smart-bow-infrared/Assets/LightGlue/Scripts/Bridge/HardwareToPythonUdpBridge.cs

using System;
using System.IO;
using System.Net;
using System.Net.Sockets;
using LightGlue.Unity.Networking;
using LightGlue.Unity.Config;
using LightGlue.Unity.Python;
using UnityEngine;

namespace LightGlue.Unity.Bridge
{
    /// <summary>
    /// Bridge: 统一管理硬件与 Python 的通信。
    /// - 硬件 -> Unity：UDP JPEG 接收（bindIp:hardwarePort）
    /// - Unity -> 硬件：0x40 参数设置帧（分辨率/质量/间隔/开关）
    /// - Unity -> Python：图像数据（stdin 或 UDP）
    /// - Python -> Unity：算法结果 UDP 接收（pythonResultBindIp:pythonResultPort）
    /// </summary>
    public sealed class HardwareToPythonUdpBridge : MonoBehaviour
    {
        [Header("配置管理")]
        [Tooltip("是否从NetworkConfigManager自动加载配置（启动时）")]
        public bool autoLoadNetworkConfig = true;

        // ---------- 硬件 -> Unity：JPEG 接收 ----------
        [Header("Hardware UDP (input: hardware -> Unity)")]
        [Tooltip("Local bind IP for hardware stream, e.g. 192.168.0.105 or 0.0.0.0")]
        public string hardwareBindIp = "192.168.0.105";

        [Tooltip("UDP port where hardware sends JPEG packets.")]
        public int hardwarePort = 12346;

        [Tooltip("Timeout to reset incomplete JPEG (seconds).")]
        public float hardwareTimeoutSeconds = 2.0f;

        // ---------- 硬件控制：Unity -> 硬件（0x40 参数设置） ----------
        [Header("Hardware Control UDP (Unity -> Hardware)")]
        [Tooltip("硬件设备 IP（如 ESP32S3），用于发送 0x40 参数设置帧")]
        public string hardwareControlIp = "192.168.0.106";

        [Tooltip("硬件控制端口（硬件接收 0x40 的端口，如 8888）")]
        public int hardwareControlPort = 8888;

        [Header("Hardware Auto Apply (one-shot)")]
        [Tooltip("当检测到硬件开始发送 JPEG 帧时，是否自动将当前 transmissionConfig 以 0x40 下发给硬件（仅一次）。")]
        public bool autoApplyHardwareConfigOnFirstFrame = true;


        [Header("Python Output Mode")]
        [Tooltip("传输模式：Stdin（直接进程通信，推荐）或 UDP（传统模式）")]
        public TransferMode transferMode = TransferMode.Stdin;

        [Header("Python UDP (legacy mode: Unity -> Python)")]
        [Tooltip("Python process IP (normally localhost). Only used in UDP mode.")]
        public string pythonIp = "127.0.0.1";

        [Tooltip("Python UDP port to receive JPEG from Unity. Only used in UDP mode.")]
        public int pythonPort = 12347;

        [Header("Python Control (Unity -> Python control commands)")]
        [Tooltip("是否启用向Python发送控制指令（例如刷新参考图），需要Python脚本开启 --control_port")]
        public bool enablePythonControl = true;

        [Tooltip("Python 控制端口（需与 demo_lightglue_camera_position_async.py 的 --control_port 一致，例如 12349）")]
        public int pythonControlPort = 12349;

        [Tooltip("用于触发“刷新参考图”指令的按键（等价于 Python 端按下 n 键）")]
        public KeyCode refreshReferenceKey = KeyCode.N;

        [Header("基准图刷新方式与频率（由 Unity 触发）")]
        [Tooltip("基准图来源：仅摄像头(N键) / Python截屏 / Unity游戏画面")]
        public ReferenceSource referenceSource = ReferenceSource.CameraOnly;

