#include "Hd_CameraModule_HIK_General.h"
#include <qtimer.h>
using namespace  std;
#include <QTextCodec>
#include <thread>
#include <atomic>
#include <chrono>
#include <mutex>
#include <qelapsedtimer.h>
enum statusEnum {
	CONNECTED,
	RECONNECTING,
	DISCONNECTED
};
enum triggerModeEnum {
    SOFTWARE,
    HARDWARE,
    EMPTY
};
std::atomic<statusEnum> cameraStatus(DISCONNECTED);
std::atomic<bool> reconnecting(false);
std::mutex handleMutex;
triggerModeEnum triggerMode = HARDWARE;
int getImageTimeOut = 3000;
bool runFlag = true;
//总取图数
int imgIndex = 0;
MV_CC_DEVICE_INFO_LIST  m_stDevList;         // ch:设备信息列表结构体变量，用来存储设备列表
string Username = "";
int cameraIndex = -1;
QString lastError;
QQueue<cv::Mat> queuepic;
QMutex* n_mutex = new QMutex();
class callbackCollectTimeoutTimerClass : public QThread {
public:
    void run() {
        runFlag.store(true);
        counter = 0;
        while (runFlag.load() && counter < interval.load()) {
            QThread::msleep(ontTimeSleepInterval);
            counter += ontTimeSleepInterval;
        }
        if (runFlag.load() && counter >= interval.load())
            timeoutAction();
    }
    void timeoutAction() {
        QMutexLocker locker(n_mutex);
        if (queuepic.size() > 0) {
            queuepic.clear();
            qDebug() << QString::fromStdString(Username) << "上次回调后未取图，已因超时清除缓存,interval" << interval;
            std::cout << Username << "上次回调后未取图，已因超时清除缓存,interval" << interval << std::endl;
        }
    }
    void setInterval(int msec) {
        interval.store(msec);
    }
    void stop() {
        runFlag.store(false);
    }
private:
    int counter = 0;
    std::atomic<bool> runFlag = false;
    std::atomic<int> interval = 1500;
    int ontTimeSleepInterval = 10;
};
callbackCollectTimeoutTimerClass callbackCollectTimeoutTimer;
void* handle = NULL;
void CloseDevice();

//0106 断线重连
void __stdcall ReconnectDevice(unsigned int nMsgType, void* pUser);
void __stdcall ImageCallBackEx(unsigned char* pData0, MV_FRAME_OUT_INFO_EX* pFrameInfo0, void* pUser0);
//搜索所有设备
int SearchDevice(){

    if (m_stDevList.nDeviceNum == 0) {
        memset(&m_stDevList, 0, sizeof(MV_CC_DEVICE_INFO_LIST));
        // ch:枚举子网内所有设备 | en:Enumerate all devices within subnet
        int nRet = MV_CC_EnumDevices(MV_GIGE_DEVICE | MV_USB_DEVICE, &m_stDevList);
        if (MV_OK != nRet)
        {
            return -1;
        }
    }
    for (int i = 0; i < m_stDevList.nDeviceNum; i++)
    {
        //SN
        unsigned char* name = m_stDevList.pDeviceInfo[i]->SpecialInfo.stGigEInfo.chSerialNumber;
        string userName = static_cast<string>((LPCSTR)name);
        if (Username == userName)
        {
            return i;
            break;
        }

        name = m_stDevList.pDeviceInfo[i]->SpecialInfo.stUsb3VInfo.chSerialNumber;
        userName = static_cast<string>((LPCSTR)name);
        if (Username == userName)
        {
            return i;
            break;
        }
    }
    return -1;
}

bool connectDevice()
{
    int cameraIndex = SearchDevice();
    if (cameraIndex == -1){
        //未匹配到相机
        qDebug() << "[Waring] " << "Hd_CameraModule_HIK not match --CameraName:" << QString::fromStdString(Username);
        lastError = "找不到相机" + QString::fromStdString(Username);
        return false;
    }
    
    std::lock_guard<std::mutex> lock(handleMutex);
    if (handle != NULL)
    {
        MV_CC_StopGrabbing(handle);
        MV_CC_CloseDevice(handle);
        MV_CC_DestroyHandle(handle);
        handle = NULL;
    }

