hookvision-rk/hookvision/main_window.py

import os
import sys
import time
import re
import logging
import threading
import queue
import subprocess
from collections import defaultdict
from PySide6.QtWidgets import (QMainWindow, QWidget, QVBoxLayout, QHBoxLayout,
                               QPushButton, QLabel, QGridLayout, QScrollArea,
                               QToolButton, QFrame, QApplication, QCheckBox,
                               QMessageBox, QSlider)
from PySide6.QtCore import Qt, QTimer, QSize, Signal
from PySide6.QtGui import QIcon, QPixmap, QResizeEvent, QKeyEvent, QCloseEvent
from .models import *
from .rtsp_player import RTSPPlayer
from .rfid_client import RFIDClient
from .modbus_client import ModbusClient
from .mqtt_client import MQTTClient

logger = logging.getLogger(__name__)

class MainWindow(QMainWindow):
    # 防抖阈值（连续相同状态次数）
    STATE_THRESHOLD = 3
    # 放包判断位移阈值（像素）
    RELEASE_DELTA_THRESHOLD = 5
    APPTITLE = "HookVision"

    # 跨线程信号
    rfid_tag_signal = Signal(object)
    rfid_state_signal = Signal(object)
    modbus_data_signal = Signal(object)
    mqtt_message_signal = Signal(str, object)
    voice_signal = Signal(str)
    camera_signal_signal = Signal(dict)

    def __init__(self, config: Config):
        super().__init__()
        self.config = config
        self.buckets = config.buckets
        self.active_bucket: BucketModel = None
        self.switch_mode = SwitchMode.AUTO
        self._subscribed_topics: set = set()
        self._current_ai_module_id: Optional[int] = None

        self.left_player: RTSPPlayer = None
        self.right_player: RTSPPlayer = None

        self.rfid_client = None
        self.modbus_client = None
        self.mqtt_client = None
        self._last_rfid_tag: Optional[str] = None

        self.video_aspect_ratio = 16 / 9
        self.left_label = None
        self.right_label = None

        # 挂钩状态相关
        self.hook_state = HookState.IDLE
        self.prev_state = HookState.IDLE
        self.state_counter = 0

        # 存储左右画面最近检测对象
        self.left_objects = []
        self.right_objects = []
        # 前一帧 hook/lug 中心位置（用于轨迹判断）
        self.prev_left_hook = None
        self.prev_right_hook = None
        self.prev_left_lug = None
        self.prev_right_lug = None

        # 语音引擎（在工作线程内初始化）
        self.last_voice_state = None
        self._last_hooking_voice_time = 0.0
        self.voice_enabled = True
        self._voice_volume = 100
        self.ai_enabled = True
        self._last_left_draw: list = []
        self._last_right_draw: list = []
        self._voice_queue = queue.Queue()
        self._voice_thread = threading.Thread(target=self._voice_worker, daemon=True)
        self._voice_thread.start()

        # RTSP 退避重连
        self._rtsp_retry_left: Optional[QTimer] = None
        self._rtsp_retry_right: Optional[QTimer] = None
        self._rtsp_retry_delay_left: int = 1
        self._rtsp_retry_delay_right: int = 1
        self._last_mqtt_connect_attempt: float = 0.0

        # 摄像头信号监控
        self._camera_signal: dict = {}  # ip → 延迟(ms), -1=不可达
        self._bucket_signal_labels: dict = {}  # bucket.id → QLabel
        self._last_signal_check: float = 0.0

        # 连接跨线程信号到主线程槽
        self.rfid_tag_signal.connect(self._on_rfid_tag_impl)
        self.rfid_state_signal.connect(self._on_rfid_state_impl)
        self.modbus_data_signal.connect(self._on_modbus_data_impl)
        self.mqtt_message_signal.connect(self._on_mqtt_message_impl)
        self.voice_signal.connect(self._speak_impl)
        self.camera_signal_signal.connect(self._on_camera_signal)

        self.setWindowTitle(config.app_name)
        logo_path = os.path.join(os.path.dirname(__file__), "..", "assets", "logo.png")
        if os.path.exists(logo_path):
            self.setWindowIcon(QIcon(logo_path))

        screen = QApplication.primaryScreen()
        screen_geometry = screen.availableGeometry()
        screen_width = screen_geometry.width()
        screen_height = screen_geometry.height()
        window_width = int(screen_width * 0.9)
        window_height = int(screen_height * 0.85)
        x = (screen_width - window_width) // 2
        y = (screen_height - window_height) // 2
        self.setGeometry(x, y, window_width, window_height)
        self.setMinimumSize(800, 600)

        self.setup_ui()

        self.showFullScreen()
        self.update_video_size()
        self.init_hardware()

        self.timer = QTimer()
        self.timer.timeout.connect(self.check_idle)
        self.timer.start(1000)

    def setup_ui(self):
        central = QWidget()
        self.setCentralWidget(central)
        main_layout = QVBoxLayout(central)
        main_layout.setContentsMargins(10, 10, 10, 10)
        main_layout.setSpacing(10)