        [Tooltip("基准图刷新间隔（秒），仅当来源为 Python截屏 或 Unity游戏画面 时生效")]
        [Range(0.01f, 60f)]
        public float referenceRefreshIntervalSeconds = 5f;

        [Tooltip("Unity游戏画面作为基准图时，用于截图的相机（空则使用 Camera.main）")]
        public Camera gameViewCamera;

        [Tooltip("基准图截图宽度（与 Python --resize 一致，如 640）")]
        public int referenceCaptureWidth = 640;

        [Tooltip("基准图截图高度（与 Python --resize 一致，如 480）")]
        public int referenceCaptureHeight = 480;

        [Header("Python Process (stdin mode: Unity -> Python)")]
        [Tooltip("Python进程控制器（用于stdin模式，直接传递图片数据）")]
        public PythonProcessController pythonProcessController;
        [Tooltip("为 true 时：收到首帧图像后再启动 Python（需 PythonProcessController.startOnFirstImageReceived 同时为 true），避免无图时启动算法。")]
        public bool startPythonOnFirstImageReceived = true;

        [Tooltip("Max queued frames in receiver (latest N only).")]
        public int maxQueuedFrames = 2;

        [Header("Python Result Receiver (Python -> Unity)")]
        [Tooltip("是否启用Python结果接收（接收算法计算结果）")]
        public bool enableResultReceiver = true;

        [Tooltip("Python结果接收端口（用于接收Python发送的算法结果，默认12348）")]
        public int pythonResultPort = 12348;

        [Tooltip("Python结果接收绑定IP（默认127.0.0.1）")]
        public string pythonResultBindIp = "127.0.0.1";

        [Tooltip("结果队列最大大小（只保留最新N个结果）")]
        public int maxResultQueueSize = 10;

        [Header("Image Transmission Config")]
        [Tooltip("图像传输配置（运行时唯一来源：可由 LightGlueManager.defaultTransmissionConfig 或 ImageTransmissionUIController 写入）")]
        public ImageTransmissionConfig transmissionConfig;



        public enum TransferMode
        {
            Stdin,  // 通过stdin直接传递（推荐，无需UDP服务器）
            Udp     // 通过UDP传递（传统模式）
        }

        /// <summary> 基准图来源：仅 N 键摄像头帧 / Python 截屏 / Unity 游戏画面 </summary>
        public enum ReferenceSource
        {
            CameraOnly,   // 仅通过 N 键将当前摄像头帧设为基准图
            ScreenCapture, // Python 端截取整屏作为基准图（按刷新频率发 s）
            GameView      // Unity 将当前游戏画面发给 Python 作为基准图（按刷新频率发 r+图像）
        }

        private UDPJpegReceiver _receiver;
        private UdpClient _udpSender;  // Unity->Python UDP 模式
        private IPEndPoint _pythonEndpoint;
        private StreamWriter _stdinWriter;  // Stdin 模式
        private UDPResultReceiver _resultReceiver;  // Python->Unity 结果接收

        // 硬件控制：Unity -> 硬件 0x40 参数设置（与 JPEG 接收/转发独立）
        private UdpClient _hwControlClient;
        private IPEndPoint _hwControlEndpoint;

        // Python 控制：Unity -> Python 控制指令（刷新参考图）
        private UdpClient _pyControlClient;
        private IPEndPoint _pyControlEndpoint;

        // 基准图刷新（仅 GameView / ScreenCapture 时按间隔触发）
        private float _lastReferenceRefreshTime;
        private byte[] _pendingReferenceImageBytes;

        // 传输控制
        private float _lastSendTime;
        private bool _configEnabled = true;
        
        // 最新图片缓存（供Viewer使用）
        private byte[] _latestJpeg;
        private object _latestJpegLock = new object();

        private bool _autoHardwareConfigApplied;
        private bool _autoHardwareConfigReady;
        private bool _pythonStartedByFirstFrame;
        
