#include "dialogalgoarg.h"
#include "ui_dialogalgoarg.h"
#include <QMessageBox>
#include <QPushButton>
#include <QtCore/QCoreApplication>
#include <QtCore/QFileInfo>
#include <QtCore/QDir>
#include <QtCore/QStandardPaths>
#include <QtCore/QFile>
#include <cstring>
#include <QSettings>
#include <QFileDialog>
#include "PathManager.h"
#include "StyledMessageBox.h"
#include "HandEyeCalibWidget.h"

#include "VrLog.h"

DialogAlgoarg::DialogAlgoarg(ConfigManager* configManager, QWidget *parent)
    : QDialog(parent)
    , ui(new Ui::DialogAlgoarg)
    , m_pConfigManager(configManager)
    , m_handEyeCalibWidget(nullptr)
{
    try {
        ui->setupUi(this);

        // 获取配置文件路径
        m_configFilePath = PathManager::GetInstance().GetConfigFilePath();

        // 检查配置文件路径是否有效
        if (m_configFilePath.isEmpty()) {
            StyledMessageBox::critical(this, "错误", "无法获取配置文件路径！");
            return;
        }

        // 初始化旋转顺序下拉框
        InitEulerOrderComboBox();

        // 初始化姿态输出顺序下拉框
        InitPoseOutputOrderComboBox();

        // 初始化方向向量反向下拉框
        InitDirVectorInvertComboBox();

        // 初始化数据字节序下拉框
        InitByteOrderComboBox();

        // 从配置文件加载数据到界面
        LoadConfigToUI();

        // 初始化手眼标定 tab（在 LoadConfigToUI 之后，因为需要配置数据）
        InitHandEyeCalibTab();

    } catch (const std::exception& e) {
        StyledMessageBox::critical(this, "初始化错误", QString("对话框初始化失败: %1").arg(e.what()));
    } catch (...) {
        StyledMessageBox::critical(this, "初始化错误", "对话框初始化失败！（未知错误）");
    }
}

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

void DialogAlgoarg::LoadConfigToUI()
{
    if (!m_pConfigManager) {
        StyledMessageBox::critical(this, "错误", "配置对象未初始化！");
        return;
    }

    try {
        // 从ConfigManager获取配置数据
        ConfigResult configData = m_pConfigManager->GetConfigResult();

        // 检查配置文件路径是否有效
        if (m_configFilePath.isEmpty()) {
            LOG_WARNING("Config file path is empty\n");
        }

        // 加载算法参数到UI
        const VrAlgorithmParams& algoParams = configData.algorithmParams;

        // 加载各个参数组
        LoadWorkpieceHoleParamToUI(algoParams.workpieceHoleParam);
        LoadLineSegParamToUI(algoParams.lineSegParam);
        LoadFilterParamToUI(algoParams.filterParam);
        LoadGrowParamToUI(algoParams.growParam);

        // 加载网络配置（PLC和机械臂服务端）
        LoadPlcRobotServerConfigToUI(configData.plcRobotServerConfig);

        // 加载旋转顺序
        int eulerOrder = configData.handEyeCalibMatrix.eulerOrder;
        int index = ui->comboBox_eulerOrder->findData(eulerOrder);
        if (index >= 0) {
            ui->comboBox_eulerOrder->setCurrentIndex(index);
        }

    } catch (const std::exception& e) {
        LOG_ERROR("Exception in LoadConfigToUI: %s\n", e.what());
        StyledMessageBox::warning(this, "警告",
            QString("加载配置时发生异常: %1\n将使用默认参数显示").arg(e.what()));

        // 发生异常时使用默认参数
        ConfigResult configData;
        const VrAlgorithmParams& algoParams = configData.algorithmParams;
        LoadWorkpieceHoleParamToUI(algoParams.workpieceHoleParam);
        LoadLineSegParamToUI(algoParams.lineSegParam);
        LoadFilterParamToUI(algoParams.filterParam);
        LoadGrowParamToUI(algoParams.growParam);
    } catch (...) {
        LOG_ERROR("Unknown exception in LoadConfigToUI\n");
        StyledMessageBox::warning(this, "警告", "加载配置文件失败（未知错误），将使用默认参数显示");

