#pragma once

#include <QDialog>
#include <QNetworkRequest>
#include <QNetworkReply>
#include <QNetworkAccessManager>
#include <QImage>
#include <Qthread>
#include <QDir>
//#include <QLabel>
#include <QFileDialog>

#include <iostream>
#include "ui_DepthCamera.h"
#include "AppSettings.h"

#include <fstream>
#include <opencv2/opencv.hpp>
#include <libobsensor/ObSensor.hpp>
#include "libobsensor/hpp/Utils.hpp"
typedef void(*func)();

class DepthCameraOperation :public QObject
{
	Q_OBJECT

public:
	DepthCameraOperation();
	~DepthCameraOperation();

	QImage m_colorImage;
	QImage m_depthImage;
	void setCallback(void(*func)());
	bool getRecordStatus() const { return record; }

	void setCaptureInterval(int captureIntervalSeconds);

private:
	ob::Pipeline* m_pipe;
	cv::Mat frame;

	func m_func;

	void saveDepthFrame(const std::shared_ptr<ob::DepthFrame> depthFrame, const uint32_t frameIndex, std::string fileNamePrefix_);
	void saveColorFrame(const std::shared_ptr<ob::ColorFrame> colorFrame, const uint32_t frameIndex, std::string fileNamePrefix_);
	void printImuValue(OBFloat3D obFloat3d, uint64_t index, uint64_t timeStampUs, float temperature, OBFrameType type, const std::string& unitStr);
	void saveImuData(std::ofstream& imuFile, const std::shared_ptr<ob::AccelFrame>& accelFrame, const std::shared_ptr<ob::GyroFrame>& gyroFrame);

	bool record;

	int m_captureIntervalMilliseconds;

public slots:
	void OpenDepthCamera();
	void OpenDepthCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
	void CloseDepthCamera();

signals:
	void PlotSignal();

	void CamOpenedSignal();
	void CamClosedSignal();
};

class DepthCameraWindow : public QDialog
{
	Q_OBJECT

public:
	DepthCameraWindow(QWidget* parent = nullptr);
	~DepthCameraWindow();

	DepthCameraOperation* m_DepthCameraOperation;

	void setDataFolder(QString dir);
	void setCaptureInterval(int captureIntervalSeconds);

public Q_SLOTS:
	void openDepthCamera();
	void onCamOpened();
	void closeDepthCamera();
	void onCamClosed();

	void onSelectDataFolder();

signals:
void openDepthCameraSignal();
void PlotDepthImageSignal();
void DepthCamClosedSignal();

private:
	Ui::DepthCameraClass ui;
	QThread* m_DepthCameraThread;
	
};