        # 标题栏
        title_widget = QWidget()
        title_layout = QHBoxLayout(title_widget)
        title_layout.setContentsMargins(0, 0, 0, 0)
        logo_path = os.path.join(os.path.dirname(__file__), "..", "assets", "logo.png")
        if os.path.exists(logo_path):
            logo_label = QLabel()
            logo_pixmap = QPixmap(logo_path).scaled(28, 28, Qt.KeepAspectRatio, Qt.SmoothTransformation)
            logo_label.setPixmap(logo_pixmap)
            logo_label.setFixedSize(28, 28)
            title_layout.addWidget(logo_label)
        self.title_label = QLabel(self.config.app_name)
        self.title_label.setStyleSheet("font-size: 22px; font-weight: bold; padding: 5px;")
        title_layout.addWidget(self.title_label)
        title_layout.addStretch()

        btn_style = """
            QPushButton {
                background-color: transparent;
                border: none;
                font-size: 18px;
                padding: 6px 12px;
                border-radius: 5px;
            }
            QPushButton:hover {
                background-color: rgba(255, 255, 255, 0.1);
            }
        """
        self.min_btn = QPushButton("—")
        self.min_btn.setStyleSheet(btn_style)
        self.min_btn.clicked.connect(self.showMinimized)
        self.fullscreen_btn = QPushButton("⛶")
        self.fullscreen_btn.setStyleSheet(btn_style)
        self.fullscreen_btn.setToolTip("全屏 / 还原")
        self.fullscreen_btn.clicked.connect(self._toggle_fullscreen)
        self.close_btn = QPushButton("✕")
        self.close_btn.setStyleSheet(btn_style)
        self.close_btn.clicked.connect(self.close)

        title_layout.addWidget(self.min_btn)
        title_layout.addWidget(self.fullscreen_btn)
        title_layout.addWidget(self.close_btn)
        main_layout.addWidget(title_widget)

        # 工位区域
        bucket_group = QFrame()
        bucket_group.setStyleSheet("QFrame { border-radius: 8px; padding: 8px; }")
        bucket_layout = QVBoxLayout(bucket_group)

        scroll_area = QScrollArea()
        scroll_area.setWidgetResizable(True)
        scroll_area.setFrameShape(QFrame.NoFrame)
        scroll_area.setStyleSheet("QScrollArea { background: transparent; border: none; }")

        self.bucket_container = QWidget()
        self.bucket_grid = QGridLayout(self.bucket_container)
        self.bucket_grid.setSpacing(15)
        self.bucket_grid.setContentsMargins(10, 10, 10, 10)
        self.bucket_grid.setAlignment(Qt.AlignLeft | Qt.AlignTop)

        # 按 code_x 分组纵向排列
        groups = defaultdict(list)
        for bucket in self.buckets:
            groups[bucket.code_x].append(bucket)

        sorted_keys = sorted(groups.keys())
        self.bucket_buttons = []

        col = 0
        for key in sorted_keys:
            buckets_in_group = groups[key]
            for row, bucket in enumerate(buckets_in_group):
                cell = QWidget()
                cell_layout = QVBoxLayout(cell)
                cell_layout.setContentsMargins(0, 0, 0, 0)
                cell_layout.setSpacing(2)

                btn = QToolButton()
                btn.setFixedSize(100, 100)
                btn.setToolButtonStyle(Qt.ToolButtonTextUnderIcon)
                btn.setText(bucket.description)
                btn.setIcon(self.get_bucket_icon(bucket.is_active))
                btn.setIconSize(QSize(64, 64))
                btn.setStyleSheet("""
                    QToolButton {
                        border-radius: 12px;
                        font-size: 14px;
                        font-weight: bold;
                    }
                """)
                btn.clicked.connect(lambda checked, b=bucket: self.on_bucket_clicked(b))
                cell_layout.addWidget(btn)

                # 摄像头信号指示
                has_rtsp = any(c.rtsp_url for c in bucket.cameras)
                sig_label = QLabel("" if not has_rtsp else "● --")
                sig_label.setAlignment(Qt.AlignCenter)
                sig_label.setFixedHeight(18)
                if has_rtsp:
                    sig_label.setStyleSheet("font-size: 12px; color: #909399;")
                cell_layout.addWidget(sig_label)
                self._bucket_signal_labels[bucket.id] = sig_label

                self.bucket_grid.addWidget(cell, row, col)
                self.bucket_buttons.append((btn, bucket))
            col += 1

        self.bucket_container.setLayout(self.bucket_grid)
        scroll_area.setWidget(self.bucket_container)
        bucket_layout.addWidget(scroll_area)
        main_layout.addWidget(bucket_group)

        # 视频区域（仅保留边框）
        video_container = QWidget()
        video_layout = QHBoxLayout(video_container)
        video_layout.setSpacing(15)
        video_layout.setContentsMargins(0, 0, 0, 0)

        self.left_label = QLabel("左侧画面")
        self.left_label.setScaledContents(False)
        self.left_label.setAlignment(Qt.AlignCenter)
        self.left_label.setStyleSheet("""
            QLabel {
                border: 2px solid #dcdfe6;
                border-radius: 8px;
                background-color: black;
            }
        """)
        self.right_label = QLabel("右侧画面")
        self.right_label.setScaledContents(False)
        self.right_label.setAlignment(Qt.AlignCenter)
        self.right_label.setStyleSheet("""
            QLabel {
                border: 2px solid #dcdfe6;
                border-radius: 8px;
                background-color: black;
            }
        """)

        video_layout.addWidget(self.left_label)
        video_layout.addWidget(self.right_label)
        main_layout.addWidget(video_container, 1)

        # 状态栏
        status_widget = QWidget()
        status_layout = QHBoxLayout(status_widget)
        status_layout.setContentsMargins(5, 5, 5, 5)

        self.module_status = QLabel("通讯状态: 初始化")
        self.module_status.setStyleSheet("color: #606266; font-weight: bold;")
        self.rfid_tag_label = QLabel("当前卡号: 无")
        self.rfid_tag_label.setStyleSheet("color: #409eff; font-weight: bold; margin-left: 20px;")

        self.hook_status_label = QLabel("挂钩状态: 空闲")
        self.hook_status_label.setStyleSheet("color: #ffa500; font-weight: bold; margin-left: 20px;")

        self.voice_checkbox = QCheckBox("语音播报")
        self.voice_checkbox.setChecked(True)
        self.voice_checkbox.setStyleSheet("color: #606266; font-weight: bold;")
        self.voice_checkbox.stateChanged.connect(self.on_voice_toggle)