        // 发生未知异常时使用默认参数
        ConfigResult configData;
        const VrAlgorithmParams& algoParams = configData.algorithmParams;
        LoadWorkpieceHoleParamToUI(algoParams.workpieceHoleParam);
        LoadLineSegParamToUI(algoParams.lineSegParam);
        LoadFilterParamToUI(algoParams.filterParam);
        LoadGrowParamToUI(algoParams.growParam);
    }
}

void DialogAlgoarg::LoadWorkpieceHoleParamToUI(const VrWorkpieceHoleParam& param)
{
    if (!ui) return;

    ui->lineEdit_workpieceType->setText(QString::number(param.workpieceType));
    ui->lineEdit_holeDiameter->setText(QString::number(param.holeDiameter));
    ui->lineEdit_holeDist_L->setText(QString::number(param.holeDist_L));
    ui->lineEdit_holeDist_W->setText(QString::number(param.holeDist_W));
}

void DialogAlgoarg::LoadLineSegParamToUI(const VrLineSegParam& param)
{
    if (!ui) return;

    ui->lineEdit_distScale->setText(QString::number(param.distScale));
    ui->lineEdit_segGapTh_y->setText(QString::number(param.segGapTh_y));
    ui->lineEdit_segGapTh_z->setText(QString::number(param.segGapTh_z));
}

void DialogAlgoarg::LoadFilterParamToUI(const VrOutlierFilterParam& param)
{
    if (!ui) return;

    ui->lineEdit_continuityTh->setText(QString::number(param.continuityTh));
    ui->lineEdit_outlierTh->setText(QString::number(param.outlierTh));
}

void DialogAlgoarg::LoadGrowParamToUI(const VrTreeGrowParam& param)
{
    if (!ui) return;

    ui->lineEdit_maxLineSkipNum->setText(QString::number(param.maxLineSkipNum));
    ui->lineEdit_yDeviation_max->setText(QString::number(param.yDeviation_max));
    ui->lineEdit_maxSkipDistance->setText(QString::number(param.maxSkipDistance));
    ui->lineEdit_zDeviation_max->setText(QString::number(param.zDeviation_max));
    ui->lineEdit_minLTypeTreeLen->setText(QString::number(param.minLTypeTreeLen));
    ui->lineEdit_minVTypeTreeLen->setText(QString::number(param.minVTypeTreeLen));
}

bool DialogAlgoarg::SaveConfigFromUI()
{
    if (!m_pConfigManager) {
        return false;
    }

    try {
        // 获取当前配置
        SystemConfig systemConfig = m_pConfigManager->GetConfig();
        VrAlgorithmParams& algoParams = systemConfig.configResult.algorithmParams;

        // 保存各个参数组
        if (!SaveWorkpieceHoleParamFromUI(algoParams.workpieceHoleParam)) {
            StyledMessageBox::warning(this, "错误", "工件孔参数输入有误，请检查！");
            return false;
        }

        if (!SaveLineSegParamFromUI(algoParams.lineSegParam)) {
            StyledMessageBox::warning(this, "错误", "线段分割参数输入有误，请检查！");
            return false;
        }

        if (!SaveFilterParamFromUI(algoParams.filterParam)) {
            StyledMessageBox::warning(this, "错误", "滤波参数输入有误，请检查！");
            return false;
        }

        if (!SaveGrowParamFromUI(algoParams.growParam)) {
            StyledMessageBox::warning(this, "错误", "生长参数输入有误，请检查！");
            return false;
        }

        // 保存网络配置（PLC和机械臂服务端）
        if (!SavePlcRobotServerConfigFromUI(systemConfig.configResult.plcRobotServerConfig)) {
            StyledMessageBox::warning(this, "错误", "网络配置输入有误，请检查！");
            return false;
        }

        // 保存手眼标定矩阵：从共享控件读取
        VrHandEyeCalibMatrix& calibMatrix = systemConfig.configResult.handEyeCalibMatrix;
        if (m_handEyeCalibWidget) {
            // 尝试从控件获取当前相机的矩阵数据
            int camIdx = m_handEyeCalibWidget->currentCameraIndex();
            if (camIdx >= 0) {
                bool isCalibrated = false;
                double matrix[16];
                if (m_handEyeCalibWidget->getCalibData(camIdx, matrix, isCalibrated) && isCalibrated) {
                    memcpy(calibMatrix.matrix, matrix, sizeof(double) * 16);
                }
            }
        }
        // euler order 仍从 comboBox 读取
        calibMatrix.eulerOrder = ui->comboBox_eulerOrder->currentData().toInt();