        /// <summary>
        /// 获取最新的JPEG图片数据（供Viewer等组件使用）
        /// </summary>
        public byte[] GetLatestJpeg()
        {
            lock (_latestJpegLock)
            {
                return _latestJpeg != null ? (byte[])_latestJpeg.Clone() : null;
            }
        }
        
        /// <summary>
        /// 获取接收器（供Viewer共享使用）
        /// </summary>
        public UDPJpegReceiver Receiver => _receiver;

        /// <summary>
        /// 获取结果接收器（供其他组件使用）
        /// </summary>
        public UDPResultReceiver ResultReceiver => _resultReceiver;

        /// <summary>
        /// 尝试获取最新的算法结果（非阻塞）
        /// 每帧会排空结果队列并只使用最后一次取到的结果，避免队列积压导致显示旧位置（延迟移动）。
        /// </summary>
        public bool TryGetLatestResult(out LightGlueResult result)
        {
            result = default(LightGlueResult);
            if (_resultReceiver == null) return false;

            bool any = false;
            while (_resultReceiver.TryDequeueResult(out var r))
            {
                result = r;
                any = true;
            }
            return any;
        }

        private void Start()
        {
            // 自动加载网络配置
            if (autoLoadNetworkConfig)
            {
                LoadNetworkConfig();
            }

            // 在Start中初始化，确保所有组件都已启用
            // 如果使用stdin模式且Python进程控制器已配置但未运行，尝试启动
            if (transferMode == TransferMode.Stdin && pythonProcessController != null && !pythonProcessController.IsRunning)
            {
                if (pythonProcessController.autoStartOnEnable)
                {
                    // 如果配置了自动启动，但还没启动，可能是启动顺序问题，延迟一点再检查
                    StartCoroutine(DelayedStdinCheck());
                }
                else
                {
                    Debug.LogWarning("[Bridge] Python process controller is set but not running. " +
                                    "Please ensure 'Auto Start On Enable' is enabled or manually start Python process.");
                }
            }
        }

        /// <summary>
        /// 从NetworkConfigManager加载网络配置
        /// </summary>
        private void LoadNetworkConfig()
        {
            try
            {
                NetworkConfig config = NetworkConfigManager.LoadConfig();
                if (config != null && config.Validate())
                {
                    hardwareBindIp = config.hardwareBindIp;
                    hardwarePort = config.hardwarePort;
                    hardwareTimeoutSeconds = config.hardwareTimeoutSeconds;
                    pythonIp = config.pythonIp;
                    pythonPort = config.pythonPort;
                    pythonResultBindIp = config.pythonResultBindIp;
                    pythonResultPort = config.pythonResultPort;
                    hardwareControlIp = config.hardwareControlIp;
                    hardwareControlPort = config.hardwareControlPort;
                    Debug.Log($"[Bridge] 已从配置文件加载网络配置: hardwareBindIp={hardwareBindIp}, hardwarePort={hardwarePort}, pythonIp={pythonIp}, pythonPort={pythonPort}, pythonResultPort={pythonResultPort}, hardwareControlIp={hardwareControlIp}, hardwareControlPort={hardwareControlPort}");
                }
            }
            catch (System.Exception ex)
            {
                Debug.LogWarning($"[Bridge] 加载网络配置失败，使用Inspector中的默认值: {ex.Message}");
            }
        }

        private System.Collections.IEnumerator DelayedStdinCheck()
        {
            // 等待一帧，让Python进程有时间启动
            yield return null;
            TryConnectStdin();
        }

        private void OnEnable()
        {
            // 游戏全屏时保持收发 UDP/进程通信，避免因失去焦点被系统节流导致 Python 端卡顿
            Application.runInBackground = true;
            _lastReferenceRefreshTime = Time.time;
            _autoHardwareConfigApplied = false;
            _autoHardwareConfigReady = false;
            _autoHardwareConfigApplied = false;
            // 创建 receiver 前先加载网络配置，保证首次运行与“应用配置重启”使用同一绑定地址，避免预览在重启后因 IP 不一致断流
            if (autoLoadNetworkConfig)
            {
                LoadNetworkConfig();
            }

