#ifndef SCREWPOSITIONTCPPROTOCOL_H
#define SCREWPOSITIONTCPPROTOCOL_H

#include <functional>
#include <map>
#include <string>
#include <vector>

#include <QByteArray>

#include "IVrConfig.h"
#include "IYTCPServer.h"

struct RobotPose6D
{
    double x = 0.0;
    double y = 0.0;
    double z = 0.0;
    double a = 0.0;
    double b = 0.0;
    double c = 0.0;
};

class ScrewPositionTCPProtocol
{
public:
    using ConnectionCallback = std::function<void(bool connected)>;
    using DetectionTriggerCallback = std::function<bool(int cameraIndex,
                                                        DetectionType detectionType,
                                                        const RobotPose6D& robotPose)>;

    ScrewPositionTCPProtocol();
    ~ScrewPositionTCPProtocol();

    int Initialize(uint16_t port = 7800);
    void Deinitialize();
    bool IsRunning() const;

    void SetConnectionCallback(const ConnectionCallback& callback);
    void SetDetectionTriggerCallback(const DetectionTriggerCallback& callback);

    // Protocol:
    //   request : T1_X_Y_Z_A_B_C\r\n
    //   response: PointNum_X1_Y1_Z1_A1_B1_C1/.../\r\n
    int SendTextResult(const std::string& text, const TCPClient* pClient = nullptr);

private:
    void OnTCPEvent(const TCPClient* pClient, TCPServerEventType eventType);
    void OnTCPDataReceived(const TCPClient* pClient, const char* pData, unsigned int nLen);
    void ParseTextCommand(const TCPClient* pClient, const QByteArray& line);

private:
    IYTCPServer* m_pTCPServer = nullptr;
    bool m_bServerRunning = false;
    uint16_t m_nPort = 7800;

    ConnectionCallback m_connectionCallback;
    DetectionTriggerCallback m_detectionTriggerCallback;

    std::map<const TCPClient*, QByteArray> m_clientBuffers;
};

#endif // SCREWPOSITIONTCPPROTOCOL_H