        // 更新并保存配置到文件
        if (!m_pConfigManager->UpdateFullConfig(systemConfig)) {
            return false;
        }

        return m_pConfigManager->SaveConfigToFile(m_configFilePath.toStdString());

    } catch (const std::exception& e) {
        return false;
    }
}

bool DialogAlgoarg::SaveWorkpieceHoleParamFromUI(VrWorkpieceHoleParam& param)
{
    bool ok = true;

    param.workpieceType = ui->lineEdit_workpieceType->text().toInt(&ok);
    if (!ok) return false;

    param.holeDiameter = ui->lineEdit_holeDiameter->text().toDouble(&ok);
    if (!ok) return false;

    param.holeDist_L = ui->lineEdit_holeDist_L->text().toDouble(&ok);
    if (!ok) return false;

    param.holeDist_W = ui->lineEdit_holeDist_W->text().toDouble(&ok);
    if (!ok) return false;

    return true;
}

bool DialogAlgoarg::SaveLineSegParamFromUI(VrLineSegParam& param)
{
    bool ok = true;

    param.distScale = ui->lineEdit_distScale->text().toDouble(&ok);
    if (!ok) return false;

    param.segGapTh_y = ui->lineEdit_segGapTh_y->text().toDouble(&ok);
    if (!ok) return false;

    param.segGapTh_z = ui->lineEdit_segGapTh_z->text().toDouble(&ok);
    if (!ok) return false;

    return true;
}

bool DialogAlgoarg::SaveFilterParamFromUI(VrOutlierFilterParam& param)
{
    bool ok = true;

    param.continuityTh = ui->lineEdit_continuityTh->text().toDouble(&ok);
    if (!ok) return false;

    param.outlierTh = ui->lineEdit_outlierTh->text().toDouble(&ok);
    if (!ok) return false;

    return true;
}

bool DialogAlgoarg::SaveGrowParamFromUI(VrTreeGrowParam& param)
{
    bool ok = true;

    param.maxLineSkipNum = ui->lineEdit_maxLineSkipNum->text().toInt(&ok);
    if (!ok) return false;

    param.yDeviation_max = ui->lineEdit_yDeviation_max->text().toDouble(&ok);
    if (!ok) return false;

    param.maxSkipDistance = ui->lineEdit_maxSkipDistance->text().toDouble(&ok);
    if (!ok) return false;

    param.zDeviation_max = ui->lineEdit_zDeviation_max->text().toDouble(&ok);
    if (!ok) return false;

    param.minLTypeTreeLen = ui->lineEdit_minLTypeTreeLen->text().toDouble(&ok);
    if (!ok) return false;

    param.minVTypeTreeLen = ui->lineEdit_minVTypeTreeLen->text().toDouble(&ok);
    if (!ok) return false;

    return true;
}

void DialogAlgoarg::on_btn_camer_ok_clicked()
{
    if (SaveConfigFromUI()) {
        StyledMessageBox::information(this, "成功", "配置保存成功！");
        accept();
    } else {
        StyledMessageBox::warning(this, "失败", "配置保存失败，请检查文件权限或参数输入！");
    }
}

void DialogAlgoarg::on_btn_camer_cancel_clicked()
{
    reject();
}

// ========== 手眼标定相关实现 ==========

void DialogAlgoarg::InitHandEyeCalibTab()
{
    if (!ui || !m_pConfigManager) return;

    // 创建共享控件并嵌入 tab 的 layout
    m_handEyeCalibWidget = new HandEyeCalibWidget(this);
    m_handEyeCalibWidget->setMatrixEditable(true);  // WorkpieceHoleApp 矩阵可编辑
    ui->verticalLayout_handEyeCalibHost->addWidget(m_handEyeCalibWidget);

    // 设置默认文件路径
    m_handEyeCalibWidget->setDefaultFilePath(
        PathManager::GetInstance().GetAppConfigDirectory());

    // 从配置中获取相机列表填充控件
    ConfigResult configData = m_pConfigManager->GetConfigResult();

    QVector<HandEyeCalibCameraInfo> cameraList;
    if (configData.cameraList.empty()) {
        // 如果没有配置相机列表，提供默认项
        HandEyeCalibCameraInfo defaultCam;
        defaultCam.cameraIndex = 1;
        defaultCam.displayName = QString::fromUtf8("相机 1");
        cameraList.append(defaultCam);
    } else {
        for (size_t i = 0; i < configData.cameraList.size(); ++i) {
            const DeviceInfo& camera = configData.cameraList[i];
            HandEyeCalibCameraInfo info;
            info.cameraIndex = static_cast<int>(i + 1);  // 1-based
            info.displayName = QString::fromStdString(camera.name);
            cameraList.append(info);
        }
    }
    m_handEyeCalibWidget->setCameraList(cameraList);

