#ifndef BELTTEARINGTCPPROTOCOLTEST_MAINWINDOW_H
#define BELTTEARINGTCPPROTOCOLTEST_MAINWINDOW_H

#include <QMainWindow>
#include <QAbstractSocket>
#include <QByteArray>
#include <QCloseEvent>
#include <QImage>
#include <QJsonObject>
#include <QHash>
#include <QVector>
#include <QtGlobal>

class QCheckBox;
class QDoubleSpinBox;
class QLineEdit;
class QLabel;
class QPlainTextEdit;
class QPushButton;
class QSpinBox;
class QTableWidget;
class QTcpSocket;
class QResizeEvent;
class PointCloudGLWidget;

struct PointCloudSummary
{
    quint64 frameIndex = 0;
    quint64 timestamp = 0;
    quint32 originalCount = 0;
    quint32 sampledCount = 0;
    quint32 lineStep = 0;
    quint32 pointStep = 0;
    double xMin = 0.0;
    double xMax = 0.0;
    double yMin = 0.0;
    double yMax = 0.0;
    double zMin = 0.0;
    double zMax = 0.0;
};

struct PointCloudPoint
{
    qint32 index = 0;
    double x = 0.0;
    double y = 0.0;
    double z = 0.0;
};

class MainWindow final : public QMainWindow
{
    Q_OBJECT

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

private slots:
    void connectToServer();
    void disconnectFromServer();
    void readConfig();
    void setConfig();
    void setRealtime();
    void resetAlarm();
    void restDetect();
    void chooseOutputDir();
    void onConnected();
    void onDisconnected();
    void onReadyRead();
    void onSocketError(QAbstractSocket::SocketError error);

protected:
    void closeEvent(QCloseEvent* event) override;
    void resizeEvent(QResizeEvent* event) override;

private:
    void setupUi();
    void updateConnectionControls(bool connected);
    void sendFrame(quint8 dataType, const QByteArray& payload = QByteArray());
    void sendJsonMessage(const QJsonObject& message);
    void processFrames();
    void processJsonFrames();
    void processPointCloudFrames();
    void handleFrame(quint8 dataType, const QByteArray& payload, int frameSize);
    void handleJsonPayload(quint8 dataType, const QByteArray& payload);
    void handleNewJsonPayload(const QByteArray& payload);
    void updateConfigControls(const QJsonObject& config);
    void requestProtocolInfo();
    bool parsePointCloud(const QByteArray& payload, PointCloudSummary& summary,
                        QVector<PointCloudPoint>& points, QString& error) const;
    void appendPoints(const PointCloudSummary& summary, const QVector<PointCloudPoint>& points);
    void saveImage(const QByteArray& payload);
    void saveCloudUtilsFrame(const PointCloudSummary& summary,
                             const QVector<PointCloudPoint>& points);
    QString ensureOutputDir();
    void logMessage(const QString& message);
    void logResultMessage(const QString& resultType, const QString& message,
                          const QString& repeatKey);
    void recordError(const QString& message);
    void updatePointCloudStats(const PointCloudSummary& summary);
    void trimDisplayedPointClouds();
    void updateRealtimeResult(const QJsonObject& object);
    void updateRealtimeImageDisplay();

    QTcpSocket* m_socket = nullptr;
    QByteArray m_receiveBuffer;

    QLineEdit* m_hostEdit = nullptr;
    QSpinBox* m_portSpin = nullptr;
    QPushButton* m_connectButton = nullptr;
    QPushButton* m_disconnectButton = nullptr;
    QLabel* m_connectionLabel = nullptr;

    QDoubleSpinBox* m_scanXScaleSpin = nullptr;
    QDoubleSpinBox* m_scanYScaleSpin = nullptr;
    QDoubleSpinBox* m_differenceBinThresholdSpin = nullptr;
    QDoubleSpinBox* m_tearingMinLengthSpin = nullptr;
    QDoubleSpinBox* m_tearingMinWidthSpin = nullptr;
    QDoubleSpinBox* m_tearingMinDepthSpin = nullptr;
    QDoubleSpinBox* m_tearingMinGapSpin = nullptr;
    QDoubleSpinBox* m_sameGapThresholdSpin = nullptr;
    QSpinBox* m_gapCheckWindowSpin = nullptr;
    QLineEdit* m_cameraIpEdit = nullptr;
    QSpinBox* m_maxQueueSizeSpin = nullptr;
    QSpinBox* m_generationIntervalSpin = nullptr;
    QSpinBox* m_imageLineCountSpin = nullptr;
    QCheckBox* m_enabledCheck = nullptr;
    QSpinBox* m_lineStepSpin = nullptr;
    QSpinBox* m_pointStepSpin = nullptr;
    QPushButton* m_readConfigButton = nullptr;
    QPushButton* m_setConfigButton = nullptr;

    QCheckBox* m_realtimeCheck = nullptr;
    QPushButton* m_resetAlarmButton = nullptr;
    QPushButton* m_restDetectButton = nullptr;

    QPushButton* m_pointCloudClearButton = nullptr;
    QSpinBox* m_displayLineCountSpin = nullptr;
    QCheckBox* m_saveCloudUtilsCheck = nullptr;
    PointCloudGLWidget* m_cloudView = nullptr;

    QCheckBox* m_savePointsCheck = nullptr;
    QCheckBox* m_saveImagesCheck = nullptr;
    QLineEdit* m_outputDirEdit = nullptr;

    QLabel* m_linesValue = nullptr;
    QLabel* m_bytesValue = nullptr;
    QLabel* m_errorsValue = nullptr;
    QLabel* m_frameValue = nullptr;
    QLabel* m_countValue = nullptr;
    QLabel* m_stepsValue = nullptr;
    QLabel* m_xRangeValue = nullptr;
    QLabel* m_yRangeValue = nullptr;
    QLabel* m_zRangeValue = nullptr;
    QLabel* m_realtimeSummaryLabel = nullptr;
    QTableWidget* m_realtimeTearTable = nullptr;
    QLabel* m_realtimeImageLabel = nullptr;
    QImage m_realtimeImage;
    QPlainTextEdit* m_logEdit = nullptr;
    QString m_lastLogKey;
    QString m_lastLogTime;
    QString m_lastLogMessage;
    int m_lastLogRepeatCount = 0;
    QHash<QString, QString> m_resultLogKeys;
    QHash<QString, QString> m_resultLogMessages;
    QHash<QString, QString> m_resultLogTimes;
    QHash<QString, int> m_resultLogBlocks;
    QHash<QString, int> m_resultLogRepeatCounts;

    qint64 m_receivedBytes = 0;
    int m_errorCount = 0;
    int m_pointLineCount = 0;
    int m_imageCount = 0;
    int m_pointCloudFrameCount = 0;
};

#endif // BELTTEARINGTCPPROTOCOLTEST_MAINWINDOW_H