#include "dialogalgoarg.h"
#include "ui_dialogalgoarg.h"

#include <QCheckBox>
#include <QDoubleValidator>
#include <QFormLayout>
#include <QFont>
#include <QIntValidator>
#include <QLineEdit>
#include <QList>
#include <QScrollArea>
#include <QTabWidget>

#include <cmath>

#include "ParkingSpaceGuidePresenter.h"
#include "PathManager.h"
#include "StyledMessageBox.h"

DialogAlgoArg::DialogAlgoArg(QWidget* parent)
    : QDialog(parent)
    , ui(new Ui::DialogAlgoArg)
{
    ui->setupUi(this);
    setWindowTitle(QStringLiteral("停机引导参数设置"));
    if (ui->label_title) {
        ui->label_title->setText(QStringLiteral("停机引导参数设置"));
    }
    BuildUi();
    connect(ui->tabWidget, &QTabWidget::currentChanged, this, [this](int index) {
        if (index >= 0 && index < m_visiblePages.size()) {
            UpdateTitle(m_visiblePages[index]);
        }
    });
    ApplyUiFont();
}

DialogAlgoArg::~DialogAlgoArg()
{
    delete ui;
}

void DialogAlgoArg::SetPresenter(ParkingSpaceGuidePresenter* presenter)
{
    m_presenter = presenter;
    LoadParams();
}

void DialogAlgoArg::SetCurrentPage(ConfigPage page)
{
    if (ui && ui->tabWidget) {
        ShowTabGroup(page);
    }
}

void DialogAlgoArg::ShowTabGroup(ConfigPage page)
{
    if (!ui || !ui->tabWidget) {
        return;
    }

    const bool oldBlocked = ui->tabWidget->blockSignals(true);
    ui->tabWidget->clear();
    HideDetachedTabs();
    m_visiblePages.clear();

    auto addTab = [this](QWidget* tab, const QString& title, ConfigPage tabPage) {
        if (tab) {
            ui->tabWidget->addTab(tab, title);
            m_visiblePages.push_back(tabPage);
        }
    };

    int selectedIndex = 0;
    if (page == ConfigPage::Camera || page == ConfigPage::Lidar) {
        addTab(m_cameraTab, QStringLiteral("相机参数"), ConfigPage::Camera);
        addTab(m_lidarTab, QStringLiteral("雷达参数"), ConfigPage::Lidar);
        selectedIndex = page == ConfigPage::Lidar ? 1 : 0;
    } else if (page == ConfigPage::Calibration) {
        addTab(m_groundCalibrationTab, QStringLiteral("地面调平"), ConfigPage::Calibration);
    } else if (page == ConfigPage::Multicast) {
        addTab(m_multicastTab, QStringLiteral("组播参数"), ConfigPage::Multicast);
    } else {
        addTab(m_planeParkingTab, QStringLiteral("停机几何"), ConfigPage::Detection);
        addTab(m_groundCalibrationTab, QStringLiteral("地面调平"), ConfigPage::Detection);
        addTab(m_treeGrowTab, QStringLiteral("聚类生长"), ConfigPage::Detection);
        addTab(m_guideDecisionTab, QStringLiteral("引导判定"), ConfigPage::Detection);
        addTab(m_processTab, QStringLiteral("流程判定"), ConfigPage::Detection);
        addTab(m_modelRecognitionTab, QStringLiteral("机型识别"), ConfigPage::Detection);
        addTab(m_personDetectionTab, QStringLiteral("人员检测"), ConfigPage::Detection);
    }

    if (selectedIndex >= 0 && selectedIndex < ui->tabWidget->count()) {
        ui->tabWidget->setCurrentIndex(selectedIndex);
    }
    if (ui->tabWidget->currentWidget()) {
        ui->tabWidget->currentWidget()->show();
    }
    ui->tabWidget->blockSignals(oldBlocked);
    UpdateTitle(page);
}

void DialogAlgoArg::UpdateTitle(ConfigPage page)
{
    QString title = QStringLiteral("停机引导参数设置");
    switch (page) {
    case ConfigPage::Detection:
        title = QStringLiteral("检测参数设置");
        break;
    case ConfigPage::Camera:
        title = QStringLiteral("相机参数设置");
        break;
    case ConfigPage::Lidar:
        title = QStringLiteral("雷达参数设置");
        break;
    case ConfigPage::Multicast:
        title = QStringLiteral("组播参数设置");
        break;
    case ConfigPage::Calibration:
        title = QStringLiteral("雷达地面调平参数");
        break;
    }
    setWindowTitle(title);
    if (ui && ui->label_title) {
        ui->label_title->setText(title);
    }
}

void DialogAlgoArg::HideDetachedTabs()
{
    const QList<QWidget*> tabs = {
        m_planeParkingTab,
        m_groundCalibrationTab,
        m_treeGrowTab,
        m_guideDecisionTab,
        m_processTab,
        m_modelRecognitionTab,
        m_personDetectionTab,
        m_cameraTab,
        m_lidarTab,
        m_multicastTab
    };
    for (QWidget* tab : tabs) {
        if (tab) {
            tab->hide();
        }
    }
}

void DialogAlgoArg::BuildUi()
{
    ui->tabWidget->clear();

    auto makeTab = [this](QWidget** tabWidget, const QString& title) -> QWidget* {
        auto* scroll = new QScrollArea(ui->tabWidget);
        scroll->setWidgetResizable(true);
        auto* page = new QWidget(scroll);
        page->setObjectName(title);
        auto* layout = new QFormLayout(page);
        layout->setContentsMargins(24, 24, 24, 24);
        layout->setSpacing(14);
        scroll->setWidget(page);
        *tabWidget = scroll;
        scroll->hide();
        return page;
    };