        self.volume_slider = QSlider(Qt.Horizontal)
        self.volume_slider.setRange(0, 100)
        self.volume_slider.setValue(self._voice_volume)
        self.volume_slider.setFixedWidth(80)
        self.volume_slider.setToolTip(f"音量: {self._voice_volume}%")
        self.volume_slider.valueChanged.connect(self._on_volume_changed)
        self.volume_slider.setStyleSheet("""
            QSlider::groove:horizontal { height: 4px; background: #dcdfe6; border-radius: 2px; }
            QSlider::handle:horizontal { width: 12px; margin: -4px 0; border-radius: 6px; background: #409eff; }
            QSlider::sub-page:horizontal { background: #409eff; border-radius: 2px; }
        """)

        self.ai_checkbox = QCheckBox("AI启用")
        self.ai_checkbox.setChecked(True)
        self.ai_checkbox.setStyleSheet("color: #606266; font-weight: bold;")
        self.ai_checkbox.stateChanged.connect(self.on_ai_toggle)

        self.auto_switch_btn = QCheckBox("自动模式")
        self.auto_switch_btn.setChecked(True)
        self.auto_switch_btn.setStyleSheet("color: #606266; font-weight: bold;")
        self.auto_switch_btn.clicked.connect(self.toggle_switch_mode)

        self.autostart_checkbox = QCheckBox("开机自启")
        self.autostart_checkbox.setChecked(self._read_autostart_flag())
        self.autostart_checkbox.setStyleSheet("color: #606266; font-weight: bold; margin-left: 10px;")
        self.autostart_checkbox.stateChanged.connect(self._on_autostart_toggle)

        status_layout.addWidget(self.module_status)
        status_layout.addWidget(self.rfid_tag_label)
        status_layout.addWidget(self.hook_status_label)
        status_layout.addStretch()
        status_layout.addWidget(self.voice_checkbox)
        status_layout.addWidget(self.volume_slider)
        status_layout.addWidget(self.ai_checkbox)
        status_layout.addWidget(self.auto_switch_btn)
        status_layout.addWidget(self.autostart_checkbox)
        main_layout.addWidget(status_widget)

        self.update_video_size()

    # ---------- 事件与资源管理 ----------
    def closeEvent(self, event: QCloseEvent):
        self._cancel_rtsp_retry("left")
        self._cancel_rtsp_retry("right")
        if self.rfid_client:
            self.rfid_client.disconnect()
        if self.modbus_client:
            self.modbus_client.disconnect()
        if self.mqtt_client:
            self.mqtt_client.disconnect()
        if self.left_player:
            self.left_player.stop()
        if self.right_player:
            self.right_player.stop()
        event.accept()

    # ---------- 语音控制 ----------
    def on_voice_toggle(self, state):
        self.voice_enabled = (state == Qt.Checked)

    def _on_volume_changed(self, value: int):
        self._voice_volume = value
        self.volume_slider.setToolTip(f"音量: {value}%")

    def on_ai_toggle(self, state):
        enabled = (state == Qt.Checked)
        if enabled == self.ai_enabled:
            return
        self.ai_enabled = enabled
        if enabled and not self.mqtt_client:
            self.mqtt_client = MQTTClient(self.on_mqtt_message)
            self._connect_current_ai()
        elif not enabled and self.mqtt_client:
            self.mqtt_client.disconnect()
            self.mqtt_client = None
            self._subscribed_topics.clear()
            self._current_ai_module_id = None
        if not enabled:
            self.hook_state = HookState.IDLE
            self.prev_state = HookState.IDLE
            self.state_counter = 0
            self.left_objects = []
            self.right_objects = []
            self.prev_left_hook = None
            self.prev_right_hook = None
            self.prev_left_lug = None
            self.prev_right_lug = None
            self.update_ui_for_state(HookState.IDLE)
            if self.left_player:
                self.left_player.set_ai_objects([])
            if self.right_player:
                self.right_player.set_ai_objects([])
        else:
            if self.left_player and self._last_left_draw:
                self.left_player.set_ai_objects(self._last_left_draw)
            if self.right_player and self._last_right_draw:
                self.right_player.set_ai_objects(self._last_right_draw)

    def _speak(self, msg: str):
        self.voice_signal.emit(msg)

    def _speak_impl(self, msg: str):
        self._voice_queue.put(msg)

    def _voice_worker(self):
        try:
            import pythoncom
            pythoncom.CoInitialize()
        except Exception:
            pass
        try:
            import win32com.client as _win32com
        except ImportError:
            logging.warning("pywin32 未安装，语音播报不可用")
            return
        while True:
            msg = self._voice_queue.get()
            if msg is None:
                break
            try:
                speaker = _win32com.Dispatch("SAPI.SpVoice")
                speaker.Rate = 2
                speaker.Volume = self._voice_volume
                speaker.Speak(msg)
            except Exception as e:
                logging.warning(f"语音播报失败: {e}")
            self._voice_queue.task_done()

    # ---------- 工位图标 ----------
    def get_bucket_icon(self, is_active):
        icon_dir = os.path.join(os.path.dirname(__file__), "..", "assets")
        if not os.path.exists(icon_dir):
            os.makedirs(icon_dir, exist_ok=True)
            return QIcon()
        if is_active:
            icon_path = os.path.join(icon_dir, "bucket_active.svg")
        else:
            icon_path = os.path.join(icon_dir, "bucket_normal.svg")
        if os.path.exists(icon_path):
            return QIcon(icon_path)
        else:
            pixmap = QPixmap(64, 64)
            pixmap.fill(Qt.green if is_active else Qt.gray)
            return QIcon(pixmap)

    def refresh_bucket_icons(self):
        for btn, bucket in self.bucket_buttons:
            icon = self.get_bucket_icon(bucket.is_active)
            btn.setIcon(icon)
            if bucket.is_active:
                btn.setStyleSheet("""
                    QToolButton {
                        background-color: #e1f3d8;
                        border: 2px solid #67c23a;
                        border-radius: 12px;
                        font-size: 14px;
                        font-weight: bold;
                        color: #1f2d3d;
                    }
                """)
            else:
                btn.setStyleSheet("""
                    QToolButton {
                        background-color: transparent;
                        border: 2px solid #d0d7de;
                        border-radius: 12px;
                        font-size: 14px;
                        font-weight: bold;
                        color: #1f2d3d;
                    }
                    QToolButton:hover {
                        background-color: rgba(0, 0, 0, 0.05);
                        border-color: #409eff;
                    }
                """)