    //打开相机
    MV_CC_CreateHandle(&handle, m_stDevList.pDeviceInfo[cameraIndex]);
    int nRet = MV_CC_OpenDevice(handle);
    ////触发模式
    if(triggerMode == SOFTWARE)
    {
        MV_CC_SetEnumValue(handle, "TriggerMode", MV_TRIGGER_MODE_ON);
        MV_CC_SetEnumValue(handle, "TriggerSource", MV_TRIGGER_SOURCE_SOFTWARE);
    }
    else if(triggerMode == HARDWARE)
    {
        MV_CC_SetEnumValue(handle, "TriggerMode", MV_TRIGGER_MODE_ON);
        MV_CC_SetEnumValue(handle, "TriggerSource", MV_TRIGGER_SOURCE_LINE0);
	}
    
    //   //加载用户集，相机设置应当UserSet1
    nRet = MV_CC_SetEnumValueByString(handle, "UserSetSelector", "UserSet1");
    if (MV_OK != nRet)qDebug() << "Set UserSetSelector fail! nRet " << nRet;
    // ch:注册抓图回调 | en:Register image callback
    MV_CC_SetIntValueEx(handle, "GevHeartbeatTimeout", 3000);//心跳日志

    nRet = MV_CC_RegisterImageCallBackEx(handle, ImageCallBackEx, handle);//注册回调
    if (MV_OK != nRet)return false;  
    nRet = MV_CC_RegisterExceptionCallBack(handle, ReconnectDevice, NULL);//断线重连
    if (MV_OK != nRet)return false;
        
    MV_CC_StartGrabbing(handle);
    cameraStatus.store(CONNECTED);
    return true;
}
void SetExposureTime(float exposureValue)
{
    qDebug() << "[INFO] " << "exposureValue:" << exposureValue;
    MV_CC_SetEnumValue(handle, "ExposureAuto", MV_EXPOSURE_AUTO_MODE_OFF);
    MV_CC_SetFloatValue(handle, "ExposureTime", exposureValue);
}

void SetGain(float GainValue)
{
    qDebug() << "[INFO] " << "GainValue:" << GainValue;
    MV_CC_SetEnumValue(handle, "GainAuto", 0);
    MV_CC_SetFloatValue(handle, "Gain", GainValue);
}

//断线重连
void __stdcall ReconnectDevice(unsigned int nMsgType, void* pUser){

    qDebug() << "[Error] " << " MV camera disconnects!";
	
    if (nMsgType == MV_EXCEPTION_DEV_DISCONNECT && cameraStatus.load() == CONNECTED){
        
        // 防止重复启动重连线程
        bool expected = false;
        if (!reconnecting.compare_exchange_strong(expected, true)) {
            qDebug() << "[Warning] Reconnect already in progress, skipping duplicate request";
            return;
        }
        
        cameraStatus.store(RECONNECTING);
        // 启动后台线程负责重连，避免在回调线程中长时间阻塞
        std::thread([]() {
            qDebug() << QString::fromStdString(Username)  << " start reconnect thread";

            // 确保设备资源关闭
            CloseDevice();
            int times = 0;
            while (runFlag)
            {
                qDebug() << QString::fromStdString(Username) << " reconnect attempt:" << times++;
                if (connectDevice())
                {
                    qWarning() << QString::fromStdString(Username) <<  " reconnect success!";
                    cameraStatus.store(CONNECTED);
                    reconnecting.store(false);
                    return;
                }
                
                qDebug() << QString::fromStdString(Username) << " reconnect failed, waiting 500 ms before retry...";
                std::this_thread::sleep_for(std::chrono::milliseconds(500));
            }
            
            // 如果runFlag为false，线程退出
            qDebug() << "[Info] reconnect thread stopped (runFlag=false)";
            cameraStatus.store(DISCONNECTED);
            reconnecting.store(false);
        }).detach();
    }
}

//回调函数；
//经测试，相机像素格式Mono8、RGB8是可以正常转换的，YUV422还需要优化；RGB8格式比YUV422帧率低；BGR格式会导致异色问题
void __stdcall ImageCallBackEx(unsigned char* pData0, MV_FRAME_OUT_INFO_EX* pFrameInfo0, void* pUser0)
{
    Q_UNUSED(pUser0)
    callbackCollectTimeoutTimer.stop();
    int frameNum = 0;
    double time_Start = (double)clock();
	QMutexLocker locker(n_mutex);
    cv::Mat srcImage = cv::Mat();
    //qDebug() << "[info]" << __FUNCTION__ << " line:" << __LINE__ << "--- start";
    if (pFrameInfo0)
    {
        //获取的是单通道灰度图
        if (pFrameInfo0->enPixelType == PixelType_Gvsp_Mono8)//获取当前采集到的图像格式
        {
            srcImage = cv::Mat(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC1, pData0);
        }
        //获取的是RGB8图
        else if (pFrameInfo0->enPixelType == PixelType_Gvsp_BGR8_Packed)
        {
            srcImage = cv::Mat(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC3, pData0);