    QWidget* planeParking = makeTab(&m_planeParkingTab, QStringLiteral("停机几何"));
    m_parkingPointX = AddDoubleEditor(planeParking, QStringLiteral("停机点X(毫米)"), 0, -1000000.0, 1000000.0);
    m_parkingPointY = AddDoubleEditor(planeParking, QStringLiteral("停机点Y(毫米)"), 1, -1000000.0, 1000000.0);
    m_parkingPointZ = AddDoubleEditor(planeParking, QStringLiteral("停机点Z(毫米)"), 2, -1000000.0, 1000000.0);
    m_guideLinePointX = AddDoubleEditor(planeParking, QStringLiteral("引导线远点X(毫米)"), 3, -1000000.0, 1000000.0);
    m_guideLinePointY = AddDoubleEditor(planeParking, QStringLiteral("引导线远点Y(毫米)"), 4, -1000000.0, 1000000.0);
    m_guideLinePointZ = AddDoubleEditor(planeParking, QStringLiteral("引导线远点Z(毫米)"), 5, -1000000.0, 1000000.0);
    m_guidingRange = AddDoubleEditor(planeParking, QStringLiteral("飞机引导范围(毫米)"), 6, 0.0, 10000000.0);
    m_parkingRange = AddDoubleEditor(planeParking, QStringLiteral("引导线过滤范围(毫米)"), 7, 0.0, 10000000.0);
    m_distFromNoseToWheel = AddDoubleEditor(planeParking, QStringLiteral("机鼻到前轮距离(毫米)"), 8, 0.0, 100000.0);

    QWidget* ground = makeTab(&m_groundCalibrationTab, QStringLiteral("地面调平"));
    for (int i = 0; i < 9; ++i) {
        m_planeCalib[i] = AddDoubleEditor(ground,
            QStringLiteral("调平矩阵 R%1%2").arg(i / 3).arg(i % 3), i, -1000.0, 1000.0);
    }
    m_planeHeight = AddDoubleEditor(ground, QStringLiteral("地面高度(毫米)"), 9, -1000000.0, 1000000.0);
    for (int i = 0; i < 9; ++i) {
        m_invRMatrix[i] = AddDoubleEditor(ground,
            QStringLiteral("逆矩阵 R%1%2").arg(i / 3).arg(i % 3), 10 + i, -1000.0, 1000.0);
    }

    QWidget* treeGrow = makeTab(&m_treeGrowTab, QStringLiteral("聚类生长"));
    m_yDeviationMax = AddDoubleEditor(treeGrow, QStringLiteral("Y方向最大偏差(毫米)"), 0, 0.0, 1000000.0);
    m_zDeviationMax = AddDoubleEditor(treeGrow, QStringLiteral("Z方向最大偏差(毫米)"), 1, 0.0, 1000000.0);
    m_maxLineSkipNum = AddIntEditor(treeGrow, QStringLiteral("最大跳线数(-1按距离)"), 2, -1, 1000000);
    m_maxSkipDistance = AddDoubleEditor(treeGrow, QStringLiteral("最大跳过距离(毫米，-1禁用)"), 3, -1.0, 1000000.0);
    m_minLTypeTreeLen = AddDoubleEditor(treeGrow, QStringLiteral("L型树最小长度(毫米)"), 4, 0.0, 1000000.0);
    m_minVTypeTreeLen = AddDoubleEditor(treeGrow, QStringLiteral("V型树最小长度(毫米)"), 5, 0.0, 1000000.0);

    QWidget* guideDecision = makeTab(&m_guideDecisionTab, QStringLiteral("引导判定"));
    m_lateralTolerance = AddDoubleEditor(guideDecision, QStringLiteral("横向对中容差(毫米)"), 0, 0.0, 100000.0);
    m_angleTolerance = AddDoubleEditor(guideDecision, QStringLiteral("航向角容差(度)"), 1, 0.0, 180.0);

    QWidget* process = makeTab(&m_processTab, QStringLiteral("流程判定"));
    m_dockingStartDistance = AddDoubleEditor(process, QStringLiteral("引导启动距离(毫米)"), 0, 0.0, 1000000.0);
    m_captureStartDistance = AddDoubleEditor(process, QStringLiteral("目标捕获距离(毫米)"), 1, 0.0, 1000000.0);
    m_approachStartDistance = AddDoubleEditor(process, QStringLiteral("对中/方位引导距离(毫米)"), 2, 0.0, 1000000.0);
    m_slowDistance = AddDoubleEditor(process, QStringLiteral("减速触发距离(毫米)"), 3, 0.0, 1000000.0);
    m_stopDistanceTolerance = AddDoubleEditor(process, QStringLiteral("到位距离容差(毫米)"), 4, 0.0, 100000.0);
    m_overshootDistance = AddDoubleEditor(process, QStringLiteral("越过停止线距离(毫米)"), 5, 0.0, 1000000.0);
    m_stoppedShortMinDistance = AddDoubleEditor(process, QStringLiteral("提前停止最小距离(毫米)"), 6, 0.0, 1000000.0);
    m_maxApproachSpeed = AddDoubleEditor(process, QStringLiteral("最大接近速度(毫米/秒)"), 7, 0.0, 100000.0);
    m_stoppedSpeedThreshold = AddDoubleEditor(process, QStringLiteral("静止速度阈值(毫米/秒)"), 8, 0.0, 100000.0);
    m_speedFilterAlpha = AddDoubleEditor(process, QStringLiteral("速度滤波系数"), 9, 0.0, 1.0);
    m_distanceChangeThreshold = AddDoubleEditor(process, QStringLiteral("距离变化阈值(毫米)"), 10, 0.0, 1000000.0);
    m_lateralOffsetChangeThreshold = AddDoubleEditor(process, QStringLiteral("横向偏移变化阈值(毫米)"), 11, 0.0, 1000000.0);
    m_stopStableFrames = AddIntEditor(process, QStringLiteral("到位稳定帧数"), 12, 1, 1000000);
    m_stoppedShortStableFrames = AddIntEditor(process, QStringLiteral("提前停止稳定帧数"), 13, 1, 1000000);
    m_errorFrameThreshold = AddIntEditor(process, QStringLiteral("连续错误帧阈值"), 14, 1, 1000000);
    m_lostFrameThreshold = AddIntEditor(process, QStringLiteral("目标丢失帧阈值"), 15, 1, 1000000);
    m_completedHoldFrames = AddIntEditor(process, QStringLiteral("完成状态保持帧数"), 16, 1, 1000000);