    # ---------- 视频尺寸自适应 ----------
    def update_video_size(self):
        if not self.left_label or not self.right_label:
            return
        container = self.left_label.parentWidget()
        if not container:
            return
        available_width = container.width() - 15
        single_width = available_width // 2
        target_height = int(single_width / self.video_aspect_ratio)
        if target_height > container.height():
            target_height = container.height()
        self.left_label.setFixedSize(single_width, target_height)
        self.right_label.setFixedSize(single_width, target_height)

    def update_players_target_size(self):
        if self.left_player:
            self.left_player.set_target_size(self.left_label.width(), self.left_label.height())
        if self.right_player:
            self.right_player.set_target_size(self.right_label.width(), self.right_label.height())

    def resizeEvent(self, event: QResizeEvent):
        self.update_video_size()
        self.update_players_target_size()
        super().resizeEvent(event)

    def keyPressEvent(self, event: QKeyEvent):
        if event.key() == Qt.Key_Escape and self.isFullScreen():
            self.showNormal()
        elif event.key() == Qt.Key_F11:
            if self.isFullScreen():
                self.showNormal()
            else:
                self.showFullScreen()
        else:
            super().keyPressEvent(event)

    def _toggle_fullscreen(self):
        if self.isFullScreen():
            self.showNormal()
        else:
            self.showFullScreen()

    # ---------- 加载动画和超时 ----------
    def show_loading_on_label(self, label: QLabel):
        label.setText("加载中...")
        label.setAlignment(Qt.AlignCenter)
        label.setStyleSheet(label.styleSheet() + "color: white; font-size: 20px;")

    def hide_loading_on_label(self, label: QLabel):
        label.setText("")
        label.setStyleSheet("""
            QLabel {
                border: 2px solid #dcdfe6;
                border-radius: 8px;
                background-color: black;
            }
        """)

    def show_timeout_on_label(self, label: QLabel):
        label.setText("连接超时")
        label.setAlignment(Qt.AlignCenter)
        label.setStyleSheet(label.styleSheet() + "color: red; font-size: 20px;")

    def on_player_timeout(self, label: QLabel, player_ref, side: str):
        self.show_timeout_on_label(label)
        # 只停止当前活动的播放器（防止旧信号误杀新播放器）
        if side == "left" and self.left_player is player_ref:
            self.left_player.stop()
            self.left_player = None
        elif side == "right" and self.right_player is player_ref:
            self.right_player.stop()
            self.right_player = None
        self._start_rtsp_retry(side)

    def _cancel_rtsp_retry(self, side: str):
        timer = self._rtsp_retry_left if side == "left" else self._rtsp_retry_right
        if timer:
            timer.stop()
            timer.deleteLater()
        if side == "left":
            self._rtsp_retry_left = None
            self._rtsp_retry_delay_left = 1
        else:
            self._rtsp_retry_right = None
            self._rtsp_retry_delay_right = 1

    def _start_rtsp_retry(self, side: str):
        if not self.active_bucket:
            return
        cam = next((c for c in self.active_bucket.cameras if c.position == (CameraPosition.LEFT if side == "left" else CameraPosition.RIGHT)), None)
        if not cam:
            return
        label = self.left_label if side == "left" else self.right_label
        delay = self._rtsp_retry_delay_left if side == "left" else self._rtsp_retry_delay_right
        label.setText(f"正在重连({delay}s)...")
        label.setAlignment(Qt.AlignCenter)
        label.setStyleSheet(label.styleSheet() + "color: orange; font-size: 20px;")
        timer = QTimer(self)
        timer.setSingleShot(True)
        timer.timeout.connect(lambda: self._retry_rtsp(side))
        timer.start(delay * 1000)
        if side == "left":
            self._rtsp_retry_left = timer
        else:
            self._rtsp_retry_right = timer

    def _retry_rtsp(self, side: str):
        if not self.active_bucket:
            return
        cam = next((c for c in self.active_bucket.cameras if c.position == (CameraPosition.LEFT if side == "left" else CameraPosition.RIGHT)), None)
        if not cam:
            return
        label = self.left_label if side == "left" else self.right_label
        self.show_loading_on_label(label)
        w, h = label.width(), label.height()
        timeout = self.config.video.rtsp_timeout
        player = RTSPPlayer(cam.rtsp_url, w, h, timeout_sec=timeout)
        player.frame_ready.connect(label.setPixmap)
        player.first_frame_received.connect(lambda: self._on_rtsp_retry_success(side))
        player.timeout.connect(lambda: self.on_player_timeout(label, player, side))
        if side == "left":
            if self.left_player:
                self.left_player.stop()
            self.left_player = player
        else:
            if self.right_player:
                self.right_player.stop()
            self.right_player = player
        player.start()

    def _on_rtsp_retry_success(self, side: str):
        self.hide_loading_on_label(self.left_label if side == "left" else self.right_label)
        self._cancel_rtsp_retry(side)
        # 重连成功后恢复 AI 对象标注
        if self.active_bucket and self.ai_enabled:
            objects = self._last_left_draw if side == "left" else self._last_right_draw
            player = self.left_player if side == "left" else self.right_player
            if player:
                player.set_ai_objects(objects)