            //cvtColor(srcImage, srcImage, COLOR_RGB2BGR);//导致异色
        }
        else if (IsColor(pFrameInfo0->enPixelType)) //其它格式彩色图
        {
            MvGvspPixelType enDstPixelType = PixelType_Gvsp_Undefined;
            enDstPixelType = PixelType_Gvsp_BGR8_Packed;
            unsigned char* pConvertData = NULL;
            pConvertData = (unsigned char*)malloc(pFrameInfo0->nWidth * pFrameInfo0->nHeight * 3);
            if (NULL == pConvertData)
            {
                printf("malloc pConvertData fail!\n");
            }
            else
            {
                unsigned int nConvertDataSize = 0;
                nConvertDataSize = pFrameInfo0->nWidth * pFrameInfo0->nHeight * 3;

                // ch:像素格式转换 | en:Convert pixel format 
                MV_CC_PIXEL_CONVERT_PARAM stConvertParam = { 0 };

                frameNum = pFrameInfo0->nFrameNum;                 //ch:帧号 | en:frame number
                stConvertParam.nWidth = pFrameInfo0->nWidth;                 //ch:图像宽 | en:image width
                stConvertParam.nHeight = pFrameInfo0->nHeight;               //ch:图像高 | en:image height
                stConvertParam.pSrcData = pData0;                         //ch:输入数据缓存 | en:input data buffer
                stConvertParam.nSrcDataLen = pFrameInfo0->nFrameLen;         //ch:输入数据大小 | en:input data size
                stConvertParam.enSrcPixelType = pFrameInfo0->enPixelType;    //ch:输入像素格式 | en:input pixel format
                stConvertParam.enDstPixelType = enDstPixelType;                         //ch:输出像素格式 | en:output pixel format
                stConvertParam.pDstBuffer = pConvertData;                               //ch:输出数据缓存 | en:output data buffer
                stConvertParam.nDstBufferSize = nConvertDataSize;                       //ch:输出缓存大小 | en:output buffer size
                int nRet = MV_CC_ConvertPixelType(handle, &stConvertParam);

                Mat mysrcImage = cv::Mat(pFrameInfo0->nHeight, pFrameInfo0->nWidth, CV_8UC3, stConvertParam.pDstBuffer);
                mysrcImage.copyTo(srcImage);

                free(pConvertData);
                pConvertData = NULL;
                stConvertParam = { 0 };
            }
        }
    }
    if (srcImage.empty())
    {
        srcImage = cv::Mat(5, 5, CV_8UC1).setTo(0);
    }
    queuepic.enqueue(srcImage);
    callbackCollectTimeoutTimer.start();
    if (queuepic.size() > 10)
        queuepic.dequeue();
    pData0 = { 0 };
    double time_End = (double)clock();
    qDebug() << "[INFO] " << __FUNCTION__ << " line:" << __LINE__ << " checkImg getImg,Time:" << (time_End - time_Start) << "ms"
        << "--CameraName:" << QString::fromStdString(Username) << " imgIndex:" << imgIndex << "nFrameNum : " << frameNum;

}

//关闭设备
void CloseDevice()
{
    std::lock_guard<std::mutex> lock(handleMutex);
    
    // 如果 handle 已经为空，直接返回
    if (handle == nullptr)
        return;

    // 使用 SDK 正确的停止/关闭/销毁流程，避免使用 CloseHandle 等不匹配的 API
    int nRet = MV_CC_StopGrabbing(handle);
    if (MV_OK != nRet) {
        qDebug() << "[Warning] MV_CC_StopGrabbing failed, nRet=" << nRet;
    }
    
    nRet = MV_CC_CloseDevice(handle);
    if (MV_OK != nRet) {
        qDebug() << "[Warning] MV_CC_CloseDevice failed, nRet=" << nRet;
    }
    
    nRet = MV_CC_DestroyHandle(handle);
    if (MV_OK != nRet) {
        qDebug() << "[Warning] MV_CC_DestroyHandle failed, nRet=" << nRet;
    }
    
    handle = nullptr;
}
Hd_CameraModule_HIK_General::Hd_CameraModule_HIK_General() {

}
Hd_CameraModule_HIK_General::~Hd_CameraModule_HIK_General()
{
	runFlag = false;

    // 防止定时线程在资源析构后仍访问队列和互斥锁
    callbackCollectTimeoutTimer.stop();
    