    // 加载已有的手眼标定矩阵数据到控件
    const VrHandEyeCalibMatrix& calibMatrix = configData.handEyeCalibMatrix;
    // WorkpieceHoleApp 只有一个矩阵，默认关联到第一个相机
    int defaultCamIdx = cameraList.isEmpty() ? 1 : cameraList.first().cameraIndex;
    // 检查矩阵是否不是单位矩阵（即已标定）
    bool hasCalibData = false;
    for (int i = 0; i < 16; ++i) {
        double identity = (i / 4 == i % 4) ? 1.0 : 0.0;
        if (qAbs(calibMatrix.matrix[i] - identity) > 1e-9) {
            hasCalibData = true;
            break;
        }
    }
    m_handEyeCalibWidget->setCalibData(defaultCamIdx, calibMatrix.matrix, hasCalibData);

    // 连接信号
    connect(m_handEyeCalibWidget, &HandEyeCalibWidget::calibMatrixLoaded,
            this, &DialogAlgoarg::onCalibMatrixLoaded);
    connect(m_handEyeCalibWidget, &HandEyeCalibWidget::saveCalibRequested,
            this, &DialogAlgoarg::onSaveCalibRequested);
}

void DialogAlgoarg::onCalibMatrixLoaded(int cameraIndex, const double* matrix)
{
    Q_UNUSED(cameraIndex);
    Q_UNUSED(matrix);
    StyledMessageBox::information(this, "提示", "已从文件导入标定矩阵");
}

void DialogAlgoarg::onSaveCalibRequested(int cameraIndex, const double* matrix)
{
    Q_UNUSED(cameraIndex);
    Q_UNUSED(matrix);

    // 直接调用保存全部配置
    if (SaveConfigFromUI()) {
        StyledMessageBox::information(this, "成功", "手眼标定参数已保存到配置文件！");
    } else {
        StyledMessageBox::warning(this, "失败", "保存手眼标定参数失败！");
    }
}

void DialogAlgoarg::InitEulerOrderComboBox()
{
    // 添加外旋旋转顺序选项（工业机械臂常用）
    ui->comboBox_eulerOrder->addItem("RZ-RY-RX (外旋ZYX)", 11);  // ABB、KUKA、发那科等常用
    ui->comboBox_eulerOrder->addItem("RX-RY-RZ (外旋XYZ)", 10);
    ui->comboBox_eulerOrder->addItem("RZ-RX-RY (外旋ZXY)", 12);
    ui->comboBox_eulerOrder->addItem("RY-RX-RZ (外旋YXZ)", 13);
    ui->comboBox_eulerOrder->addItem("RY-RZ-RX (外旋YZX)", 14);
    ui->comboBox_eulerOrder->addItem("RX-RZ-RY (外旋XZY)", 15);

    // 默认选择外旋 ZYX
    ui->comboBox_eulerOrder->setCurrentIndex(0);
}

void DialogAlgoarg::InitPoseOutputOrderComboBox()
{
    // 添加姿态输出顺序选项
    ui->comboBox_poseOutputOrder->addItem("RPY (Roll, Pitch, Yaw)", POSE_ORDER_RPY);  // 默认
    ui->comboBox_poseOutputOrder->addItem("RYP (Roll, Yaw, Pitch)", POSE_ORDER_RYP);
    ui->comboBox_poseOutputOrder->addItem("PRY (Pitch, Roll, Yaw)", POSE_ORDER_PRY);
    ui->comboBox_poseOutputOrder->addItem("PYR (Pitch, Yaw, Roll)", POSE_ORDER_PYR);
    ui->comboBox_poseOutputOrder->addItem("YRP (Yaw, Roll, Pitch)", POSE_ORDER_YRP);
    ui->comboBox_poseOutputOrder->addItem("YPR (Yaw, Pitch, Roll)", POSE_ORDER_YPR);