    # ---------- 点击工位 ----------
    def on_bucket_clicked(self, bucket: BucketModel):
        if self.switch_mode != SwitchMode.HAND:
            self.switch_mode = SwitchMode.HAND
            self.auto_switch_btn.setChecked(False)
            self.auto_switch_btn.setText("手动模式")
        self.activate_bucket(bucket)

    def on_rfid_state_changed(self, online: bool):
        self.rfid_state_signal.emit(online)

    def _on_rfid_state_impl(self, online: bool):
        if online:
            self.module_status.setText("通讯状态: RFID正常")
        else:
            self.module_status.setText("通讯状态: RFID离线")

    # ---------- 硬件初始化 ----------
    def init_hardware(self):
        if self.config.module_type == ModuleType.RFID and self.config.rfid:
            self.rfid_client = RFIDClient(
                self.config.rfid,
                self.on_rfid_tag,
                on_state_changed=self.on_rfid_state_changed,
                tag_offset=18,
                tag_length=4,
                hex_output=True
            )
            if self.rfid_client.connect():
                self.module_status.setText("通讯状态: RFID正常")
            else:
                self.module_status.setText("通讯状态: RFID离线")

        if self.config.module_type == ModuleType.HD3200 and self.config.modbus:
            self.modbus_client = ModbusClient(self.config.modbus, self.on_modbus_data)
            if self.modbus_client.connect():
                self.module_status.setText("通讯状态: Modbus正常")
            else:
                self.module_status.setText("通讯状态: Modbus离线")
        if self.config.ai.enabled:
            self.mqtt_client = MQTTClient(self.on_mqtt_message)
            self._connect_current_ai()

    def _connect_current_ai(self, bucket=None):
        if bucket is None:
            bucket = self.active_bucket
        idx = None
        if bucket and bucket.ai_module_id is not None:
            idx = bucket.ai_module_id
        elif self.config.ai_modules:
            idx = 0
        if idx is not None and idx < len(self.config.ai_modules):
            target = self.config.ai_modules[idx]
            self.mqtt_client.disconnect()
            self.mqtt_client.connect(target.broker, target.port)
            self._current_ai_module_id = idx
            if bucket:
                topics = [c.topic for c in bucket.cameras if c.topic]
                if topics:
                    self.mqtt_client.subscribe(topics)
                    self._subscribed_topics = set(topics)

    # ---------- 激活工位 ----------
    def activate_bucket(self, bucket: BucketModel):
        if self.active_bucket == bucket:
            return
        self._cancel_rtsp_retry("left")
        self._cancel_rtsp_retry("right")
        if bucket and self.voice_enabled:
            self._speak(f"到达{bucket.description}")
        if self.left_player:
            self.left_player.stop()
            self.left_player = None
        if self.right_player:
            self.right_player.stop()
            self.right_player = None
        if self.active_bucket:
            self.active_bucket.is_active = False
        self.active_bucket = bucket
        if bucket:
            bucket.is_active = True
        self.refresh_bucket_icons()

        self.show_loading_on_label(self.left_label)
        self.show_loading_on_label(self.right_label)

        # 重置挂钩状态
        self.hook_state = HookState.IDLE
        self.prev_state = HookState.IDLE
        self.state_counter = 0
        self.left_objects = []
        self.right_objects = []
        self.prev_left_hook = None
        self.prev_right_hook = None
        self.prev_left_lug = None
        self.prev_right_lug = None
        self.last_voice_state = None
        self._last_hooking_voice_time = 0.0
        self.update_ui_for_state(HookState.IDLE)

        # 先切 AI 模块 + 订阅 MQTT topic（非阻塞），再启 RTSP
        if bucket and self.config.ai.enabled and self.mqtt_client:
            if bucket.ai_module_id != self._current_ai_module_id:
                self._unsubscribe_all_topics()
                self._connect_current_ai(bucket)

        if bucket:
            if self.mqtt_client:
                topics = [c.topic for c in bucket.cameras if c.topic]
                stale = self._subscribed_topics - set(topics)
                for t in stale:
                    self.mqtt_client.unsubscribe(t)
                new_t = [t for t in topics if t not in self._subscribed_topics]
                if new_t:
                    self.mqtt_client.subscribe(new_t)
                self._subscribed_topics = set(topics)

            # 再启 RTSP
            left_cam = next((c for c in bucket.cameras if c.position == CameraPosition.LEFT), None)
            right_cam = next((c for c in bucket.cameras if c.position == CameraPosition.RIGHT), None)

            if left_cam:
                w = self.left_label.width()
                h = self.left_label.height()
                timeout = self.config.video.rtsp_timeout
                player = RTSPPlayer(left_cam.rtsp_url, w, h, timeout_sec=timeout)
                player.frame_ready.connect(self.left_label.setPixmap)
                player.first_frame_received.connect(lambda: self.hide_loading_on_label(self.left_label))
                player.timeout.connect(lambda: self.on_player_timeout(self.left_label, player, "left"))
                self.left_player = player
                player.start()

            if right_cam:
                w = self.right_label.width()
                h = self.right_label.height()
                timeout = self.config.video.rtsp_timeout
                player = RTSPPlayer(right_cam.rtsp_url, w, h, timeout_sec=timeout)
                player.frame_ready.connect(self.right_label.setPixmap)
                player.first_frame_received.connect(lambda: self.hide_loading_on_label(self.right_label))
                player.timeout.connect(lambda: self.on_player_timeout(self.right_label, player, "right"))
                self.right_player = player
                player.start()
        else:
            self._unsubscribe_all_topics()
            self.left_label.clear()
            self.right_label.clear()
            QApplication.processEvents()

    def _unsubscribe_all_topics(self):
        if self.mqtt_client and self._subscribed_topics:
            for t in self._subscribed_topics:
                self.mqtt_client.unsubscribe(t)
            self._subscribed_topics.clear()