            // 参考图 resize：与 Python --resize 一致
            ReferenceImageResizeService.EnsureInitialized();
            referenceCaptureWidth = ReferenceImageResizeService.Width;
            referenceCaptureHeight = ReferenceImageResizeService.Height;
            ReferenceImageResizeService.OnResizeChanged -= OnResizeChanged;
            ReferenceImageResizeService.OnResizeChanged += OnResizeChanged;
            // Hardware -> Unity receiver（端口占用时捕获异常，避免崩溃）
            _receiver = new UDPJpegReceiver(hardwareBindIp, hardwarePort, hardwareTimeoutSeconds, maxQueuedFrames);
            try
            {
                _receiver.Start();
            }
            catch (SocketException ex)
            {
                Debug.LogError($"[Bridge] 无法绑定硬件 JPEG 接收端口 {hardwareBindIp}:{hardwarePort}，可能已被占用或存在重复的 LightGlueSystem。请确保场景中只通过 GameManager 创建一份预制，且未手动放置重复对象。\n{ex.Message}");
                try { _receiver?.Stop(); } catch { /* ignore */ }
                _receiver = null;
            }

            // Unity -> Python sender (根据模式选择)
            if (transferMode == TransferMode.Stdin)
            {
                TryConnectStdin();
            }
            else
            {
                // UDP模式（传统）
                var ip = IPAddress.Parse(string.IsNullOrWhiteSpace(pythonIp) ? "127.0.0.1" : pythonIp);
                _pythonEndpoint = new IPEndPoint(ip, pythonPort);
                _udpSender = new UdpClient();
                
                Debug.Log($"[Bridge] Hardware -> Unity listening on {hardwareBindIp}:{hardwarePort}");
                Debug.Log($"[Bridge] Unity -> Python: UDP mode sending to {_pythonEndpoint.Address}:{_pythonEndpoint.Port}");
            }

            // Unity -> 硬件：0x40 参数设置 UDP 客户端（与 JPEG 接收/转发独立）
            try
            {
                string ctrlIp = string.IsNullOrWhiteSpace(hardwareControlIp) ? "192.168.0.106" : hardwareControlIp;
                var ip = IPAddress.Parse(ctrlIp);
                _hwControlEndpoint = new IPEndPoint(ip, hardwareControlPort);
                _hwControlClient = new UdpClient();
                Debug.Log($"[Bridge] 硬件控制 UDP 已初始化 -> {_hwControlEndpoint.Address}:{_hwControlEndpoint.Port}（发送 0x40 参数设置到硬件）");
            }
            catch (Exception ex)
            {
                Debug.LogError($"[Bridge] 硬件控制 UDP 初始化失败: {ex.Message}");
                _hwControlClient = null;
            }

            // Unity -> Python 控制：简单控制指令（例如刷新参考图）
            if (enablePythonControl)
            {
                try
                {
                    string targetIp = string.IsNullOrWhiteSpace(pythonIp) ? "127.0.0.1" : pythonIp;
                    var ip = IPAddress.Parse(targetIp);
                    _pyControlEndpoint = new IPEndPoint(ip, pythonControlPort);
                    _pyControlClient = new UdpClient();
                    Debug.Log($"[Bridge] Python 控制 UDP 已初始化 -> {_pyControlEndpoint.Address}:{_pyControlEndpoint.Port}（发送刷新参考图等控制指令）");
                }
                catch (Exception ex)
                {
                    Debug.LogError($"[Bridge] Python 控制 UDP 初始化失败: {ex.Message}");
                    _pyControlClient = null;
                }
            }

