#ifndef CAMERA_CONTROL_H
#define CAMERA_CONTROL_H

#include <QMap>
#include "HikCamera.h"
#include "LXCamera.h"
#include "commonDefine.h"

struct CameraInfo
{
	CameraType cameraType; //相机类型
	QString cameraLabel; //显示的序列号
	QString userDefinedName; //用户设置的名字
	QString modelName; //相机设备名称（厂家）
	QString serialNumber; //相机设备序列号（厂家）
	double exposure; //曝光时间
	int imageWidth; //宽度
	int imageHeight; //高度
	int rotationAngle{ 0 }; //旋轉角度
	int location = 0; //相机安装位置(对应货物在堆垛机的位置), 1左2右, 0保留为之前规则

	QString calibFile = ""; //标定文件地址
	QString saveImgSuffix = ".bmp" ; //保存的图像格式
	
};

struct FileInfo
{
	QString strId;
	QString suffix;
	QString name;
};

struct ImageInfo
{
	bool bIs2D;
	cv::Mat image;
	cv::Mat image3D;
	ILImagePtr imageOrigin;
	ILImagePtr imageFixed;
	QString cameraSn;
	FileInfo saveImgInfo;
};

class CameraControl : public QObject, public lp_singleton<CameraControl>
{
	Q_OBJECT
public:
	explicit CameraControl();
	~CameraControl();

	//static void EnumCameras(QList<CameraInfo>& cameraInfoList);
	bool readCameraConfig(QString filePath);
	bool initCamera();
	bool loadCamera(const QList<CameraInfo>& cameraInfoList);
	bool openCamera(const QStringList& serialNumberList);
	bool closeCamera(const QStringList& serialNumberList);
	bool startCamera(const QStringList& serialNumberList);
	bool stopCamera(const QStringList& serialNumberList);
	bool setSoftwareTrigger(const QStringList& serialNumberList);

	bool openCamera(const QString& serialNumber);
	bool closeCamera(const QString& serialNumber);
	bool startCamera(const QString& serialNumber);
	bool stopCamera(const QString& serialNumber);
	bool setSoftwareTrigger(const QString& serialNumber);
	bool setExposure(const QString& serialNumber,int exposure);
	int getDeviceId(const QString& serialNumber);


	Q_SLOT void onCapture(int cameraLocation,int location, int floor);
signals:
	void sgCapturedImage(const QVector<ImageInfo>& vecImageInfo, int cameraLocation);
private:
	Q_SLOT void onOpen();

	bool getSaveImgNameInfo(QString serialNumber, FileInfo& fileInfo);
	void capture(const QStringList& serialNumberList, int location, int floor);
	bool capture(const QString& serialNumber, cv::Mat& img, cv::Mat& img3D,int exposure);
	void flipImg(const cv::Mat& imgSrc, cv::Mat& imgDst, int rotationAngle);

	QMap<int, CameraInfo> m_mapIdCameraInfoTop;
	QMap<int, int> exposureRowMap;
	QMap<int, CameraInfo> m_mapIdCameraInfoSide;
	QMap<QString, int> m_mapSerialNumberIdTop;
	QMap<QString, int> m_mapSerialNumberIdSide; // QString:相机SN码，int:相机ID
	QMap<QString, int> m_cameraStockLocation; // QString:相机SN码, int:相机相对货物的Location
	QVector<Camera*> m_vecPCamera;
	QMap<QString, int> m_mapSNIndex;
	bool m_bCamerasInit{ false };
	eCameraLocation m_eCameraLocation;

	QThread*	m_pobjThread;
	QMutex m_mutex;

	ILCalibNPointsPtr m_calib1, m_calib2;
};
#endif // !CAMERA_CONTROL_H