    # ---------- RFID 标签回调 ----------
    def on_rfid_tag(self, tag: str):
        self.rfid_tag_signal.emit(tag)

    def _on_rfid_tag_impl(self, tag: str):
        self._last_rfid_tag = tag
        if tag:
            self.rfid_tag_label.setText(f"当前卡号: {tag}")
        else:
            self.rfid_tag_label.setText("当前卡号: 无")

        if tag is None:
            if self.switch_mode == SwitchMode.AUTO and self.active_bucket:
                self.activate_bucket(None)
            return
        for bucket in self.buckets:
            if bucket.code_x == tag:
                if self.switch_mode == SwitchMode.AUTO:
                    self.activate_bucket(bucket)
                break

    # ---------- Modbus 数据回调 ----------
    def on_modbus_data(self, bools):
        self.modbus_data_signal.emit(bools)

    def _on_modbus_data_impl(self, bools):
        for bucket in self.buckets:
            try:
                addr_x = int(bucket.code_x)
            except (ValueError, TypeError):
                continue
            if addr_x < 0 or addr_x >= len(bools):
                continue
            if bucket.code_y and bucket.code_y.strip():
                try:
                    addr_y = int(bucket.code_y)
                except (ValueError, TypeError):
                    continue
                if addr_y < 0 or addr_y >= len(bools):
                    continue
                if bools[addr_x] and bools[addr_y]:
                    if self.switch_mode == SwitchMode.AUTO and self.active_bucket != bucket:
                        self.activate_bucket(bucket)
                        break
            else:
                if bools[addr_x]:
                    if self.switch_mode == SwitchMode.AUTO and self.active_bucket != bucket:
                        self.activate_bucket(bucket)
                        break

    # ---------- MQTT 消息处理 ----------
    def parse_ai_objects(self, payload: dict, display_width: int, display_height: int,
                         include_ready: bool = True) -> list:
        if payload is None or not isinstance(payload, dict):
            return []
        orig_width = payload.get("width", 640)
        orig_height = payload.get("height", 360)
        scale_x = display_width / orig_width if orig_width > 0 else 1.0
        scale_y = display_height / orig_height if orig_height > 0 else 1.0
        objects = []
        for obj_str in payload.get("objects", []):
            parts = obj_str.split('|')
            if len(parts) >= 6:
                try:
                    x = int(float(parts[1]) * scale_x)
                    y = int(float(parts[2]) * scale_y)
                    w = int(float(parts[3]) * scale_x)
                    h = int(float(parts[4]) * scale_y)
                    raw_label = parts[5]
                    label = raw_label
                    if 'hoist' in raw_label:
                        label = 'hook'
                    elif 'cup' in raw_label:
                        label = 'lug'
                    if 'hook' in label:
                        color = (0, 0, 255)
                    elif 'lug' in label:
                        color = (255, 0, 0)
                    elif 'ready' in label:
                        if not include_ready:
                            continue
                        color = (0, 255, 255)
                    else:
                        color = (128, 128, 128)
                    objects.append({
                        "x": x,
                        "y": y,
                        "w": w,
                        "h": h,
                        "label": label,
                        "raw_label": raw_label,
                        "color": color
                    })
                except (ValueError, IndexError):
                    continue
        return objects

    def on_mqtt_message(self, topic: str, payload: dict):
        self.mqtt_message_signal.emit(topic, payload)

    def _on_mqtt_message_impl(self, topic: str, payload: dict):
        if payload is None or not isinstance(payload, dict):
            return
        if not self.active_bucket:
            return
        if not self.ai_enabled:
            return
        for cam in self.active_bucket.cameras:
            if cam.topic == topic:
                self.update_video_size()
                if cam.position == CameraPosition.LEFT:
                    display_width = self.left_label.width()
                    display_height = self.left_label.height()
                else:
                    display_width = self.right_label.width()
                    display_height = self.right_label.height()
                if display_width == 0 or display_height == 0:
                    display_width = 640
                    display_height = 360

                all_objects = self.parse_ai_objects(payload, display_width, display_height, include_ready=True)

                if cam.position == CameraPosition.LEFT:
                    self.left_objects = all_objects
                else:
                    self.right_objects = all_objects

                self.evaluate_hook_state()

                draw_objects = [o for o in all_objects if 'ready' not in o['label'].lower()]
                for obj in draw_objects:
                    if not obj.get('paired'):
                        obj['dimmed'] = True

                if cam.position == CameraPosition.LEFT:
                    self._last_left_draw = draw_objects
                    if self.left_player:
                        self.left_player.set_ai_objects(draw_objects)
                else:
                    self._last_right_draw = draw_objects
                    if self.right_player:
                        self.right_player.set_ai_objects(draw_objects)
                break

    # ---------- 挂钩状态评估 ----------
    def evaluate_hook_state(self):
        left_hooks = [o for o in self.left_objects if 'hook' in o['label'].lower()]
        left_lugs = [o for o in self.left_objects if 'lug' in o['label'].lower()]
        right_hooks = [o for o in self.right_objects if 'hook' in o['label'].lower()]
        right_lugs = [o for o in self.right_objects if 'lug' in o['label'].lower()]

        def find_nearest_pair(hooks, lugs):
            if not hooks or not lugs:
                return None
            best_pair = None
            best_dist = float('inf')
            for h in hooks:
                hx = h['x'] + h['w'] / 2
                hy = h['y'] + h['h'] / 2
                for l in lugs:
                    lx = l['x'] + l['w'] / 2
                    ly = l['y'] + l['h'] / 2
                    dist = (hx - lx) ** 2 + (hy - ly) ** 2
                    if dist < best_dist:
                        best_dist = dist
                        best_pair = (h, l)
            return best_pair

        left_pair = find_nearest_pair(left_hooks, left_lugs)
        right_pair = find_nearest_pair(right_hooks, right_lugs)