    QWidget* model = makeTab(&m_modelRecognitionTab, QStringLiteral("机型识别"));
    m_modelVerifyDistance = AddDoubleEditor(model, QStringLiteral("机型验证距离(毫米)"), 0, -1000000.0, 1000000.0);
    m_modelRoiX = AddDoubleEditor(model, QStringLiteral("飞机检测区域 X (0~1)"), 1, 0.0, 1.0);
    m_modelRoiY = AddDoubleEditor(model, QStringLiteral("飞机检测区域 Y (0~1)"), 2, 0.0, 1.0);
    m_modelRoiWidth = AddDoubleEditor(model, QStringLiteral("飞机检测区域宽度 (0~1)"), 3, 0.000001, 1.0);
    m_modelRoiHeight = AddDoubleEditor(model, QStringLiteral("飞机检测区域高度 (0~1)"), 4, 0.000001, 1.0);
    m_confidenceThreshold = AddDoubleEditor(model, QStringLiteral("识别置信度阈值"), 5, 0.0, 1.0);
    m_maxRecognitionAttempts = AddIntEditor(model, QStringLiteral("最大识别次数"), 6, 1, 1000);

    QWidget* person = makeTab(&m_personDetectionTab, QStringLiteral("人员检测"));
    m_personDetectionEnabled = AddCheckBox(person, QStringLiteral("启用停稳后人员检测"), 0);
    m_personRoiX = AddDoubleEditor(person, QStringLiteral("轮挡区域 X (0~1)"), 1, 0.0, 1.0);
    m_personRoiY = AddDoubleEditor(person, QStringLiteral("轮挡区域 Y (0~1)"), 2, 0.0, 1.0);
    m_personRoiWidth = AddDoubleEditor(person, QStringLiteral("轮挡区域宽度 (0~1)"), 3, 0.000001, 1.0);
    m_personRoiHeight = AddDoubleEditor(person, QStringLiteral("轮挡区域高度 (0~1)"), 4, 0.000001, 1.0);
    m_personConfidenceThreshold = AddDoubleEditor(person, QStringLiteral("人员置信度阈值"), 5, 0.0, 1.0);
    m_personStableFrames = AddIntEditor(person, QStringLiteral("连续有效检测次数"), 6, 1, 1000);
    m_personDetectionIntervalMs = AddIntEditor(person, QStringLiteral("检测周期(毫秒)"), 7, 10, 60000);

    QWidget* camera = makeTab(&m_cameraTab, QStringLiteral("相机参数"));
    m_mvsSerialNumber = AddTextEditor(camera, QStringLiteral("设备序列号"), 0);
    m_mvsDeviceIndex = AddIntEditor(camera, QStringLiteral("设备序号"), 1, 0, 64);
    m_mvsEnabled = AddCheckBox(camera, QStringLiteral("启用"), 2);

    QWidget* lidar = makeTab(&m_lidarTab, QStringLiteral("雷达参数"));
    m_lidarType = AddTextEditor(lidar, QStringLiteral("雷达型号"), 0);
    m_lidarHost = AddTextEditor(lidar, QStringLiteral("监听地址"), 1);
    m_lidarMsopPort = AddIntEditor(lidar, QStringLiteral("数据端口"), 2, 1, 65535);
    m_lidarDifopPort = AddIntEditor(lidar, QStringLiteral("设备端口"), 3, 1, 65535);
    m_lidarMinDistance = AddDoubleEditor(lidar, QStringLiteral("最小距离(米)"), 4, 0.0, 1000.0);
    m_lidarMaxDistance = AddDoubleEditor(lidar, QStringLiteral("最大距离(米)"), 5, 0.0, 1000.0);
    m_lidarStartAngle = AddDoubleEditor(lidar, QStringLiteral("起始角度(度)"), 6, 0.0, 360.0);
    m_lidarEndAngle = AddDoubleEditor(lidar, QStringLiteral("结束角度(度)"), 7, 0.0, 360.0);

    QWidget* udp = makeTab(&m_multicastTab, QStringLiteral("组播参数"));
    m_udpAddress = AddTextEditor(udp, QStringLiteral("组播地址"), 0);
    m_udpPort = AddIntEditor(udp, QStringLiteral("组播端口"), 1, 1, 65535);
    m_udpTargetId = AddTextEditor(udp, QStringLiteral("目标编号"), 2);
    m_udpParkId = AddTextEditor(udp, QStringLiteral("车位编号"), 3);
    m_udpEnabled = AddCheckBox(udp, QStringLiteral("启用"), 4);

    ShowTabGroup(ConfigPage::Detection);
}

void DialogAlgoArg::ApplyUiFont()
{
    QFont font;
    font.setPointSize(16);
    setFont(font);
    const QList<QWidget*> widgets = findChildren<QWidget*>();
    for (QWidget* widget : widgets) {
        widget->setFont(font);
    }
}