            // Python -> Unity result receiver
            if (enableResultReceiver)
            {
                try
                {
                    _resultReceiver = new UDPResultReceiver(pythonResultBindIp, pythonResultPort, maxResultQueueSize);
                    _resultReceiver.Start();
                    Debug.Log($"[Bridge] Python -> Unity: Result receiver started on {pythonResultBindIp}:{pythonResultPort}");
                }
                catch (Exception ex)
                {
                    // 端口占用或绑定失败时给出明确提示，避免与其它进程（例如 YejiDemo）抢占同一结果端口。
                    Debug.LogError($"[Bridge] Failed to start result receiver on {pythonResultBindIp}:{pythonResultPort}. " +
                                   "The UDP port may already be in use by another process. " +
                                   $"Exception: {ex.Message}");
                    try
                    {
                        _resultReceiver?.Stop();
                    }
                    catch
                    {
                        // ignore
                    }
                    _resultReceiver = null;
                }
            }
        }

        private void OnDestroy()
        {
            ReferenceImageResizeService.OnResizeChanged -= OnResizeChanged;
        }

        private void OnResizeChanged(int w, int h)
        {
            referenceCaptureWidth = w;
            referenceCaptureHeight = h;
        }

        private void TryConnectStdin()
        {
            // Stdin模式：从Python进程控制器获取stdin写入流
            if (pythonProcessController != null)
            {
                if (pythonProcessController.IsRunning)
                {
                    _stdinWriter = pythonProcessController.StdinWriter;
                    if (_stdinWriter != null)
                    {
                        Debug.Log($"[Bridge] Hardware -> Unity listening on {hardwareBindIp}:{hardwarePort}");
                        Debug.Log($"[Bridge] Unity -> Python: Stdin mode connected (direct process communication)");
                    }
                    else
                    {
                        Debug.LogWarning("[Bridge] Python process stdin not available. Make sure Python process is started.");
                    }
                }
                else
                {
                    Debug.LogWarning("[Bridge] Python process controller is set but Python process is not running. " +
                                    "Will retry in Update(). Make sure 'Auto Start On Enable' is enabled in PythonProcessController.");
                }
            }
            else
            {
                Debug.LogWarning("[Bridge] Python process controller not set. Please assign PythonProcessController component in Inspector.");
            }
        }

        private void OnDisable()
        {
            try { _receiver?.Stop(); } catch { /* ignore */ }
            _receiver = null;

            try { _resultReceiver?.Stop(); } catch { /* ignore */ }
            _resultReceiver = null;

            try { _hwControlClient?.Close(); } catch { /* ignore */ }
            _hwControlClient = null;

            try { _pyControlClient?.Close(); } catch { /* ignore */ }
            _pyControlClient = null;

            _stdinWriter = null;

            try { _udpSender?.Close(); } catch { /* ignore */ }
            _udpSender = null;

            _pythonStartedByFirstFrame = false;

            ReferenceImageResizeService.OnResizeChanged -= OnResizeChanged;
        }

        /// <summary>
        /// 收到首帧图像时调用：若启用「首帧后再启动 Python」则启动一次，之后不再重复。
        /// </summary>
        private void TryStartPythonOnFirstFrame()
        {
            if (_pythonStartedByFirstFrame) return;
            if (!startPythonOnFirstImageReceived || pythonProcessController == null || pythonProcessController.IsRunning)
                return;
            if (pythonProcessController.startOnFirstImageReceived)
            {
                pythonProcessController.StartPython();
                _pythonStartedByFirstFrame = true;
                Debug.Log("[Bridge] 已收到首帧图像，启动 Python 进程。");
            }
        }

        // ---------- 硬件控制：下发 0x40 参数设置（供 ImageTransmissionUIController 等调用） ----------

        /// <summary>
        /// 将图像传输配置以 0x40 协议帧下发给硬件（分辨率/质量/间隔/开关）。
        /// 调用时机：用户点击“应用配置”等。
        /// </summary>
        public void ApplyConfig(ImageTransmissionConfig config)
        {
            if (_hwControlClient == null || _hwControlEndpoint == null || config == null)
            {
                Debug.LogWarning("[Bridge] 硬件控制未就绪或 config 为空，无法发送 0x40");
                return;
            }

