d330viewer/src/gui/MainWindow.h

#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include <QTimer>
#include <QDateTime>
#include <memory>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

class ConfigManager;
class NetworkManager;
class DeviceScanner;
class GVSPParser;
class PointCloudProcessor;
class PointCloudWidget;
struct DeviceInfo;
class QListWidget;
class QListWidgetItem;
class QPushButton;
class QSlider;
class QSpinBox;
class QLabel;
class QImage;

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    explicit MainWindow(QWidget *parent = nullptr);
    ~MainWindow();

private slots:
    // 相机控制槽函数
    void onStartClicked();
    void onStopClicked();
    void onExposureChanged(int value);
    void onCaptureClicked();
    void onBrowseSavePathClicked();

    // 网络配置槽函数
    void onConnectClicked();
    void onIpAddressChanged(const QString &ip);
    void onControlPortChanged(int port);
    void onDataPortChanged(int port);
    void onNetworkConnected();
    void onNetworkDisconnected();
    void onDataReceived(const QByteArray &data);

    // GVSP数据处理槽函数
    void onImageReceived(const QImage &image, uint32_t blockId);
    void onLeftImageReceived(const QByteArray &jpegData, uint32_t blockId);
    void onRightImageReceived(const QByteArray &jpegData, uint32_t blockId);
    void onRgbImageReceived(const QByteArray &jpegData, uint32_t blockId);
    void onDepthDataReceived(const QByteArray &depthData, uint32_t blockId);
    void onPointCloudDataReceived(const QByteArray &cloudData, uint32_t blockId);
    void onPointCloudReady(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, uint32_t blockId);

    // 设备扫描槽函数
    void onRefreshClicked();
    void onDeviceFound(const DeviceInfo &device);
    void onScanProgress(int current, int total);
    void onScanFinished(int devicesFound);
    void onDeviceSelected(QListWidgetItem *item);

    // 定时器更新
    void updateUI();

    // 日志槽函数
    void onClearLogClicked();
    void onSaveLogClicked();

protected:
    // 重写事件处理函数以监听系统主题变化
    void changeEvent(QEvent *event) override;

private:
    void setupUI();
    void setupConnections();
    void loadSettings();
    void saveSettings();

    // 拍照辅助函数
    bool saveDepthImage(const QString &dir, const QString &baseName, const QString &format);
    bool savePointCloud(const QString &dir, const QString &baseName, const QString &format);
    void performBackgroundSave(const QString &saveDir, const QString &baseName,
                               const QString &depthFormat, const QString &pointCloudFormat,
                               const QImage &image, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,
                               const QByteArray &leftIRData, const QByteArray &rightIRData,
                               const QByteArray &rgbData);

    // 日志辅助函数
    void addLog(const QString &message, const QString &level = "INFO");
    void updateStatistics();

private:
    // 核心管理器
    std::unique_ptr<ConfigManager> m_configManager;
    std::unique_ptr<NetworkManager> m_networkManager;
    std::unique_ptr<DeviceScanner> m_deviceScanner;
    std::unique_ptr<PointCloudProcessor> m_pointCloudProcessor;

    // UI更新定时器
    QTimer *m_updateTimer;

    // 状态变量
    bool m_isConnected;

    // 当前帧数据（用于拍照）
    QImage m_currentImage;
    pcl::PointCloud<pcl::PointXYZ>::Ptr m_currentPointCloud;
    uint32_t m_currentFrameId;

    // 三个相机的原始JPEG数据（用于保存完整分辨率图像）
    QByteArray m_currentLeftIRData;
    QByteArray m_currentRightIRData;
    QByteArray m_currentRgbData;

    // UI控件指针
    class QWidget *m_centralWidget;
    class QSplitter *m_mainSplitter;
    class QWidget *m_controlPanel;
    class QLabel *m_imageDisplay;  // 兼容旧代码
    PointCloudWidget *m_pointCloudWidget;

    // 三个图像显示控件
    QLabel *m_leftImageDisplay;
    QLabel *m_rightImageDisplay;
    QLabel *m_rgbImageDisplay;
    