QLineEdit* DialogAlgoArg::AddDoubleEditor(QWidget* parent, const QString& label, int row, double min, double max)
{
    Q_UNUSED(row);
    auto* edit = new QLineEdit(parent);
    auto* validator = new QDoubleValidator(min, max, 12, edit);
    validator->setNotation(QDoubleValidator::ScientificNotation);
    edit->setValidator(validator);
    static_cast<QFormLayout*>(parent->layout())->addRow(label, edit);
    return edit;
}

QLineEdit* DialogAlgoArg::AddIntEditor(QWidget* parent, const QString& label, int row, int min, int max)
{
    Q_UNUSED(row);
    auto* edit = new QLineEdit(parent);
    edit->setValidator(new QIntValidator(min, max, edit));
    static_cast<QFormLayout*>(parent->layout())->addRow(label, edit);
    return edit;
}

QLineEdit* DialogAlgoArg::AddTextEditor(QWidget* parent, const QString& label, int row, bool password)
{
    Q_UNUSED(row);
    auto* edit = new QLineEdit(parent);
    if (password) {
        edit->setEchoMode(QLineEdit::Password);
    }
    static_cast<QFormLayout*>(parent->layout())->addRow(label, edit);
    return edit;
}

QCheckBox* DialogAlgoArg::AddCheckBox(QWidget* parent, const QString& label, int row)
{
    Q_UNUSED(row);
    auto* check = new QCheckBox(parent);
    static_cast<QFormLayout*>(parent->layout())->addRow(label, check);
    return check;
}

void DialogAlgoArg::LoadParams()
{
    if (!m_presenter || !m_presenter->GetConfigManager()) {
        return;
    }
    const ConfigResult config = m_presenter->GetConfigManager()->GetConfigResult();
    const VrAlgorithmParams& params = config.algorithmParams;

    const VrPlaneParkingParam& parking = params.planeParkingParam;
    SetDouble(m_parkingPointX, parking.parkingPointX);
    SetDouble(m_parkingPointY, parking.parkingPointY);
    SetDouble(m_parkingPointZ, parking.parkingPointZ);
    SetDouble(m_guideLinePointX, parking.guideLinePointX);
    SetDouble(m_guideLinePointY, parking.guideLinePointY);
    SetDouble(m_guideLinePointZ, parking.guideLinePointZ);
    SetDouble(m_guidingRange, parking.guidingRange);
    SetDouble(m_parkingRange, parking.parkingRange);
    SetDouble(m_distFromNoseToWheel, parking.distFromNoseToWheel);

    const VrPlaneGroundCalibrationParam& ground = params.groundCalibrationParam;
    SetMatrix(m_planeCalib, ground.planeCalib);
    SetDouble(m_planeHeight, ground.planeHeight);
    SetMatrix(m_invRMatrix, ground.invRMatrix);

    const VrPlaneTreeGrowParam& tree = params.treeGrowParam;
    SetDouble(m_yDeviationMax, tree.yDeviationMax);
    SetDouble(m_zDeviationMax, tree.zDeviationMax);
    SetInt(m_maxLineSkipNum, tree.maxLineSkipNum);
    SetDouble(m_maxSkipDistance, tree.maxSkipDistance);
    SetDouble(m_minLTypeTreeLen, tree.minLTypeTreeLen);
    SetDouble(m_minVTypeTreeLen, tree.minVTypeTreeLen);

    const VrGuideDecisionParam& guide = params.guideDecisionParam;
    SetDouble(m_lateralTolerance, guide.lateralTolerance);
    SetDouble(m_angleTolerance, guide.angleTolerance);

    const VrParkingProcessParam& process = params.processParam;
    SetDouble(m_dockingStartDistance, process.dockingStartDistance);
    SetDouble(m_captureStartDistance, process.captureStartDistance);
    SetDouble(m_approachStartDistance, process.approachStartDistance);
    SetDouble(m_slowDistance, process.slowDistance);
    SetDouble(m_stopDistanceTolerance, process.stopDistanceTolerance);
    SetDouble(m_overshootDistance, process.overshootDistance);
    SetDouble(m_stoppedShortMinDistance, process.stoppedShortMinDistance);
    SetDouble(m_maxApproachSpeed, process.maxApproachSpeed);
    SetDouble(m_stoppedSpeedThreshold, process.stoppedSpeedThreshold);
    SetDouble(m_speedFilterAlpha, process.speedFilterAlpha);
    SetDouble(m_distanceChangeThreshold, process.distanceChangeThreshold);
    SetDouble(m_lateralOffsetChangeThreshold, process.lateralOffsetChangeThreshold);
    SetInt(m_stopStableFrames, process.stopStableFrames);
    SetInt(m_stoppedShortStableFrames, process.stoppedShortStableFrames);
    SetInt(m_errorFrameThreshold, process.errorFrameThreshold);
    SetInt(m_lostFrameThreshold, process.lostFrameThreshold);
    SetInt(m_completedHoldFrames, process.completedHoldFrames);

    const VrModelRecognitionParam& model = params.modelRecognitionParam;
    SetDouble(m_modelVerifyDistance, model.modelVerifyDistance);
    SetDouble(m_modelRoiX, model.roiX);
    SetDouble(m_modelRoiY, model.roiY);
    SetDouble(m_modelRoiWidth, model.roiWidth);
    SetDouble(m_modelRoiHeight, model.roiHeight);
    SetDouble(m_confidenceThreshold, model.confidenceThreshold);
    SetInt(m_maxRecognitionAttempts, model.maxRecognitionAttempts);

