#ifndef IVRCONFIG_H
#define IVRCONFIG_H

#include <iostream>
#include <string>
#include <vector>

// 包含公共配置结构体
#include "VrCommonConfig.h"
#include "VrHandEyeCalibConfig.h"

/**
 * @brief 钢筋直径/长度参数
 */
struct VrRodParam
{
    double rodDiameter = 16.0;      // 钢筋直径 (mm)
    double rodLen = 50.0;           // 钢筋长度 (mm)
};

/**
 * @brief 焊缝搜索参数
 */
struct VrWeldSeamParam
{
    double weldSeamRangeMin = 0.0;    // 焊缝距钢筋交叉点的最小距离 (mm)
    double weldSeamRangeMax = 100.0;  // 焊缝距钢筋交叉点的最大距离 (mm)
    int weldingCategory = 2;          // 1=每根钢筋都有支点，2=仅上层钢筋有支点
};

/**
 * @brief 角点检测参数
 */
struct VrCornerParam
{
    double minEndingGap = 20.0;
    double minEndingGap_z = 5.0;
    double scale = 4.0;
    double cornerTh = 60.0;
    double jumpCornerTh_1 = 15.0;
    double jumpCornerTh_2 = 60.0;
};

/**
 * @brief 离群点滤波参数
 */
struct VrOutlierFilterParam
{
    double continuityTh = 4.0;      // meanK
    double outlierTh = 4.0;         // stddevMul
};

/**
 * @brief 区域生长参数
 */
struct VrTreeGrowParam
{
    double yDeviation_max = 5.0;
    double zDeviation_max = 3.0;
    int maxLineSkipNum = 5;
    double maxSkipDistance = 20.0;
    double minLTypeTreeLen = 50.0;
    double minVTypeTreeLen = 50.0;
};

/**
 * @brief 算法参数配置结构（RodWeldSeam 专用）
 */
struct VrAlgorithmParams
{
    VrRodParam rodParam;
    VrWeldSeamParam weldSeamParam;
    VrCornerParam cornerParam;
    VrOutlierFilterParam filterParam;
    VrTreeGrowParam growParam;
    VrPlaneCalibParam planeCalibParam;
};

/**
 * @brief 配置加载结果
 */
struct ConfigResult
{
    std::vector<DeviceInfo>    cameraList;       // 相机设备列表
    VrDebugParam               debugParam;       // 调试参数
    SerialConfig               serialConfig;     // 串口配置
    VrAlgorithmParams          algorithmParams;  // 算法参数
    std::vector<VrHandEyeCalibMatrix> handEyeCalibMatrixList;  // 多相机手眼标定矩阵列表
    int                        eulerOrder = 11;       // Euler order, default: extrinsic ZYX
    int                        dirVectorInvert = 0;  // Direction-vector inversion mode
    int                        byteOrder = 0;         // 0=big endian, 1=little endian
    int                        longAxisDir = 0;       // 0=X axis, 1=Y axis
    int                        poseOutputOrder = 0;  // Robot A/B/C field order
    int                        tcpPort = 7800;        // Text TCP server port

    ConfigResult& operator=(const ConfigResult& other)
    {
        if (this != &other) {
            cameraList = other.cameraList;
            debugParam = other.debugParam;
            serialConfig = other.serialConfig;
            algorithmParams = other.algorithmParams;
            handEyeCalibMatrixList = other.handEyeCalibMatrixList;
            eulerOrder = other.eulerOrder;
            dirVectorInvert = other.dirVectorInvert;
            byteOrder = other.byteOrder;
            longAxisDir = other.longAxisDir;
            poseOutputOrder = other.poseOutputOrder;
            tcpPort = other.tcpPort;
        }
        return *this;
    }

    ConfigResult(const ConfigResult& other)
        : cameraList(other.cameraList)
        , debugParam(other.debugParam)
        , serialConfig(other.serialConfig)
        , algorithmParams(other.algorithmParams)
        , handEyeCalibMatrixList(other.handEyeCalibMatrixList)
        , eulerOrder(other.eulerOrder)
        , dirVectorInvert(other.dirVectorInvert)
        , byteOrder(other.byteOrder)
        , longAxisDir(other.longAxisDir)
        , poseOutputOrder(other.poseOutputOrder)
        , tcpPort(other.tcpPort)
    {
    }

    ConfigResult() = default;
};

/**
 * @brief 配置加载错误代码
 */
enum LoadConfigErrorCode
{
    LOAD_CONFIG_SUCCESS = 0,              // 加载成功
    LOAD_CONFIG_FILE_NOT_FOUND = -1,      // 配置文件不存在
    LOAD_CONFIG_PARSE_ERROR = -2,         // 配置文件解析错误
    LOAD_CONFIG_INVALID_FORMAT = -3,      // 配置文件格式无效
    LOAD_CONFIG_UNKNOWN_ERROR = -99       // 未知错误
};

/**
 * @brief VrConfig接口类
 */
class IVrConfig
{
public:
    /**
     * @brief 虚析构函数
     */
    virtual ~IVrConfig() {}

    /**
     * @brief 创建实例
     * @return 实例
     */
    static bool CreateInstance(IVrConfig** ppVrConfig);

    /**
     * @brief 加载配置文件
     * @param filePath 配置文件路径
     * @param configResult 输出参数，加载的配置结果
     * @return 错误代码 (LoadConfigErrorCode): 0=成功, 负值表示错误
     */
    virtual int LoadConfig(const std::string& filePath, ConfigResult& configResult) = 0;

    /**
     * @brief 保存配置文件
     * @param filePath 配置文件路径
     * @param configResult 配置结果
     * @return 是否保存成功
     */
    virtual bool SaveConfig(const std::string& filePath, ConfigResult& configResult) = 0;

    /**
     * @brief 设置配置改变通知回调
     * @param notify 通知接口指针
     */
    virtual void SetConfigChangeNotify(IVrConfigChangeNotify* notify) = 0;
};

#endif // IVRCONFIG_H