        is_releasing = False

        if left_pair:
            h, l = left_pair
            if self.prev_left_hook and self.prev_left_lug:
                dy_h = (h['y'] + h['h'] / 2) - self.prev_left_hook[1]
                dy_l = (l['y'] + l['h'] / 2) - self.prev_left_lug[1]
                if dy_h > self.RELEASE_DELTA_THRESHOLD and dy_l > self.RELEASE_DELTA_THRESHOLD:
                    is_releasing = True
            self.prev_left_hook = (h['x'] + h['w'] / 2, h['y'] + h['h'] / 2)
            self.prev_left_lug = (l['x'] + l['w'] / 2, l['y'] + l['h'] / 2)
        else:
            self.prev_left_hook = None
            self.prev_left_lug = None

        if right_pair:
            h, l = right_pair
            if self.prev_right_hook and self.prev_right_lug:
                dy_h = (h['y'] + h['h'] / 2) - self.prev_right_hook[1]
                dy_l = (l['y'] + l['h'] / 2) - self.prev_right_lug[1]
                if dy_h > self.RELEASE_DELTA_THRESHOLD and dy_l > self.RELEASE_DELTA_THRESHOLD:
                    is_releasing = True
            self.prev_right_hook = (h['x'] + h['w'] / 2, h['y'] + h['h'] / 2)
            self.prev_right_lug = (l['x'] + l['w'] / 2, l['y'] + l['h'] / 2)
        else:
            self.prev_right_hook = None
            self.prev_right_lug = None

        if is_releasing:
            new_state = HookState.RELEASING
        else:
            any_ready = any('ready' in o['label'].lower() for o in self.left_objects + self.right_objects)
            has_intersecting_pair = self._has_intersecting_pair(left_pair, right_pair)
            if any_ready and has_intersecting_pair:
                new_state = HookState.READY
            elif has_intersecting_pair:
                new_state = HookState.HOOKING
            else:
                new_state = HookState.IDLE

        if self.hook_state == HookState.READY and new_state != HookState.READY:
            threshold = 15
        else:
            threshold = 1 if new_state == HookState.IDLE else self.STATE_THRESHOLD
        if new_state == self.prev_state:
            self.state_counter += 1
        else:
            self.prev_state = new_state
            self.state_counter = 1

        if self.state_counter >= threshold:
            if new_state != self.hook_state:
                self.hook_state = new_state
                self.update_ui_for_state(new_state)
            self.state_counter = 0

        for obj in self.left_objects + self.right_objects:
            obj.pop('paired', None)
        if left_pair:
            left_pair[0]['paired'] = True
            left_pair[1]['paired'] = True
        if right_pair:
            right_pair[0]['paired'] = True
            right_pair[1]['paired'] = True

    def rects_intersect(self, a, b):
        ax1, ay1, ax2, ay2 = a['x'], a['y'], a['x']+a['w'], a['y']+a['h']
        bx1, by1, bx2, by2 = b['x'], b['y'], b['x']+b['w'], b['y']+b['h']
        return not (ax2 < bx1 or bx2 < ax1 or ay2 < by1 or by2 < ay1)

    def _has_intersecting_pair(self, left_pair, right_pair):
        if left_pair:
            h, l = left_pair
            if self.rects_intersect(h, l):
                return True
        if right_pair:
            h, l = right_pair
            if self.rects_intersect(h, l):
                return True
        return False

    # ---------- UI 更新与语音 ----------
    def update_ui_for_state(self, state):
        if state == HookState.IDLE:
            border_color = "#dcdfe6"
            text = "空闲"
        elif state == HookState.RELEASING:
            border_color = "#ffa500"
            text = "放包中"
        elif state == HookState.HOOKING:
            border_color = "#ff0000"
            text = "挂包中"
        elif state == HookState.READY:
            border_color = "#00ff00"
            text = "挂包成功"
        else:
            border_color = "#dcdfe6"
            text = ""

        self.hook_status_label.setText(f"挂钩状态: {text}")

        style = f"""
            QLabel {{
                border: 4px solid {border_color};
                border-radius: 8px;
                background-color: black;
            }}
        """
        self.left_label.setStyleSheet(style)
        self.right_label.setStyleSheet(style)

        if self.voice_enabled and state in (HookState.HOOKING, HookState.READY):
            now = time.time()
            if state == HookState.HOOKING:
                if state != self.last_voice_state or now - self._last_hooking_voice_time > 15:
                    self._speak("挂包中")
                    self.last_voice_state = state
                    self._last_hooking_voice_time = now
            elif state != self.last_voice_state:
                self._speak("挂包成功")
                self.last_voice_state = state

    # ---------- 定时任务 ----------
    def check_idle(self):
        if self.rfid_client:
            self.rfid_client.check_idle()
        now = time.time()
        if self.config.ai.enabled and self.mqtt_client and not self.mqtt_client.connected:
            if now - self._last_mqtt_connect_attempt > 30:
                self._last_mqtt_connect_attempt = now
                self._connect_current_ai()

