#include "StatorWorkpiecePositionPresenter.h"
#include "VrLog.h"
#include "VrError.h"
#include <QStringList>

namespace {

QString NumberField(double value)
{
    return QString::number(value, 'f', 3);
}

QString IntField(int value)
{
    return QString::number(value);
}

void AppendPoseFields(QStringList& fields, const WorkpiecePosition& position, int poseOutputOrder)
{
    switch (poseOutputOrder) {
    case POSE_ORDER_RPY:
        fields << NumberField(position.roll) << NumberField(position.pitch) << NumberField(position.yaw);
        break;
    case POSE_ORDER_RYP:
        fields << NumberField(position.roll) << NumberField(position.yaw) << NumberField(position.pitch);
        break;
    case POSE_ORDER_PRY:
        fields << NumberField(position.pitch) << NumberField(position.roll) << NumberField(position.yaw);
        break;
    case POSE_ORDER_PYR:
        fields << NumberField(position.pitch) << NumberField(position.yaw) << NumberField(position.roll);
        break;
    case POSE_ORDER_YRP:
        fields << NumberField(position.yaw) << NumberField(position.roll) << NumberField(position.pitch);
        break;
    case POSE_ORDER_YPR:
        fields << NumberField(position.yaw) << NumberField(position.pitch) << NumberField(position.roll);
        break;
    default:
        fields << NumberField(position.roll) << NumberField(position.pitch) << NumberField(position.yaw);
        break;
    }
}

} // namespace

// 初始化TCP服务器
int StatorWorkpiecePositionPresenter::InitTCPServer()
{
    LOG_DEBUG("Start initializing TCP server\n");

    if (m_pTCPServer) {
        LOG_WARNING("TCP server already initialized\n");
        return 0;
    }

    // 创建TCP服务器协议实例
    m_pTCPServer = new TCPServerProtocol();

    // Register callbacks before Initialize() starts the listening thread.
    // Otherwise an immediate client connection/request can be lost.
    m_pTCPServer->SetConnectionCallback([this](bool connected) {
        this->OnTCPConnectionChanged(connected);
    });

    m_pTCPServer->SetDetectionTriggerCallback([this](bool startWork, int cameraIndex, qint64 timestamp) {
        return this->OnTCPDetectionTrigger(startWork, cameraIndex, timestamp);
    });
    m_pTCPServer->SetBinDetectionTriggerCallback([this](int cameraIndex, qint64 timestamp) {
        return this->OnTCPBinDetectionTrigger(cameraIndex, timestamp);
    });

    // 从配置获取 TCP/IP 协议端口，默认 7800。
    // Modbus TCP Server 端口固定为 5020，不使用此配置项。
    int port = 7800;
    if (m_pConfigManager) {
        const ConfigResult configResult = m_pConfigManager->GetConfigResult();
        const int configuredPort = configResult.plcRobotServerConfig.robotServerPort;
        if (configuredPort > 0 && configuredPort <= 65535) {
            port = configuredPort;
        }
    }

    // 初始化TCP服务器
    int nRet = m_pTCPServer->Initialize(port);
    if (nRet != 0) {
        LOG_ERROR("Failed to initialize TCP server, return code: %d\n", nRet);
        delete m_pTCPServer;
        m_pTCPServer = nullptr;
        return nRet;
    }

    LOG_INFO("TCP server protocol initialized successfully on port %d\n", port);
    return 0;
}

// TCP连接状态改变回调
void StatorWorkpiecePositionPresenter::OnTCPConnectionChanged(bool connected)
{
    LOG_DEBUG("TCP connection status changed: %s\n", connected ? "connected" : "disconnected");

    m_bTCPConnected.store(connected);

    // 通知状态更新
    if (auto pStatus = GetStatusCallback<IYStatorWorkpiecePositionStatus>()) {
        if (connected) {
            pStatus->OnStatusUpdate("TCP客户端已连接");
        } else {
            pStatus->OnStatusUpdate("TCP客户端已断开");
        }

        // 更新机械臂连接状态
        pStatus->OnRobotConnectionChanged(connected);
    }

    // 更新工作状态
    CheckAndUpdateWorkStatus();
}

// TCP检测触发回调
bool StatorWorkpiecePositionPresenter::OnTCPDetectionTrigger(bool startWork, int cameraIndex, qint64 timestamp)
{
    LOG_DEBUG("TCP detection trigger: startWork=%s, cameraIndex=%d, timestamp=%lld\n",
              startWork ? "true" : "false", cameraIndex, timestamp);

    // 通知UI接收到TCP扫描请求
    if (auto pStatus = GetStatusCallback<IYStatorWorkpiecePositionStatus>()) {
        pStatus->OnStatusUpdate("【TCP协议】接收到工件检测请求");
    }

    if (!startWork) {
        LOG_WARNING("Received stop work signal, ignoring\n");
        return false;
    }