    // 默认选择 RPY
    ui->comboBox_poseOutputOrder->setCurrentIndex(0);
}

void DialogAlgoarg::InitDirVectorInvertComboBox()
{
    // 添加方向向量反向选项
    ui->comboBox_dirVectorInvert->addItem("不反向", DIR_INVERT_NONE);
    ui->comboBox_dirVectorInvert->addItem("XY反向", DIR_INVERT_XY);
    ui->comboBox_dirVectorInvert->addItem("XZ反向", DIR_INVERT_XZ);
    ui->comboBox_dirVectorInvert->addItem("YZ反向（默认）", DIR_INVERT_YZ);

    // 默认选择 YZ反向（兼容原有行为）
    ui->comboBox_dirVectorInvert->setCurrentIndex(3);
}

void DialogAlgoarg::InitByteOrderComboBox()
{
    // 添加数据字节序选项
    ui->comboBox_byteOrder->addItem("大端序 (ABCD)", BYTE_ORDER_BIG_ENDIAN);
    ui->comboBox_byteOrder->addItem("小端序 (DCBA)", BYTE_ORDER_LITTLE_ENDIAN);

    // 默认选择大端序
    ui->comboBox_byteOrder->setCurrentIndex(0);
}

void DialogAlgoarg::LoadPlcRobotServerConfigToUI(const VrPlcRobotServerConfig& config)
{
    if (!ui) return;

    // 加载PLC服务端配置
    ui->lineEdit_plcServerIp->setText(QString::fromStdString(config.plcServerIp));
    ui->lineEdit_plcServerPort->setText(QString::number(config.plcServerPort));

    // 加载PLC寄存器地址配置
    ui->lineEdit_addrPhotoRequest->setText(QString::number(config.registerConfig.addrPhotoRequest));
    ui->lineEdit_addrDataComplete->setText(QString::number(config.registerConfig.addrDataComplete));
    ui->lineEdit_addrCoordDataStart->setText(QString::number(config.registerConfig.addrCoordDataStart));

    // 加载姿态输出顺序
    int poseOrderIndex = ui->comboBox_poseOutputOrder->findData(config.poseOutputOrder);
    if (poseOrderIndex >= 0) {
        ui->comboBox_poseOutputOrder->setCurrentIndex(poseOrderIndex);
    }

    // 加载方向向量反向配置
    int dirInvertIndex = ui->comboBox_dirVectorInvert->findData(config.dirVectorInvert);
    if (dirInvertIndex >= 0) {
        ui->comboBox_dirVectorInvert->setCurrentIndex(dirInvertIndex);
    }

    // 加载数据字节序配置
    int byteOrderIndex = ui->comboBox_byteOrder->findData(config.byteOrder);
    if (byteOrderIndex >= 0) {
        ui->comboBox_byteOrder->setCurrentIndex(byteOrderIndex);
    }
}

bool DialogAlgoarg::SavePlcRobotServerConfigFromUI(VrPlcRobotServerConfig& config)
{
    if (!ui) return false;

    // 获取PLC服务端IP
    QString plcIp = ui->lineEdit_plcServerIp->text().trimmed();
    if (plcIp.isEmpty()) {
        return false;
    }
    config.plcServerIp = plcIp.toStdString();

    // 获取PLC服务端端口
    bool ok = false;
    config.plcServerPort = ui->lineEdit_plcServerPort->text().toInt(&ok);
    if (!ok || config.plcServerPort <= 0 || config.plcServerPort > 65535) {
        return false;
    }

    // 获取PLC寄存器地址配置
    config.registerConfig.addrPhotoRequest = ui->lineEdit_addrPhotoRequest->text().toInt(&ok);
    if (!ok || config.registerConfig.addrPhotoRequest < 0) {
        return false;
    }

    config.registerConfig.addrDataComplete = ui->lineEdit_addrDataComplete->text().toInt(&ok);
    if (!ok || config.registerConfig.addrDataComplete < 0) {
        return false;
    }

    config.registerConfig.addrCoordDataStart = ui->lineEdit_addrCoordDataStart->text().toInt(&ok);
    if (!ok || config.registerConfig.addrCoordDataStart < 0) {
        return false;
    }

    // 获取姿态输出顺序
    config.poseOutputOrder = ui->comboBox_poseOutputOrder->currentData().toInt();

    // 获取方向向量反向配置
    config.dirVectorInvert = ui->comboBox_dirVectorInvert->currentData().toInt();

    // 获取数据字节序配置
    config.byteOrder = ui->comboBox_byteOrder->currentData().toInt();

    return true;
}