        # 每 30 秒检测一次摄像头信号
        if now - self._last_signal_check > 30:
            self._last_signal_check = now
            threading.Thread(target=self._check_all_cameras, daemon=True).start()

    def _collect_camera_ips(self) -> list:
        ips = set()
        for bucket in self.buckets:
            for cam in bucket.cameras:
                m = re.search(r'rtsp://(?:[^@]+@)?([^:/]+)', cam.rtsp_url)
                if m:
                    ips.add(m.group(1))
        return sorted(ips)

    def _check_all_cameras(self):
        ips = self._collect_camera_ips()
        if not ips:
            return
        results = {}
        for ip in ips:
            try:
                if sys.platform == "win32":
                    r = subprocess.run(["ping", "-n", "1", ip], capture_output=True, timeout=5, text=True, creationflags=subprocess.CREATE_NO_WINDOW)
                else:
                    r = subprocess.run(["ping", "-c", "1", ip], capture_output=True, timeout=5, text=True)
                if r.returncode != 0:
                    results[ip] = -1
                else:
                    m = re.search(r'time[=<]\s*(\d+(?:\.\d+)?)\s*ms', r.stdout, re.IGNORECASE)
                    if m:
                        results[ip] = float(m.group(1))
                    else:
                        results[ip] = 0
            except subprocess.TimeoutExpired:
                results[ip] = -1
            except Exception:
                results[ip] = -1
        self.camera_signal_signal.emit(results)

    def _on_camera_signal(self, results: dict):
        self._camera_signal.update(results)
        for bucket in self.buckets:
            label = self._bucket_signal_labels.get(bucket.id)
            if not label:
                continue
            best = None
            for cam in bucket.cameras:
                m = re.search(r'rtsp://(?:[^@]+@)?([^:/]+)', cam.rtsp_url)
                if not m:
                    continue
                ip = m.group(1)
                if ip in self._camera_signal:
                    lat = self._camera_signal[ip]
                    if best is None or (lat >= 0 and (best < 0 or lat < best)):
                        best = lat
            if best is None:
                label.setText("")
                label.setStyleSheet("font-size: 12px; color: #909399;")
            elif best < 0:
                label.setText("● 断开")
                label.setStyleSheet("font-size: 12px; color: #f56c6c;")
            elif best < 50:
                label.setText(f"● {int(best)}ms")
                label.setStyleSheet("font-size: 12px; color: #67c23a;")
            elif best < 200:
                label.setText(f"● {int(best)}ms")
                label.setStyleSheet("font-size: 12px; color: #e6a23c;")
            else:
                label.setText(f"● {int(best)}ms")
                label.setStyleSheet("font-size: 12px; color: #f56c6c;")

    def toggle_switch_mode(self, checked: bool):
        if checked:
            self.switch_mode = SwitchMode.AUTO
            self.auto_switch_btn.setText("自动模式")
            if self._last_rfid_tag:
                self._on_rfid_tag_impl(self._last_rfid_tag)
            elif self.active_bucket:
                self.activate_bucket(None)
        else:
            self.switch_mode = SwitchMode.HAND
            self.auto_switch_btn.setText("手动模式")

    # ---------- 开机自启 ----------
    @staticmethod
    def _autostart_config_dir():
        if sys.platform == "win32":
            return os.path.join(os.environ.get("APPDATA", os.path.expanduser("~")), "HookVision")
        return os.path.join(os.path.expanduser("~"), ".config", "HookVision")

    @staticmethod
    def _autostart_config_path():
        return os.path.join(MainWindow._autostart_config_dir(), "autostart.txt")   # 改为 txt

    @staticmethod
    def _autostart_desktop_path():
        return os.path.expanduser("~/.config/autostart/HookVision.desktop")

    @staticmethod
    def _read_autostart_flag():
        path = MainWindow._autostart_config_path()
        try:
            with open(path, "r", encoding="utf-8") as f:
                content = f.read().strip().lower()
                return content == "true"
        except:
            return False

    @staticmethod
    def _write_autostart_flag(enabled: bool):
        path = MainWindow._autostart_config_path()
        os.makedirs(os.path.dirname(path), exist_ok=True)
        with open(path, "w", encoding="utf-8") as f:
            f.write("true" if enabled else "false")

    @staticmethod
    def _autostart_command():
        if getattr(sys, 'frozen', False):
            return sys.executable
        else:
            main_script = os.path.abspath(sys.argv[0])
            python_exe = sys.executable
            if ' ' in python_exe:
                python_exe = f'"{python_exe}"'
            if ' ' in main_script:
                main_script = f'"{main_script}"'
            if sys.platform == "win32":
                pythonw = python_exe.replace('python.exe', 'pythonw.exe')
                if pythonw != python_exe and os.path.exists(pythonw):
                    python_exe = pythonw
            return f'{python_exe} {main_script}'

    @staticmethod
    def _apply_system_autostart(enabled: bool) -> bool:
        cmd = MainWindow._autostart_command()
        try:
            if sys.platform == "win32":
                import winreg
                key = r"Software\Microsoft\Windows\CurrentVersion\Run"
                with winreg.OpenKey(winreg.HKEY_CURRENT_USER, key, 0, winreg.KEY_SET_VALUE) as rk:
                    if enabled:
                        winreg.SetValueEx(rk, MainWindow.APPTITLE, 0, winreg.REG_SZ, cmd)
                    else:
                        try:
                            winreg.DeleteValue(rk, MainWindow.APPTITLE)
                        except OSError:
                            pass
                return True
            else:
                desktop_path = MainWindow._autostart_desktop_path()
                if enabled:
                    os.makedirs(os.path.dirname(desktop_path), exist_ok=True)
                    with open(desktop_path, "w", encoding="utf-8") as f:
                        f.write(f"""[Desktop Entry]
Type=Application
Name={MainWindow.APPTITLE}
Exec={cmd}
Terminal=false
X-GNOME-Autostart-enabled=true
""")
                else:
                    try:
                        os.remove(desktop_path)
                    except OSError:
                        pass
                return True
        except Exception as e:
            logger.error(f"设置开机自启失败: {e}")
            return False

    def _on_autostart_toggle(self, state):
        enabled = (state == Qt.Checked)
        self._write_autostart_flag(enabled)
        ok = self._apply_system_autostart(enabled)
        if not ok:
            QMessageBox.warning(
                self,
                "设置失败",
                "开机自启动设置失败，请检查权限或手动添加。\n"
                "Windows: 将本程序快捷方式放入 '启动' 文件夹。\n"
                "Linux: 检查 ~/.config/autostart/ 目录权限。"
            )