#pragma once

#include <QObject>
#include <QString>
#include <functional>
#include <memory>
#include "IVrConfig.h"
#include "RobotPose6D.h"

using DetectionTriggerCallback = std::function<void(int cameraIndex, const RobotPose6D& robotPose)>;

/**
 * @brief TireHolePose TCP 文本协议（PIMPL 模式）
 *
 * 眼在手外(Eye-to-Hand)模式：相机固定，无需机械臂位姿。
 *
 * 协议格式：
 *   - 请求:  D1                触发相机1的轮胎检测
 *   - 响应:  count_X1_Y1_Z1_A1_B1_C1_X2_Y2_Z2_A2_B2_C2_...
 *            (count 个目标，每个 6 个浮点：XYZ + 姿态 A/B/C)
 *
 * 内部持有 IYTCPServer 生命周期与行缓冲，通过回调驱动 QObject 信号。
 */
class TireHolePoseTCPProtocol : public QObject
{
    Q_OBJECT

public:
    explicit TireHolePoseTCPProtocol(QObject* parent = nullptr);
    ~TireHolePoseTCPProtocol();

    bool StartServer(uint16_t port);
    void StopServer();
    bool IsConnected() const;

    void SetDetectionTriggerCallback(DetectionTriggerCallback callback);
    void SendResult(const QString& resultText);

signals:
    void ConnectionChanged(bool connected);
    void DataReceived(const QString& data);
    void DetectionTriggered(int cameraIndex, const RobotPose6D& robotPose);

private slots:
    void OnNewConnection();
    void OnDisconnected();
    void OnReadyRead(const QByteArray& data);

private:
    void ProcessCommand(const QString& command);
    class Impl;
    std::unique_ptr<Impl> m_pImpl;
};