#ifndef SIMULATIONMODE_H
#define SIMULATIONMODE_H

#include <QObject>
#include <QString>
#include <QTimer>
#include <random>

/**
 * @brief 模拟模式类
 *
 * 用于在没有真实设备的情况下测试应用程序
 * 模拟ModbusTCP控制器和机械臂的行为
 */
class SimulationMode : public QObject
{
    Q_OBJECT

public:
    explicit SimulationMode(QObject *parent = nullptr);

    // 启用/禁用模拟模式
    void setEnabled(bool enabled);
    bool isEnabled() const { return m_enabled; }

    // 模拟控制器连接
    bool simulateControllerConnect();
    void simulateControllerDisconnect();

    // 模拟机械臂连接
    bool simulateRobotConnect();
    void simulateRobotDisconnect();

    // 模拟ModbusTCP寄存器读写
    bool simulateReadRegister(int address, uint16_t& value);
    bool simulateWriteRegister(int address, uint16_t value);
    bool simulateReadRegisters(int startAddress, int quantity, std::vector<uint16_t>& values);

    // 模拟机械臂运动
    bool simulateMoveL(double x, double y, double z, double rx, double ry, double rz);
    bool simulateMoveJ(double x, double y, double z, double rx, double ry, double rz);

    // 设置模拟检测结果
    void setSimulatedDetectionResult(float x, float y, float z, float roll, float pitch, float yaw);

signals:
    void logMessage(const QString& message);

private:
    bool m_enabled = false;

    // 模拟寄存器
    std::map<int, uint16_t> m_registers;

    // 模拟检测结果
    float m_detectionX = 100.0f;
    float m_detectionY = 200.0f;
    float m_detectionZ = 300.0f;
    float m_detectionRoll = 0.0f;
    float m_detectionPitch = 0.0f;
    float m_detectionYaw = 90.0f;

    // 随机数生成器
    std::mt19937 m_randomEngine;
    std::uniform_real_distribution<float> m_positionNoise;
    std::uniform_real_distribution<float> m_angleNoise;

    // 模拟检测延迟定时器
    QTimer* m_detectionTimer = nullptr;

    // 辅助函数
    void initializeRegisters();
    void simulateDetectionProcess();
    float addNoise(float value, float noiseRange);
};

#endif // SIMULATIONMODE_H