n", connectedCount, m_expectedList.size());

    return (connectedCount == m_expectedList.size() && allConnected);
}