#ifndef CAMERACONTROLLER_H
#define CAMERACONTROLLER_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>

class backEndController;
class camera : public QThread
{
public:
	QString cameraName;
	camera(cameraModule cameraModulePtrIn)
	{
		cameraModulePtr=cameraModulePtrIn;
		cameraName = cameraModulePtr.key;
		this->start();
	}
	void run()
	{
		std::vector<cv::Mat>camera_mat;
		while (runFlag)
		{
			getCameraImg(camera_mat);
			if (camera_mat.size() > 0)
			{
				for (auto img : camera_mat)
					imgQueue.enqueue(img);
			}
			QThread::msleep(100);
		}
	}

	void getCameraImg(std::vector<cv::Mat>& mats)
	{
		QByteArray task_name;
		if (!cameraModulePtr.module_ptr->sendData(mats, task_name))
			qCritical() << "[Error] " << "  camera_mat is error! ";
		qDebug() << __FUNCTION__ << " line:" << __LINE__ << "camera_mat size:" << mats.size();
	}
	bool trigger()
	{
		if (!cameraModulePtr.module_ptr->run())
		{
			qCritical() << "[Error] " << " m_name:" << cameraName << " run  failed!";
			return false;
		}
		return true;
	}
	void getImgQueueSize();
private:
	cameraModule cameraModulePtr;
	QQueue<cv::Mat>imgQueue;

	bool runFlag = true;
};
class cameraController
{
public:
	void init(backEndController*);
	~cameraController();
	std::unordered_map<QString, camera*>cameras;//key 相机名
private:
	bool loadModule(QString keyName, QString moduleName, QByteArray initByte);
	backEndController* _backEndController;

	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;
};

#endif