    const VrPersonDetectionParam& person = params.personDetectionParam;
    m_personDetectionEnabled->setChecked(person.enabled);
    SetDouble(m_personRoiX, person.roiX);
    SetDouble(m_personRoiY, person.roiY);
    SetDouble(m_personRoiWidth, person.roiWidth);
    SetDouble(m_personRoiHeight, person.roiHeight);
    SetDouble(m_personConfidenceThreshold, person.confidenceThreshold);
    SetInt(m_personStableFrames, person.stableFrames);
    SetInt(m_personDetectionIntervalMs, person.detectionIntervalMs);

    m_mvsSerialNumber->setText(QString::fromStdString(config.mvsCamera.serialNumber));
    SetInt(m_mvsDeviceIndex, config.mvsCamera.deviceIndex);
    m_mvsEnabled->setChecked(config.mvsCamera.enabled);
    m_lidarType->setText(QString::fromStdString(config.lidarConfig.lidarType));
    m_lidarHost->setText(QString::fromStdString(config.lidarConfig.hostAddress));
    SetInt(m_lidarMsopPort, config.lidarConfig.msopPort);
    SetInt(m_lidarDifopPort, config.lidarConfig.difopPort);
    SetDouble(m_lidarMinDistance, config.lidarConfig.minDistance);
    SetDouble(m_lidarMaxDistance, config.lidarConfig.maxDistance);
    SetDouble(m_lidarStartAngle, config.lidarConfig.startAngle);
    SetDouble(m_lidarEndAngle, config.lidarConfig.endAngle);
    m_udpAddress->setText(QString::fromStdString(config.udpBroadcastConfig.address));
    SetInt(m_udpPort, config.udpBroadcastConfig.port);
    m_udpTargetId->setText(QString::fromStdString(config.udpBroadcastConfig.targetId));
    m_udpParkId->setText(QString::fromStdString(config.udpBroadcastConfig.parkId));
    m_udpEnabled->setChecked(config.udpBroadcastConfig.enabled);
}

bool DialogAlgoArg::SaveParams()
{
    if (!m_presenter || !m_presenter->GetConfigManager()) {
        return false;
    }
    SystemConfig systemConfig = m_presenter->GetConfigManager()->GetConfig();
    ConfigResult& config = systemConfig.configResult;
    VrAlgorithmParams& params = config.algorithmParams;

    VrPlaneParkingParam& parking = params.planeParkingParam;
    if (!GetDouble(m_parkingPointX, QStringLiteral("停机点X"), parking.parkingPointX)) return false;
    if (!GetDouble(m_parkingPointY, QStringLiteral("停机点Y"), parking.parkingPointY)) return false;
    if (!GetDouble(m_parkingPointZ, QStringLiteral("停机点Z"), parking.parkingPointZ)) return false;
    if (!GetDouble(m_guideLinePointX, QStringLiteral("引导线远点X"), parking.guideLinePointX)) return false;
    if (!GetDouble(m_guideLinePointY, QStringLiteral("引导线远点Y"), parking.guideLinePointY)) return false;
    if (!GetDouble(m_guideLinePointZ, QStringLiteral("引导线远点Z"), parking.guideLinePointZ)) return false;
    if (!GetDouble(m_guidingRange, QStringLiteral("飞机引导范围"), parking.guidingRange)) return false;
    if (!GetDouble(m_parkingRange, QStringLiteral("引导线过滤范围"), parking.parkingRange)) return false;
    if (!GetDouble(m_distFromNoseToWheel, QStringLiteral("机鼻到前轮距离"), parking.distFromNoseToWheel)) return false;
    const double dx = parking.guideLinePointX - parking.parkingPointX;
    const double dy = parking.guideLinePointY - parking.parkingPointY;
    const double dz = parking.guideLinePointZ - parking.parkingPointZ;
    if (parking.guidingRange <= 0.0 || parking.parkingRange <= 0.0 ||
        std::sqrt(dx * dx + dy * dy + dz * dz) < 20000.0) {
        StyledMessageBox::warning(this, QStringLiteral("参数错误"),
            QStringLiteral("引导范围必须大于0，且引导线远点距离停机点至少20米"));
        return false;
    }

    VrPlaneGroundCalibrationParam& ground = params.groundCalibrationParam;
    if (!GetMatrix(m_planeCalib, QStringLiteral("调平矩阵"), ground.planeCalib)) return false;
    if (!GetDouble(m_planeHeight, QStringLiteral("地面高度"), ground.planeHeight)) return false;
    if (!GetMatrix(m_invRMatrix, QStringLiteral("逆矩阵"), ground.invRMatrix)) return false;

    VrPlaneTreeGrowParam& tree = params.treeGrowParam;
    if (!GetDouble(m_yDeviationMax, QStringLiteral("Y方向最大偏差"), tree.yDeviationMax)) return false;
    if (!GetDouble(m_zDeviationMax, QStringLiteral("Z方向最大偏差"), tree.zDeviationMax)) return false;
    if (!GetInt(m_maxLineSkipNum, QStringLiteral("最大跳线数"), tree.maxLineSkipNum)) return false;
    if (!GetDouble(m_maxSkipDistance, QStringLiteral("最大跳过距离"), tree.maxSkipDistance)) return false;
    if (!GetDouble(m_minLTypeTreeLen, QStringLiteral("L型树最小长度"), tree.minLTypeTreeLen)) return false;
    if (!GetDouble(m_minVTypeTreeLen, QStringLiteral("V型树最小长度"), tree.minVTypeTreeLen)) return false;
    if (tree.yDeviationMax <= 0.0 || tree.zDeviationMax <= 0.0 ||
        (tree.maxLineSkipNum == -1 && tree.maxSkipDistance < 0.0)) {
        StyledMessageBox::warning(this, QStringLiteral("参数错误"), QStringLiteral("聚类生长参数组合无效"));
        return false;
    }