            try
            {
                byte[] frame = BuildParameterSettingFrame(config);
                if (frame != null && frame.Length > 0)
                {
                    _hwControlClient.Send(frame, frame.Length, _hwControlEndpoint);
                    Debug.Log($"[Bridge] 已发送 0x40 参数帧 -> {_hwControlEndpoint.Address}:{_hwControlEndpoint.Port}, enable={config.enableImageTransmission}, res=0x{config.GetHardwareResolutionCode():X2}, quality=0x{config.GetHardwareQuality():X2}, interval={config.reportIntervalMs}ms");
                }
            }
            catch (SocketException ex)
            {
                Debug.LogWarning($"[Bridge] 硬件控制 UDP 发送异常: {ex.SocketErrorCode} {ex.Message}");
            }
            catch (Exception ex)
            {
                Debug.LogWarning($"[Bridge] 硬件控制发送失败: {ex.Message}");
            }
        }

        /// <summary>
        /// 构建 0x40 参数设置帧（报头 0x7B + 类型 0x40 + 长度 + 总包/分包 + 标志 0xFF + 数据 20 字节 + 校验 + 报尾 0x7D）
        /// </summary>
        private static byte[] BuildParameterSettingFrame(ImageTransmissionConfig config)
        {
            if (config == null) return Array.Empty<byte>();

            const byte HEADER = 0x7B;
            const byte PROTOCOL_TYPE = 0x40;
            const byte TOTAL_PACKETS = 1;
            const byte PACKET_INDEX = 1;
            const byte FLAG = 0xFF;
            const byte FOOTER = 0x7D;
            const int DATA_SIZE = 20;

            byte[] data = new byte[DATA_SIZE];
            data[0] = (byte)(config.enableImageTransmission ? 1 : 0);
            data[1] = 0;
            data[2] = config.GetHardwareResolutionCode();
            data[3] = config.GetHardwareQuality();
            data[4] = (byte)Mathf.Clamp(config.reportIntervalMs, 0, 255);

            ushort dataLength = (ushort)DATA_SIZE;
            byte[] frame = new byte[29];
            int offset = 0;

            frame[offset++] = HEADER;
            frame[offset++] = PROTOCOL_TYPE;
            frame[offset++] = (byte)(dataLength & 0xFF);
            frame[offset++] = (byte)((dataLength >> 8) & 0xFF);
            frame[offset++] = TOTAL_PACKETS;
            frame[offset++] = PACKET_INDEX;
            frame[offset++] = FLAG;
            Buffer.BlockCopy(data, 0, frame, offset, data.Length);
            offset += data.Length;

            byte checksum = 0;
            for (int i = 1; i < offset; i++)
                checksum = (byte)(checksum + frame[i]);
            frame[offset++] = checksum;
            frame[offset++] = FOOTER;

            return frame;
        }

        private void Update()
        {
            if (_receiver == null) return;

            // 处理来自 Unity 的刷新参考图：N 键 或 按间隔发送 s/r
            if (enablePythonControl && _pyControlClient != null && _pyControlEndpoint != null)
            {
                if (Input.GetKeyDown(refreshReferenceKey))
                {
                    SendControlCommand('n');
                }
                else if (referenceSource == ReferenceSource.ScreenCapture || referenceSource == ReferenceSource.GameView)
                {
                    float now = Time.time;
                    if (now - _lastReferenceRefreshTime >= referenceRefreshIntervalSeconds)
                    {
                        _lastReferenceRefreshTime = now;
                        if (referenceSource == ReferenceSource.ScreenCapture)
                        {
                            SendControlCommand('s');
                        }
                        else
                        {
                            byte[] gameViewJpeg = CaptureGameViewToJpeg();
                            if (gameViewJpeg != null && gameViewJpeg.Length > 0)
                            {
                                _pendingReferenceImageBytes = gameViewJpeg;
                                SendControlCommand('r');
                            }
                        }
                    }
                }
            }

