#ifndef CAMERAManager_H
#define CAMERAManager_H
#include <QString>
#include <backStruct.h>
#include <unordered_map>
#include <qlibrary.h>
#include <opencv.hpp>
#include <unordered_map>
#include <qqueue.h>
#include <qthread.h>
#include <qdebug.h>
#include <globalStruct.h>
#include <qdatetime.h>
#include <back/threadPoolManager.h>
#include <serviceModule.hpp>
//硬触发要求在触发相机前给出触发信号
class backEndManager;
class camera : public QThread
{
	Q_OBJECT
public:
	QTime lastUpdateTime;
	QString cameraName;
	camera(cameraModule cameraModulePtrIn, int indexIn);
	~camera()
	{
		runFlag = false;
		this->terminate();
		while (this->isRunning() == true);
	}
	void run();
	void stop()
	{
		runFlag = false;
		while (this->isRunning() == true);
	}
	void getImgQueueSize();
	void captureImage(std::shared_ptr <detData> dataIn)
	{
		requestQueue.enqueue(dataIn);
	}

	//相机操作
	bool trigger()
	{
		if (!cameraModulePtr.module_ptr->run())
		{
			qCritical() << "[Error] " << " m_name:" << cameraName << " run  failed!";
			return false;
		}
		return true;
	}
	double getCameraValue()//点激光相机专用
	{
		double value = 0;
		std::vector<cv::Mat>  camera_mat;
		QByteArray task_name;

		int cnt = 0;
		while (!cameraModulePtr.module_ptr->sendData(camera_mat, task_name))
		{
			QThread::msleep(10);
			cnt++;
			if (cnt > 500)
				return 0;
		}
		value = task_name.toDouble();
		return value;
	}
	void getCameraImg(std::vector<cv::Mat>& mats)
	{
		QByteArray task_name;
		if (cameraModulePtr.module_ptr->sendData(mats, task_name))
			qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera_mat size:" << mats.size();
	}
	void setDigitalShift(float value)
	{
		sendData("DigitalShift_" + std::to_string(value));
	}
	void setExposureTime(float value)
	{
		sendData("exposure_" + std::to_string(value));
	}
	void setUserSet(int value)
	{
		sendData("userset_" + std::to_string(value));
	}
private:
	//detData* data = nullptr;
	void sendData(std::string str)
	{
		QByteArray task_name(QByteArray::fromStdString(str));
		std::vector<cv::Mat>  camera_mat;
		if (!cameraModulePtr.module_ptr->sendData(camera_mat, task_name))
			qCritical() << "[Error] " << "set exposure error!";
	}

	int index = 0;
	int timeout = 5000;
	QMutex mutex;
	cameraModule cameraModulePtr;
	QQueue<cv::Mat>imgQueue;
	QQueue<std::shared_ptr <detData>>requestQueue;
	backEndManager* _backEndManager;
	bool runFlag = true;
	int imgLost = 0;//未取用从而丢失的图片数量
	int showLost = 0;//因为窗口刷新速率低而未显示的数量 
};
class cameraManager : public serviceModule
{
	Q_OBJECT
public:
	bool initFlag = false;
	void initialization();
	~cameraManager();
	void run();
	std::unordered_map<std::string, camera*>cameras;//key 相机名
	camera* getCamera(std::string cameraName)
	{
		auto camera = cameras.find(cameraName);
		if (camera != cameras.end())
			return camera->second;
		return nullptr;
	}
	void stop()
	{
		for (auto camera : cameras)
			camera.second->stop();
	}
private:
	bool loadModule(QString keyName, QString moduleName,QString triggerMode, QByteArray initByte);
	std::vector<cameraModule>camerasVec;//用于初始化和销毁
	std::vector<cv::Mat> vec_mat;//没啥用，一直保持为空就好
	QList<QLibrary*> lib_list;
public slots:
	void cameraTrigger(std::string Name)
	{
		auto camera=cameras.find(Name);
		if (camera != cameras.end())
		{
			camera->second->trigger();
		}
	}
};


#endif