    // 按钮控件
    QPushButton *m_refreshBtn;
    QPushButton *m_connectBtn;
    QPushButton *m_startBtn;
    QPushButton *m_stopBtn;
    QPushButton *m_captureBtn;

    // 数据传输开关按钮
    QPushButton *m_leftIRToggle;
    QPushButton *m_rightIRToggle;
    QPushButton *m_rgbToggle;
    QPushButton *m_pointCloudColorToggle;  // 点云颜色开关
    QPushButton *m_pointCloudDenoiseToggle;  // Point cloud denoise toggle

    // 单目/双目模式切换按钮
    QPushButton *m_monocularBtn;
    QPushButton *m_binocularBtn;

    // 输入控件
    QSlider *m_exposureSlider;
    QSpinBox *m_exposureSpinBox;
    QSpinBox *m_ctrlPortSpinBox;
    QSpinBox *m_dataPortSpinBox;

    // 拍照参数控件
    class QLineEdit *m_savePathEdit;
    QPushButton *m_browseSavePathBtn;
    class QComboBox *m_depthFormatCombo;
    class QComboBox *m_pointCloudFormatCombo;
    QSlider *m_denoiseSupportSlider;
    QSpinBox *m_denoiseSupportSpinBox;
    QSlider *m_denoiseTailSlider;
    QSpinBox *m_denoiseTailSpinBox;
    QSlider *m_denoiseBandSlider;
    QSpinBox *m_denoiseBandSpinBox;

    // 显示控件
    QLabel *m_statusLabel;
    QListWidget *m_deviceList;

    // 统计信息控件
    QLabel *m_depthFpsLabel;
    QLabel *m_pointCloudFpsLabel;
    QLabel *m_resolutionLabel;
    QLabel *m_queueLabel;

    // 三个相机的FPS标签
    QLabel *m_leftFpsLabel;
    QLabel *m_rightFpsLabel;
    QLabel *m_rgbFpsLabel;

    // 日志显示控件
    class QTextEdit *m_logDisplay;
    QPushButton *m_clearLogBtn;
    QPushButton *m_saveLogBtn;

    // 统计数据 - 深度图
    QDateTime m_lastDepthFrameTime;
    int m_depthFrameCount;
    int m_totalDepthFrameCount;
    double m_currentDepthFps;

    // 统计数据 - 点云
    QDateTime m_lastPointCloudFrameTime;
    int m_pointCloudFrameCount;
    int m_totalPointCloudFrameCount;
    double m_currentPointCloudFps;

    // 统计数据 - 左红外
    QDateTime m_lastLeftFrameTime;
    int m_leftFrameCount;
    int m_totalLeftFrameCount;
    double m_currentLeftFps;

    // 统计数据 - 右红外
    QDateTime m_lastRightFrameTime;
    int m_rightFrameCount;
    int m_totalRightFrameCount;
    double m_currentRightFps;

    // 统计数据 - RGB
    QDateTime m_lastRgbFrameTime;
    int m_rgbFrameCount;
    int m_totalRgbFrameCount;
    double m_currentRgbFps;

    // 解码处理标志（防止线程积压导致闪烁）
    QAtomicInt m_rgbProcessing;
    QAtomicInt m_leftIRProcessing;
    QAtomicInt m_rightIRProcessing;
    QAtomicInt m_pointCloudProcessing;
    QAtomicInt m_pointCloudDropCounter;
    bool m_leftIrDisplayRangeInited;
    float m_leftIrDisplayMin;
    float m_leftIrDisplayMax;
    bool m_rightIrDisplayRangeInited;
    float m_rightIrDisplayMin;
    float m_rightIrDisplayMax;
    int m_rgbSkipCounter;  // RGB帧跳过计数器

    // 相机启用状态标志（防止关闭后闪烁）
    QAtomicInt m_leftIREnabled;
    QAtomicInt m_rightIREnabled;
    QAtomicInt m_rgbEnabled;
};

#endif // MAINWINDOW_H