            // 检查发送端是否可用（根据模式）
            if (transferMode == TransferMode.Stdin)
            {
                if (_stdinWriter == null)
                {
                    // 尝试重新获取stdin写入流（如果Python进程刚启动）
                    if (pythonProcessController != null && pythonProcessController.IsRunning)
                    {
                        _stdinWriter = pythonProcessController.StdinWriter;
                    }
                    if (_stdinWriter == null) return;
                }
            }
            else
            {
                if (_udpSender == null) return;
            }

            // 检查配置是否启用传输
            bool shouldTransmit = _configEnabled;
            if (transmissionConfig != null)
            {
                shouldTransmit = transmissionConfig.enableImageTransmission;
            }

            if (!shouldTransmit)
            {
                byte[] last = null;
                while (_receiver.TryDequeueJpeg(out var j)) { last = j; }
                if (last != null)
                {
                    lock (_latestJpegLock) { _latestJpeg = last; }
                    TryStartPythonOnFirstFrame();
                    TryAutoApplyHardwareConfigOnce();
                }
                return;
            }

            float currentTime = Time.time * 1000f;
            bool hasPendingReference = _pendingReferenceImageBytes != null;
            if (!hasPendingReference && transmissionConfig != null)
            {
                float intervalMs = transmissionConfig.reportIntervalMs;
                if (intervalMs > 0 && (currentTime - _lastSendTime) < intervalMs)
                {
                    byte[] last = null;
                    while (_receiver.TryDequeueJpeg(out var j)) { last = j; }
                    if (last != null)
                    {
                        lock (_latestJpegLock) { _latestJpeg = last; }
                        TryStartPythonOnFirstFrame();
                        TryAutoApplyHardwareConfigOnce();
                    }
                    return;
                }
            }

            byte[] toSend = null;
            if (_pendingReferenceImageBytes != null)
            {
                toSend = _pendingReferenceImageBytes;
                _pendingReferenceImageBytes = null;
            }
            else
            {
                byte[] latest = null;
                while (_receiver.TryDequeueJpeg(out var jpeg))
                    latest = jpeg;
                if (latest == null) return;
                TryStartPythonOnFirstFrame();
                TryAutoApplyHardwareConfigOnce();
                toSend = latest;
                lock (_latestJpegLock)
                {
                    _latestJpeg = latest;
                }
            }

            byte[] processedImage = ProcessImage(toSend);

            // 仅在 Python 已就绪接收时发送，避免 TensorRT 编译期间发图导致 UDP 缓冲堆积、后续解码损坏
            if (pythonProcessController != null && !pythonProcessController.IsReadyToReceiveFrames)
                return;

            try
            {
                if (transferMode == TransferMode.Stdin)
                {
                    if (_stdinWriter != null)
                    {
                        _stdinWriter.BaseStream.Write(processedImage, 0, processedImage.Length);
                        _stdinWriter.BaseStream.Flush();
                        _lastSendTime = currentTime;
                    }
                }
                else
                {
                    _udpSender.Send(processedImage, processedImage.Length, _pythonEndpoint);
                    _lastSendTime = currentTime;
                }
            }
            catch (SocketException ex)
            {
                Debug.LogWarning($"[Bridge] UDP send error: {ex.SocketErrorCode} {ex.Message}");
            }
            catch (IOException ex)
            {
                Debug.LogWarning($"[Bridge] Stdin write error: {ex.Message}");
                _stdinWriter = null;
            }
        }

        /// <summary>
        /// 标记“自动下发硬件图像配置”的前置条件已就绪（由 ImageTransmissionUIController 初始化完成后调用）。
        /// </summary>
        public void MarkHardwareAutoApplyReady()
        {
            _autoHardwareConfigReady = true;
        }

        private void TryAutoApplyHardwareConfigOnce()
        {
            if (_autoHardwareConfigApplied) return;
            if (!autoApplyHardwareConfigOnFirstFrame) return;
            if (!_autoHardwareConfigReady) return;
            if (transmissionConfig == null) return;
            if (_hwControlClient == null || _hwControlEndpoint == null) return;