    VrGuideDecisionParam& guide = params.guideDecisionParam;
    if (!GetDouble(m_lateralTolerance, QStringLiteral("横向对中容差"), guide.lateralTolerance)) return false;
    if (!GetDouble(m_angleTolerance, QStringLiteral("航向角容差"), guide.angleTolerance)) return false;

    VrParkingProcessParam& process = params.processParam;
    if (!GetDouble(m_dockingStartDistance, QStringLiteral("引导启动距离"), process.dockingStartDistance)) return false;
    if (!GetDouble(m_captureStartDistance, QStringLiteral("目标捕获距离"), process.captureStartDistance)) return false;
    if (!GetDouble(m_approachStartDistance, QStringLiteral("对中/方位引导距离"), process.approachStartDistance)) return false;
    if (!GetDouble(m_slowDistance, QStringLiteral("减速触发距离"), process.slowDistance)) return false;
    if (!GetDouble(m_stopDistanceTolerance, QStringLiteral("到位距离容差"), process.stopDistanceTolerance)) return false;
    if (!GetDouble(m_overshootDistance, QStringLiteral("越过停止线距离"), process.overshootDistance)) return false;
    if (!GetDouble(m_stoppedShortMinDistance, QStringLiteral("提前停止最小距离"), process.stoppedShortMinDistance)) return false;
    if (!GetDouble(m_maxApproachSpeed, QStringLiteral("最大接近速度"), process.maxApproachSpeed)) return false;
    if (!GetDouble(m_stoppedSpeedThreshold, QStringLiteral("静止速度阈值"), process.stoppedSpeedThreshold)) return false;
    if (!GetDouble(m_speedFilterAlpha, QStringLiteral("速度滤波系数"), process.speedFilterAlpha)) return false;
    if (!GetDouble(m_distanceChangeThreshold, QStringLiteral("距离变化阈值"), process.distanceChangeThreshold)) return false;
    if (!GetDouble(m_lateralOffsetChangeThreshold, QStringLiteral("横向偏移变化阈值"), process.lateralOffsetChangeThreshold)) return false;
    if (!GetInt(m_stopStableFrames, QStringLiteral("到位稳定帧数"), process.stopStableFrames)) return false;
    if (!GetInt(m_stoppedShortStableFrames, QStringLiteral("提前停止稳定帧数"), process.stoppedShortStableFrames)) return false;
    if (!GetInt(m_errorFrameThreshold, QStringLiteral("连续错误帧阈值"), process.errorFrameThreshold)) return false;
    if (!GetInt(m_lostFrameThreshold, QStringLiteral("目标丢失帧阈值"), process.lostFrameThreshold)) return false;
    if (!GetInt(m_completedHoldFrames, QStringLiteral("完成状态保持帧数"), process.completedHoldFrames)) return false;
    if (process.dockingStartDistance <= process.captureStartDistance ||
        process.captureStartDistance <= process.approachStartDistance ||
        process.approachStartDistance <= process.slowDistance ||
        process.slowDistance <= process.stopDistanceTolerance ||
        process.overshootDistance < process.stopDistanceTolerance ||
        process.stoppedShortMinDistance < process.stopDistanceTolerance ||
        process.maxApproachSpeed <= process.stoppedSpeedThreshold) {
        StyledMessageBox::warning(this, QStringLiteral("参数错误"),
            QStringLiteral("流程距离应满足启动>捕获>对中/方位>减速>到位容差，越线和提前停止距离不得小于到位容差，最大接近速度必须大于静止速度阈值"));
        return false;
    }

    VrModelRecognitionParam& model = params.modelRecognitionParam;
    if (!GetDouble(m_modelVerifyDistance, QStringLiteral("机型验证距离"), model.modelVerifyDistance)) return false;
    if (!GetDouble(m_modelRoiX, QStringLiteral("飞机检测区域 X"), model.roiX)) return false;
    if (!GetDouble(m_modelRoiY, QStringLiteral("飞机检测区域 Y"), model.roiY)) return false;
    if (!GetDouble(m_modelRoiWidth, QStringLiteral("飞机检测区域宽度"), model.roiWidth)) return false;
    if (!GetDouble(m_modelRoiHeight, QStringLiteral("飞机检测区域高度"), model.roiHeight)) return false;
    if (!GetDouble(m_confidenceThreshold, QStringLiteral("识别置信度阈值"), model.confidenceThreshold)) return false;
    if (!GetInt(m_maxRecognitionAttempts, QStringLiteral("最大识别次数"), model.maxRecognitionAttempts)) return false;
    if (model.roiX + model.roiWidth > 1.0 ||
        model.roiY + model.roiHeight > 1.0) {
        StyledMessageBox::warning(this,
            QStringLiteral("参数错误"),
            QStringLiteral("飞机检测区域必须完整位于归一化图像范围 0~1 内"));
        return false;
    }
    VrPersonDetectionParam& person = params.personDetectionParam;
    person.enabled = m_personDetectionEnabled->isChecked();
    if (!GetDouble(m_personRoiX, QStringLiteral("轮挡区域 X"), person.roiX)) return false;
    if (!GetDouble(m_personRoiY, QStringLiteral("轮挡区域 Y"), person.roiY)) return false;
    if (!GetDouble(m_personRoiWidth, QStringLiteral("轮挡区域宽度"), person.roiWidth)) return false;
    if (!GetDouble(m_personRoiHeight, QStringLiteral("轮挡区域高度"), person.roiHeight)) return false;
    if (!GetDouble(m_personConfidenceThreshold, QStringLiteral("人员置信度阈值"), person.confidenceThreshold)) return false;
    if (!GetInt(m_personStableFrames, QStringLiteral("连续有效检测次数"), person.stableFrames)) return false;
    if (!GetInt(m_personDetectionIntervalMs, QStringLiteral("人员检测周期"), person.detectionIntervalMs)) return false;
    if (person.roiX + person.roiWidth > 1.0 ||
        person.roiY + person.roiHeight > 1.0) {
        StyledMessageBox::warning(this,
            QStringLiteral("参数错误"),
            QStringLiteral("轮挡区域必须完整位于归一化图像范围 0~1 内"));
        return false;
    }

