#ifndef GVSPPARSER_H
#define GVSPPARSER_H

#include <QObject>
#include <QByteArray>
#include <QImage>
#include <QAtomicInt>
#include <cstdint>

// GVSP packet types (GigE Vision 2.1 standard)
#define GVSP_LEADER_PACKET   0x01
#define GVSP_TRAILER_PACKET  0x02
#define GVSP_PAYLOAD_PACKET  0x03

// Payload types
#define PAYLOAD_TYPE_IMAGE       0x0001
#define PAYLOAD_TYPE_BINARY      0x0003
#define PAYLOAD_TYPE_POINTCLOUD  0x8000  // Vendor-specific for point cloud data

// Image format
#define PIXEL_FORMAT_12BIT_GRAY  0x010C0001

// Image dimensions
#define IMAGE_WIDTH  1224
#define IMAGE_HEIGHT 1024

#pragma pack(push, 1)

// GVSP packet header (GigE Vision 2.1 standard - 8 bytes)
struct GVSPPacketHeader {
    uint16_t status;           // Status flags
    uint16_t block_id;         // Block ID (frame number)
    uint8_t  packet_format;    // Packet type: 0x01=Leader, 0x02=Trailer, 0x03=Payload
    uint8_t  reserved;         // Reserved byte
    uint16_t packet_id;        // Packet ID within block
};

// Image data leader
struct GVSPImageDataLeader {
    uint16_t reserved;
    uint16_t payload_type;
    uint32_t timestamp_high;
    uint32_t timestamp_low;
    uint32_t pixel_format;
    uint32_t size_x;
    uint32_t size_y;
    uint32_t offset_x;
    uint32_t offset_y;
    uint16_t padding_x;
    uint16_t padding_y;
};

// Image data trailer
struct GVSPImageDataTrailer {
    uint32_t reserved;
    uint16_t payload_type;
    uint32_t size_y;
};

// Binary data leader (for depth data)
struct GVSPBinaryDataLeader {
    uint16_t reserved;
    uint16_t payload_type;
    uint32_t timestamp_high;
    uint32_t timestamp_low;
    uint32_t file_size;
    uint32_t name_len;
    char file_name[256];
};

// Binary data trailer
struct GVSPBinaryDataTrailer {
    uint32_t reserved;
    uint16_t payload_type;
    uint32_t checksum;
};

// Point cloud data leader (vendor-specific, payload_type = 0x8000)
struct GVSPPointCloudDataLeader {
    uint16_t reserved;
    uint16_t payload_type;      // 0x8000
    uint32_t timestamp_high;
    uint32_t timestamp_low;
    uint32_t data_size;         // Total size of point cloud data
};

// Point cloud data trailer
struct GVSPPointCloudDataTrailer {
    uint32_t reserved;
    uint16_t payload_type;      // 0x8000
    uint32_t checksum;
};

#pragma pack(pop)

class GVSPParser : public QObject
{
    Q_OBJECT

public:
    explicit GVSPParser(QObject *parent = nullptr);
    ~GVSPParser();

    void parsePacket(const QByteArray &packet);
    void reset();

signals:
    void imageReceived(const QImage &image, uint32_t blockId);
    void depthDataReceived(const QByteArray &depthData, uint32_t blockId);
    void pointCloudDataReceived(const QByteArray &cloudData, uint32_t blockId);
    void parseError(const QString &error);

private:
    void handleLeaderPacket(const uint8_t *data, size_t size);
    void handlePayloadPacket(const uint8_t *data, size_t size);
    void handleTrailerPacket(const uint8_t *data, size_t size);

    void processImageData();
    void processDepthData();
    void processPointCloudData();

private:
    // Reception state
    bool m_isReceiving;
    int m_dataType;  // 0=unknown, 1=image, 3=depth, 4=pointcloud
    uint32_t m_currentBlockId;

    // Data buffer
    QByteArray m_dataBuffer;
    size_t m_expectedSize;
    size_t m_receivedSize;

    // Image info
    uint32_t m_imageWidth;
    uint32_t m_imageHeight;
    uint32_t m_pixelFormat;

    // Statistics
    uint32_t m_lastBlockId;
    int m_packetCount;

    // Async processing control
    QAtomicInt m_imageProcessingCount;
};

#endif // GVSPPARSER_H