    // 等待重连线程结束
    int waitCount = 0;
    while (reconnecting.load() && waitCount < 50) {  // 最多等待5秒
        qDebug() << "[Info] Waiting for reconnect thread to finish...";
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
        waitCount++;
    }
    
    CloseDevice();
    if (n_mutex)
    {
        delete n_mutex;
        n_mutex = nullptr;
    }

    qDebug() << "[INFO] " << " delete success!";
}
//从类中读数据到实例对象
bool Hd_CameraModule_HIK_General::readData(std::vector<cv::Mat>& mat, QByteArray& data)
{
    if (queuepic.isEmpty())
    {
        return false;
    }
    callbackCollectTimeoutTimer.stop();
	QMutexLocker locker(n_mutex);
    cv::Mat img = queuepic.dequeue();
    mat.push_back(img);
    qDebug() << "[INFO] " << __FUNCTION__ << " line:" << __LINE__ << " checkImg readData--CameraName:" << QString::fromStdString(Username) << "--imgIndex : " << imgIndex;
    return true;
}

//实例对象把数据写入到类；加载模型后会运行此函数
bool Hd_CameraModule_HIK_General::writeData(std::vector<cv::Mat>& mat, QByteArray& data)
{
    Q_UNUSED(mat);
    if (data.contains("deviceList")) {
        auto result = QByteArrayToMV_CC_DeviceInfoList(data.mid(10));
        if (result.nDeviceNum != 0) {
            m_stDevList = result;
            return true;    
        }
    }
    if (data == "getStatus") {
        data = lastError.toUtf8();
        return true;
    }
    if (data == "clearCache") {
        QMutexLocker locker(n_mutex);
        queuepic.clear();
        return true;
    }
    if (data.contains("exposure")){
		auto commandList = data.split('_');
        QMutexLocker locker(n_mutex);
		SetExposureTime(commandList[1].toFloat());
        return true;
    }
    return true;
}
//传入initParas函数，格式为：相机key+参数名1#参数值1#参数值2+参数名2#参数值1...
bool Hd_CameraModule_HIK_General::initParas(QByteArray& initData)
{
    QByteArrayList valueList = initData.split('#');
    if (valueList.size() < 3) {
		qDebug() << "[Error] " << " Hd_CameraModule_HIK initParas fail--params error!参数数量不满足";
        lastError = "参数数量不满足";
        return false;
    }
    Username = valueList[0];

    auto triggerModeStr = valueList[1];
    if (triggerModeStr == "HARDWARE")
        triggerMode = HARDWARE;
    else if (triggerModeStr == "SOFTWARE")
        triggerMode = SOFTWARE;
    else if (triggerModeStr == "EMPTY")
        triggerMode = EMPTY;
    else {
        qDebug() << "[Error] " << " Hd_CameraModule_HIK initParas fail--params error!触发模式参数错误";
        lastError = "触发模式参数错误";
		return false;
    }

    getImageTimeOut = valueList[2].toInt();

    imgIndex = 0;
    return connectDevice();
}

bool Hd_CameraModule_HIK_General::run()
{
    qDebug() << "[INFO] " << " run start" << QString::fromStdString(Username);
	if (triggerMode == SOFTWARE)
        MV_CC_SetCommandValue(handle, "TriggerSoftware");
    try
    {
        int sleepMs = 10;
        int cnt = 0;
		int timeoutCnt = getImageTimeOut / sleepMs;
        while (true)
        {
			QMutexLocker locker(n_mutex);
            if (queuepic.size() > 0)return true;
            if (cnt++ > timeoutCnt) {
                queuepic.push_back(cv::Mat(200, 200, CV_8UC1, cv::Scalar(0))); //返回空图
                qDebug() << QString::fromStdString(Username) << "timeout" ;
                return true;
            }
            QThread::msleep(sleepMs);
        }
    }
    catch (QString ev)
    {
        qDebug() << "[Error] " << " ev:" << ev;
    }
    return true;
}

//相机连接状态：正常连接或断开
bool Hd_CameraModule_HIK_General::checkStatus()
{
    //status = moduleStatus;
    return cameraStatus == CONNECTED;
}


Hd_CameraModule_HIK_General* create()
{
    qDebug() << "[INFO] " << "Hd_CameraModule_HIK create success!";
    return new Hd_CameraModule_HIK_General;
}

void destory(Hd_CameraModule_HIK_General* ptr)
{
    if (ptr)
    {
        delete  ptr;
        ptr = nullptr;
    }
    qDebug() << "[INFO] " << "Hd_CameraModule_HIK  destory success!";
}