    config.mvsCamera.serialNumber = m_mvsSerialNumber->text().trimmed().toStdString();
    if (!GetInt(m_mvsDeviceIndex, QStringLiteral("相机设备序号"), config.mvsCamera.deviceIndex)) return false;
    config.mvsCamera.enabled = m_mvsEnabled->isChecked();
    config.lidarConfig.lidarType = m_lidarType->text().trimmed().toStdString();
    config.lidarConfig.hostAddress = m_lidarHost->text().trimmed().toStdString();
    int intValue = 0;
    if (!GetInt(m_lidarMsopPort, QStringLiteral("雷达数据端口"), intValue)) return false;
    config.lidarConfig.msopPort = static_cast<unsigned short>(intValue);
    if (!GetInt(m_lidarDifopPort, QStringLiteral("雷达设备端口"), intValue)) return false;
    config.lidarConfig.difopPort = static_cast<unsigned short>(intValue);
    if (!GetFloat(m_lidarMinDistance, QStringLiteral("雷达最小距离"), config.lidarConfig.minDistance)) return false;
    if (!GetFloat(m_lidarMaxDistance, QStringLiteral("雷达最大距离"), config.lidarConfig.maxDistance)) return false;
    if (!GetFloat(m_lidarStartAngle, QStringLiteral("雷达起始角度"), config.lidarConfig.startAngle)) return false;
    if (!GetFloat(m_lidarEndAngle, QStringLiteral("雷达结束角度"), config.lidarConfig.endAngle)) return false;
    config.udpBroadcastConfig.address = m_udpAddress->text().trimmed().toStdString();
    if (!GetInt(m_udpPort, QStringLiteral("组播端口"), config.udpBroadcastConfig.port)) return false;
    config.udpBroadcastConfig.targetId = m_udpTargetId->text().trimmed().toStdString();
    config.udpBroadcastConfig.parkId = m_udpParkId->text().trimmed().toStdString();
    config.udpBroadcastConfig.enabled = m_udpEnabled->isChecked();

    config.Normalize();
    if (!m_presenter->GetConfigManager()->UpdateFullConfig(systemConfig)) {
        StyledMessageBox::warning(this, QStringLiteral("失败"), QStringLiteral("更新配置缓存失败"));
        return false;
    }
    const QString configPath = PathManager::GetInstance().GetConfigFilePath();
    if (!m_presenter->GetConfigManager()->SaveConfigToFile(configPath.toStdString())) {
        StyledMessageBox::warning(this, QStringLiteral("失败"), QStringLiteral("保存配置文件失败"));
        return false;
    }
    m_presenter->OnConfigChanged(config);
    return true;
}

void DialogAlgoArg::ResetParams()
{
    ConfigResult config;
    config.Normalize();
    const VrAlgorithmParams& params = config.algorithmParams;
    const VrPlaneParkingParam& parking = params.planeParkingParam;
    SetDouble(m_parkingPointX, parking.parkingPointX);
    SetDouble(m_parkingPointY, parking.parkingPointY);
    SetDouble(m_parkingPointZ, parking.parkingPointZ);
    SetDouble(m_guideLinePointX, parking.guideLinePointX);
    SetDouble(m_guideLinePointY, parking.guideLinePointY);
    SetDouble(m_guideLinePointZ, parking.guideLinePointZ);
    SetDouble(m_guidingRange, parking.guidingRange);
    SetDouble(m_parkingRange, parking.parkingRange);
    SetDouble(m_distFromNoseToWheel, parking.distFromNoseToWheel);
    const VrPlaneGroundCalibrationParam& ground = params.groundCalibrationParam;
    SetMatrix(m_planeCalib, ground.planeCalib);
    SetDouble(m_planeHeight, ground.planeHeight);
    SetMatrix(m_invRMatrix, ground.invRMatrix);
    const VrPlaneTreeGrowParam& tree = params.treeGrowParam;
    SetDouble(m_yDeviationMax, tree.yDeviationMax);
    SetDouble(m_zDeviationMax, tree.zDeviationMax);
    SetInt(m_maxLineSkipNum, tree.maxLineSkipNum);
    SetDouble(m_maxSkipDistance, tree.maxSkipDistance);
    SetDouble(m_minLTypeTreeLen, tree.minLTypeTreeLen);
    SetDouble(m_minVTypeTreeLen, tree.minVTypeTreeLen);
    const VrGuideDecisionParam& guide = params.guideDecisionParam;
    SetDouble(m_lateralTolerance, guide.lateralTolerance);
    SetDouble(m_angleTolerance, guide.angleTolerance);
    const VrParkingProcessParam& process = params.processParam;
    SetDouble(m_dockingStartDistance, process.dockingStartDistance);
    SetDouble(m_captureStartDistance, process.captureStartDistance);
    SetDouble(m_approachStartDistance, process.approachStartDistance);
    SetDouble(m_slowDistance, process.slowDistance);
    SetDouble(m_stopDistanceTolerance, process.stopDistanceTolerance);
    SetDouble(m_overshootDistance, process.overshootDistance);
    SetDouble(m_stoppedShortMinDistance, process.stoppedShortMinDistance);
    SetDouble(m_maxApproachSpeed, process.maxApproachSpeed);
    SetDouble(m_stoppedSpeedThreshold, process.stoppedSpeedThreshold);
    SetDouble(m_speedFilterAlpha, process.speedFilterAlpha);
    SetDouble(m_distanceChangeThreshold, process.distanceChangeThreshold);
    SetDouble(m_lateralOffsetChangeThreshold, process.lateralOffsetChangeThreshold);
    SetInt(m_stopStableFrames, process.stopStableFrames);
    SetInt(m_stoppedShortStableFrames, process.stoppedShortStableFrames);
    SetInt(m_errorFrameThreshold, process.errorFrameThreshold);
    SetInt(m_lostFrameThreshold, process.lostFrameThreshold);
    SetInt(m_completedHoldFrames, process.completedHoldFrames);
    const VrModelRecognitionParam& model = params.modelRecognitionParam;
    SetDouble(m_modelVerifyDistance, model.modelVerifyDistance);
    SetDouble(m_modelRoiX, model.roiX);
    SetDouble(m_modelRoiY, model.roiY);
    SetDouble(m_modelRoiWidth, model.roiWidth);
    SetDouble(m_modelRoiHeight, model.roiHeight);
    SetDouble(m_confidenceThreshold, model.confidenceThreshold);
    SetInt(m_maxRecognitionAttempts, model.maxRecognitionAttempts);

