#pragma once
#include <QDateTime>
#include <QObject>
#include <QMutex>
#include <QMetaType>

#include "ImagerOperationBase.h"
#include "IrisMultiMotorController.h"

struct PathLine
{
	double targetYPosition;
	double actualYPosition;
	double speedTargetYPosition;
	
	double targetXMinPosition;
	double actualXMinPosition;
	double speedTargetXMinPosition;

	double targetXMaxPosition;
	double actualXMaxPosition;
	double speedTargetXMaxPosition;

	QDateTime timestamp1;//开始航线
	QDateTime timestamp2;//开始采集高光谱
	QDateTime timestamp3;//结束采集高光谱

	PathLine(double targetYPosition_=0, double targetXMinPosition_ = 0, double targetXMaxPosition_ = 0)
		: targetYPosition(targetYPosition_), actualYPosition(0), speedTargetYPosition(0), 
		targetXMinPosition(targetXMinPosition_), actualXMinPosition(0), speedTargetXMinPosition(0),
		targetXMaxPosition(targetXMaxPosition_), actualXMaxPosition(0), speedTargetXMaxPosition(0),
		timestamp1(QDateTime::currentDateTime()), timestamp2(QDateTime::currentDateTime()), timestamp3(QDateTime::currentDateTime()) {}
};
Q_DECLARE_METATYPE(PathLine);
//Q_DECLARE_METATYPE(QVector<PathLine>);

class TwoMotionCaptureCoordinator : public QObject
{
	Q_OBJECT
public:
	TwoMotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
		ImagerOperationBase* cameraCtrl,
		QObject* parent = nullptr);
	TwoMotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
		QObject* parent = nullptr);
	~TwoMotionCaptureCoordinator();

	QVector<PathLine> pathLines() const;

signals:
	void sequenceComplete(int);//0：所有采集线正常运行完成，1：用户主动取消采集
	void startRecordLineNumSignal(int lineNum);
	void finishRecordLineNumSignal(int lineNum);

	void startRecordHSISignal(int lineNum);
	void stopRecordHSISignal(int lineNum);

	void errorOccurred(const QString& error);
	void moveTo(int, double, double, int);
	void moveTo(const std::vector<double>, const std::vector<double>, int);
	void stopMotorSignal(int axis);

	void recordState(bool state);

private slots:
	void start(QVector<PathLine> pathLines);
	void stop();
	void getRecordState();

	void handlePositionReached(int motorID, double pos);
	void handleCaptureCompleteWhenFrameNumberMeet();
	void handleError(const QString& error);

	void move2LocBeforeStart();

private:
	void processNextPathLine();
	void startRecordHsi();
	void getLocBeforeStart();
	double getThre(double targetLoc, double actualLoc);

	double getTimeDiffMinutes(QDateTime startTime, QDateTime endTime);
	bool savePathLinesToCsv(QString filename= QString());

	IrisMultiMotorController* m_motorCtrl;
	ImagerOperationBase* m_cameraCtrl=nullptr;
	QVector<PathLine> m_pathLines;
	mutable QMutex m_dataMutex;

	bool m_isRunning;
	bool m_isMoving2YTargeLoc;
	bool m_isMoving2XMin;
	bool m_isMoving2XMax;
	
	int m_retryLimit = 3;
	int m_retryTimesMoving2YTargeLoc;
	int m_retryTimesMoving2XMin;
	int m_retryTimesMoving2XMax;

	bool m_isImagerFrameNumberMeet;//光谱仪帧数限制到了，主动停止采集
	std::vector<double> m_locBeforeStart;

	bool m_isMoving2XStartLoc;
	bool m_isMoving2YStartLoc;

	int m_numCurrentPathLine;
};


struct OneMotionCapturePathLine
{
	double startPosition;
	double stopPosition;
	double speedRecord;
	double speedBack;

	QDateTime timestamp1;//开始
	QDateTime timestamp2;//结束

	OneMotionCapturePathLine()
		: startPosition(0), stopPosition(0), speedRecord(0), speedBack(0),
		timestamp1(QDateTime::currentDateTime()), timestamp2(QDateTime::currentDateTime()) {}
};
Q_DECLARE_METATYPE(OneMotionCapturePathLine);

class OneMotionCaptureCoordinator : public QObject
{
	Q_OBJECT
public:
	OneMotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
		ImagerOperationBase* cameraCtrl,
		QObject* parent = nullptr);
	~OneMotionCaptureCoordinator();

	bool saveToCsv(const QString& filename);

public slots:
	void startStepMotion(OneMotionCapturePathLine pathLine);
	void stopStepMotion();

	void handleCaptureCompleteWhenFrameNumberMeet();

signals:
	void sequenceComplete(int);
	void errorOccurred(const QString& error);
	void moveTo(int, double, double, int);
	void moveSignal(int, bool, double, int);
	void stopMotorSignal(int axis);

	void startRecordHSISignal();
	void stopRecordHSISignal();

private slots:
	void handleMotorStoped(int motorID, double pos);
	void handleCaptureComplete(double index);
	void handleError(const QString& error);

private:
	IrisMultiMotorController* m_motorCtrl;
	ImagerOperationBase* m_cameraCtrl;
	OneMotionCapturePathLine m_pathLine;
	mutable QMutex m_dataMutex;

	bool m_isRunning;

	std::vector<double> m_locBeforeStart;
	void getLocBeforeStart();
	void move2LocBeforeStart();
};

class DarkAndWhiteCaptureCoordinator : public QObject
{
	Q_OBJECT
public:
	DarkAndWhiteCaptureCoordinator(int model, IrisMultiMotorController* motorCtrl,
		ImagerOperationBase* cameraCtrl,
		QObject* parent = nullptr);
	~DarkAndWhiteCaptureCoordinator();

public slots:
	void startStepMotion(double speed);

	void handleCaptureCompleteWhenFrameNumberMeet();

signals:
	void sequenceComplete(int);
	void moveTo(int, double, double, int);
	void moveSignal(int, bool, double, int);
	void stopMotorSignal(int axis);

	void startRecordHSISignal();

private slots:
	void handleMotorStoped(int motorID, double pos);
	void handleCaptureComplete(double index);

private:
	IrisMultiMotorController* m_motorCtrl;
	ImagerOperationBase* m_cameraCtrl;
	mutable QMutex m_dataMutex;

	bool m_isRunning;

	double m_speed;
	int m_model;//0:dark,1:white

	std::vector<double> m_locBeforeStart;
	void getLocBeforeStart();
	void move2LocBeforeStart();
};