            // 注意：ApplyConfig 内部会做一次基本校验并捕获异常；此处只要硬件控制已就绪就认为可尝试下发。
            ApplyConfig(transmissionConfig);
            _autoHardwareConfigApplied = true;
            Debug.Log("[Bridge] 已在检测到硬件首帧后自动下发一次 0x40 图像配置。");
        }

        /// <summary>
        /// 根据配置处理图像（分辨率调整和质量压缩）
        /// 注意：Unity的ImageConversion.EncodeToJPG需要Texture2D，这里先返回原始数据
        /// 如果需要真正的resize和quality控制，需要额外的图像处理库
        /// </summary>
        private byte[] ProcessImage(byte[] jpegBytes)
        {
            if (transmissionConfig == null)
                return jpegBytes;

            // TODO: 实现图像resize和quality压缩
            // Unity原生不支持JPEG的resize和quality调整，需要：
            // 1. 使用Texture2D.LoadImage解码JPEG
            // 2. 使用Texture2D.GetPixels/SetPixels进行resize
            // 3. 使用ImageConversion.EncodeToJPG进行质量压缩
            // 但这个过程可能较慢，建议在Python端处理
            
            // 当前实现：直接返回原始数据，配置参数可用于Python端处理
            // 如果需要Unity端处理，可以在这里添加图像处理逻辑
            
            return jpegBytes;
        }

        /// <summary>
        /// 设置传输配置（供UI控制器调用）
        /// </summary>
        public void SetTransmissionConfig(ImageTransmissionConfig config)
        {
            transmissionConfig = config;
            _configEnabled = config != null && config.enableImageTransmission;
            Debug.Log($"[Bridge] 传输配置已更新: 分辨率={config?.GetResolutionString()}, 质量={config?.quality}, 间隔={config?.reportIntervalMs}ms, 启用={_configEnabled}");
            // 配置一旦设置就立即下发 0x40，避免硬件用默认参数发图导致首段画面不完整、闪烁，直到用户手动点「应用」才正常
            if (config != null && _hwControlClient != null && _hwControlEndpoint != null)
            {
                ApplyConfig(config);
            }
        }

        private void SendControlCommand(char cmd)
        {
            if (_pyControlClient == null || _pyControlEndpoint == null) return;
            try
            {
                byte[] payload = { (byte)cmd };
                _pyControlClient.Send(payload, payload.Length, _pyControlEndpoint);
            }
            catch (Exception ex)
            {
                Debug.LogWarning($"[Bridge] Python 控制指令发送失败: {ex.Message}");
            }
        }

        private byte[] CaptureGameViewToJpeg()
        {
            Camera cam = gameViewCamera != null ? gameViewCamera : Camera.main;
            if (cam == null) return null;

            int w = Mathf.Clamp(referenceCaptureWidth, 64, 4096);
            int h = Mathf.Clamp(referenceCaptureHeight, 64, 4096);

            RenderTexture rt = RenderTexture.GetTemporary(w, h, 24, RenderTextureFormat.ARGB32);
            RenderTexture prevTarget = cam.targetTexture;
            RenderTexture prevActive = RenderTexture.active;

            cam.targetTexture = rt;
            cam.Render();

            RenderTexture.active = rt;
            Texture2D tex = new Texture2D(w, h, TextureFormat.RGB24, false);
            tex.ReadPixels(new Rect(0, 0, w, h), 0, 0);
            tex.Apply();

            cam.targetTexture = prevTarget;
            RenderTexture.active = prevActive;
            RenderTexture.ReleaseTemporary(rt);

            int quality = transmissionConfig != null ? Mathf.Clamp(transmissionConfig.quality, 1, 100) : 80;
            byte[] jpeg = tex.EncodeToJPG(quality);
            Destroy(tex);
            return jpeg;
        }
    }
}