    // 检查相机连接状态
    if (!m_bCameraConnected) {
        LOG_ERROR("Camera not connected, cannot start detection\n");
        if (auto pStatus = GetStatusCallback<IYStatorWorkpiecePositionStatus>()) {
            pStatus->OnStatusUpdate("【TCP协议】相机未连接，无法启动检测");
        }
        return false;
    }

    m_pendingDetectionTask.store(DETECTION_TASK_WORKPIECE);

    // 启动检测
    int result = StartDetection(cameraIndex, false); // false表示手动触发
    bool success = (result == 0);

    if (success) {
        LOG_DEBUG("Detection started successfully via TCP trigger\n");
        if (auto pStatus = GetStatusCallback<IYStatorWorkpiecePositionStatus>()) {
            pStatus->OnStatusUpdate("开始执行扫描检测...");
        }
    } else {
        LOG_ERROR("Failed to start detection via TCP trigger, error code: %d\n", result);
        if (auto pStatus = GetStatusCallback<IYStatorWorkpiecePositionStatus>()) {
            pStatus->OnStatusUpdate("检测启动失败");
        }

    }

    return success;
}

bool StatorWorkpiecePositionPresenter::OnTCPBinDetectionTrigger(int cameraIndex, qint64 timestamp)
{
    LOG_DEBUG("TCP bin detection trigger: cameraIndex=%d, timestamp=%lld\n", cameraIndex, timestamp);
    if (auto pStatus = GetStatusCallback<IYStatorWorkpiecePositionStatus>()) {
        pStatus->OnStatusUpdate("【TCP协议】接收到料框检测请求");
    }
    if (!m_bCameraConnected) {
        if (auto pStatus = GetStatusCallback<IYStatorWorkpiecePositionStatus>()) {
            pStatus->OnStatusUpdate("【TCP协议】相机未连接，无法启动料框检测");
        }
        return false;
    }

    m_pendingDetectionTask.store(DETECTION_TASK_BIN);
    const int result = StartDetection(cameraIndex, false);
    if (result != SUCCESS) {
        m_pendingDetectionTask.store(DETECTION_TASK_WORKPIECE);
    }
    return result == SUCCESS;
}

// 发送检测结果给TCP客户端
void StatorWorkpiecePositionPresenter::_SendDetectionResultToTCP(const StatorWorkpiecePositionDetectionResult& detectionResult, int cameraIndex)
{
    if (!m_pTCPServer || !m_bTCPConnected.load()) {
        LOG_DEBUG("TCP server not available, skipping result transmission\n");
        return;
    }

    LOG_DEBUG("Sending detection result to TCP clients, camera index: %d\n", cameraIndex);

    QStringList fields;
    if (detectionResult.errorCode != SUCCESS || detectionResult.positions.empty()) {
        fields << "0";
    } else {
        int poseOutputOrder = POSE_ORDER_RPY;
        if (m_pConfigManager) {
            poseOutputOrder = m_pConfigManager->GetConfigResult().plcRobotServerConfig.poseOutputOrder;
        }

        fields << IntField(static_cast<int>(detectionResult.positions.size()));
        for (const WorkpiecePosition& position : detectionResult.positions) {
            fields << IntField(position.workpieceType)
                   << NumberField(position.x)
                   << NumberField(position.y)
                   << NumberField(position.z);
            AppendPoseFields(fields, position, poseOutputOrder);
        }
    }

    const int sendResult = m_pTCPServer->SendTextFrame(fields.join(QStringLiteral("_")).toUtf8());
    if (sendResult == 0) {
        LOG_INFO("Detection result sent to TCP clients successfully\n");
        if (auto pStatus = GetStatusCallback<IYStatorWorkpiecePositionStatus>()) {
            pStatus->OnStatusUpdate("【TCP协议】已发送工件检测结果");
        }
    } else {
        LOG_ERROR("Failed to send detection result to TCP clients, error code: %d\n", sendResult);
    }
}

void StatorWorkpiecePositionPresenter::_SendBinInfoToTCP(const WD_HRM_BinInfo& binInfo, int cameraIndex, int errorCode)
{
    (void)binInfo;
    (void)cameraIndex;
    (void)errorCode;
    LOG_DEBUG("Bin detection has no TCP result frame\n");
}

void StatorWorkpiecePositionPresenter::_SendDetectionErrorToTCP(int errorCode, int cameraIndex)
{
    if (!m_pTCPServer || !m_bTCPConnected.load()) {
        LOG_DEBUG("TCP server not available, skipping detection error transmission\n");
        return;
    }

    (void)cameraIndex;
    const QString frame = QString("Error_%1_检测失败").arg(errorCode);
    const int sendResult = m_pTCPServer->SendTextFrame(frame.toUtf8());
    if (sendResult != 0) {
        LOG_ERROR("Failed to send detection error to TCP clients, error code: %d\n", sendResult);
    }
}