    const VrPersonDetectionParam& person = params.personDetectionParam;
    m_personDetectionEnabled->setChecked(person.enabled);
    SetDouble(m_personRoiX, person.roiX);
    SetDouble(m_personRoiY, person.roiY);
    SetDouble(m_personRoiWidth, person.roiWidth);
    SetDouble(m_personRoiHeight, person.roiHeight);
    SetDouble(m_personConfidenceThreshold, person.confidenceThreshold);
    SetInt(m_personStableFrames, person.stableFrames);
    SetInt(m_personDetectionIntervalMs, person.detectionIntervalMs);

    m_mvsSerialNumber->setText(QString::fromStdString(config.mvsCamera.serialNumber));
    SetInt(m_mvsDeviceIndex, config.mvsCamera.deviceIndex);
    m_mvsEnabled->setChecked(config.mvsCamera.enabled);
    m_lidarType->setText(QString::fromStdString(config.lidarConfig.lidarType));
    m_lidarHost->setText(QString::fromStdString(config.lidarConfig.hostAddress));
    SetInt(m_lidarMsopPort, config.lidarConfig.msopPort);
    SetInt(m_lidarDifopPort, config.lidarConfig.difopPort);
    SetDouble(m_lidarMinDistance, config.lidarConfig.minDistance);
    SetDouble(m_lidarMaxDistance, config.lidarConfig.maxDistance);
    SetDouble(m_lidarStartAngle, config.lidarConfig.startAngle);
    SetDouble(m_lidarEndAngle, config.lidarConfig.endAngle);
    m_udpAddress->setText(QString::fromStdString(config.udpBroadcastConfig.address));
    SetInt(m_udpPort, config.udpBroadcastConfig.port);
    m_udpTargetId->setText(QString::fromStdString(config.udpBroadcastConfig.targetId));
    m_udpParkId->setText(QString::fromStdString(config.udpBroadcastConfig.parkId));
    m_udpEnabled->setChecked(config.udpBroadcastConfig.enabled);
}

void DialogAlgoArg::SetDouble(QLineEdit* edit, double value)
{
    if (edit) edit->setText(QString::number(value, 'g', 12));
}

void DialogAlgoArg::SetInt(QLineEdit* edit, int value)
{
    if (edit) edit->setText(QString::number(value));
}

bool DialogAlgoArg::GetDouble(QLineEdit* edit, const QString& label, double& value)
{
    bool ok = false;
    value = edit ? edit->text().trimmed().toDouble(&ok) : 0.0;
    if (!edit || !edit->hasAcceptableInput() || !ok || !std::isfinite(value)) {
        StyledMessageBox::warning(this, QStringLiteral("参数错误"), QStringLiteral("%1无效").arg(label));
        if (edit) edit->setFocus();
        return false;
    }
    return true;
}

bool DialogAlgoArg::GetFloat(QLineEdit* edit, const QString& label, float& value)
{
    double doubleValue = 0.0;
    if (!GetDouble(edit, label, doubleValue)) return false;
    value = static_cast<float>(doubleValue);
    return true;
}

bool DialogAlgoArg::GetInt(QLineEdit* edit, const QString& label, int& value)
{
    bool ok = false;
    value = edit ? edit->text().trimmed().toInt(&ok) : 0;
    if (!edit || !edit->hasAcceptableInput() || !ok) {
        StyledMessageBox::warning(this, QStringLiteral("参数错误"), QStringLiteral("%1无效").arg(label));
        if (edit) edit->setFocus();
        return false;
    }
    return true;
}

void DialogAlgoArg::SetMatrix(QLineEdit* const edits[9], const double values[9])
{
    for (int i = 0; i < 9; ++i) SetDouble(edits[i], values[i]);
}

bool DialogAlgoArg::GetMatrix(QLineEdit* const edits[9], const QString& label, double values[9])
{
    for (int i = 0; i < 9; ++i) {
        if (!GetDouble(edits[i], QStringLiteral("%1 R%2%3").arg(label).arg(i / 3).arg(i % 3), values[i])) {
            return false;
        }
    }
    return true;
}

void DialogAlgoArg::on_btnOK_clicked()
{
    if (SaveParams()) accept();
}

void DialogAlgoArg::on_btnCancel_clicked()
{
    reject();
}

void DialogAlgoArg::on_btnApply_clicked()
{
    if (SaveParams()) {
        StyledMessageBox::information(this, QStringLiteral("提示"), QStringLiteral("参数已应用"));
    }
}

void DialogAlgoArg::on_btnReset_clicked()
{
    ResetParams();
}