#include "mainwindow.h"
#include "ui_mainwindow.h"

#include <QApplication>
#include <QBrush>
#include <QDateTime>
#include <QDir>
#include <QFileDialog>
#include <QGraphicsScene>
#include <QGraphicsView>
#include <QIcon>
#include <QListWidgetItem>
#include <QMetaObject>
#include <QPixmap>
#include <QPushButton>
#include <QStandardPaths>
#include <QThread>
#include <QVBoxLayout>

#include <algorithm>
#include <thread>

#include "IVrUtils.h"
#include "PathManager.h"
#include "SingleTargetResultWidget.h"
#include "StyledMessageBox.h"
#include "Version.h"
#include "VrDateUtils.h"
#include "VrLog.h"

namespace {

QString GuideStateName(ParkingGuideState state)
{
    switch (state) {
    case ParkingGuideState::DockingStarted:
        return QStringLiteral("泊位引导启动");
    case ParkingGuideState::Capturing:
        return QStringLiteral("捕获");
    case ParkingGuideState::Tracking:
        return QStringLiteral("跟踪");
    case ParkingGuideState::ApproachRate:
        return QStringLiteral("接近率");
    case ParkingGuideState::CenterLineAligned:
        return QStringLiteral("对准中心线");
    case ParkingGuideState::Slow:
        return QStringLiteral("慢速");
    case ParkingGuideState::AzimuthGuidance:
        return QStringLiteral("方位引导");
    case ParkingGuideState::StopPositionReached:
        return QStringLiteral("到达停止位置");
    case ParkingGuideState::DockingCompleted:
        return QStringLiteral("泊位引导完成");
    case ParkingGuideState::Overshot:
        return QStringLiteral("越位");
    case ParkingGuideState::StoppedShort:
        return QStringLiteral("提前停止");
    case ParkingGuideState::Waiting:
        return QStringLiteral("等待");
    case ParkingGuideState::SlowBadWeather:
        return QStringLiteral("异常慢速-恶劣天气");
    case ParkingGuideState::SlowAircraftLost:
        return QStringLiteral("异常慢速-飞机丢失");
    case ParkingGuideState::AircraftVerificationFailed:
        return QStringLiteral("飞机验证失败");
    case ParkingGuideState::GateBlocked:
        return QStringLiteral("机位受阻");
    case ParkingGuideState::ViewBlocked:
        return QStringLiteral("视野受阻");
    case ParkingGuideState::SbuStop:
        return QStringLiteral("SBU停止");
    case ParkingGuideState::TooFast:
        return QStringLiteral("速度过快");
    case ParkingGuideState::EmergencyStop:
        return QStringLiteral("紧急停止");
    case ParkingGuideState::ChocksOn:
        return QStringLiteral("挡轮挡");
    case ParkingGuideState::SystemError:
        return QStringLiteral("系统错误");
    case ParkingGuideState::SystemFailure:
        return QStringLiteral("系统故障");
    case ParkingGuideState::PowerFailure:
        return QStringLiteral("电源故障");
    case ParkingGuideState::Unknown:
    default:
        return QStringLiteral("未知");
    }
}

QString FormatGuideState(const ParkingSpaceGuideInfo& info)
{
    const ParkingGuideState state = ParkingGuideStateFromCode(info.guideStateCode);
    const int displayCode = state == ParkingGuideState::Unknown
        ? info.guideStateCode
        : static_cast<int>(state);
    QString text = QStringLiteral("%1 %2").arg(displayCode).arg(GuideStateName(state));

    const QString guideText = info.guideText.trimmed();
    if (!guideText.isEmpty()) {
        text += QStringLiteral(" / %1").arg(guideText);
    }
    return text;
}

QString FormatNumber(double value, const QString& unit, int precision = 2)
{
    return QStringLiteral("%1%2").arg(value, 0, 'f', precision).arg(unit);
}

} // namespace

MainWindow::MainWindow(QWidget* parent)
    : QMainWindow(parent)
    , ui(new Ui::MainWindow)
{
    ui->setupUi(this);
    setWindowTitle(QStringLiteral("停车引导"));
    if (ui->label) {
        ui->label->setText(QStringLiteral("停车引导"));
    }

#ifdef _WIN32
    setWindowIcon(QIcon(":/common/resource/logo.ico"));
#else
    setWindowIcon(QIcon(":/common/resource/logo.png"));
#endif

    QFont statusFont = statusBar()->font();
    statusFont.setPointSize(12);
    statusBar()->setFont(statusFont);
    statusBar()->setStyleSheet("QStatusBar { color: rgb(239, 241, 245); padding: 20px; }");

    const QString versionWithBuildTime = QString("%1_%2%3%4%5%6%7")
        .arg(GetParkingSpaceGuideFullVersion())
        .arg(YEAR)
        .arg(MONTH, 2, 10, QChar('0'))
        .arg(DAY, 2, 10, QChar('0'))
        .arg(HOUR, 2, 10, QChar('0'))
        .arg(MINUTE, 2, 10, QChar('0'))
        .arg(SECOND, 2, 10, QChar('0'));

    m_versionLabel = new QLabel(versionWithBuildTime);
    m_versionLabel->setStyleSheet("color: rgb(239, 241, 245); font-size: 20px; margin-right: 16px;");
    m_versionLabel->setCursor(Qt::PointingHandCursor);
    m_versionLabel->installEventFilter(this);
    statusBar()->addPermanentWidget(m_versionLabel);

    setWindowFlags(Qt::FramelessWindowHint);
    showMaximized();

    ui->label_work->setVisible(false);
    ui->detect_image->setScene(new QGraphicsScene(this));

    m_logHelper = new DetectLogHelper(ui->detect_log, this);

    qRegisterMetaType<DetectionResult>("DetectionResult");
    qRegisterMetaType<WorkStatus>("WorkStatus");
    qRegisterMetaType<ParkingSpaceGuidePosition>("ParkingSpaceGuidePosition");

    connect(this, &MainWindow::workStatusUpdateRequested,
            this, &MainWindow::updateWorkStatusLabel,
            Qt::QueuedConnection);
    connect(this, &MainWindow::detectionResultUpdateRequested,
            this, &MainWindow::updateDetectionResultDisplay,
            Qt::QueuedConnection);

    setupContextMenu();
    updateStatusLog(tr("设备初始化开始"));
    Init();
}

MainWindow::~MainWindow()
{
    if (m_initThread.joinable()) {
        m_initThread.join();
    }
    if (m_testThread.joinable()) {
        m_testThread.join();
    }

    if (m_presenter) {
        m_presenter->DeinitApp();
        m_presenter->SetStatusCallback(static_cast<IYParkingSpaceGuideStatus*>(nullptr));
        delete m_presenter;
        m_presenter = nullptr;
    }

    delete ui;
}

bool MainWindow::eventFilter(QObject* obj, QEvent* event)
{
    if (obj == m_versionLabel && event->type() == QEvent::MouseButtonPress) {
        const QString algoVersion = m_presenter ? m_presenter->GetAlgoVersion() : QString();
        AboutDialog dlg(PARKINGSPACEGUIDE_APP_NAME, m_versionLabel->text(), algoVersion, this);
        dlg.exec();
        return true;
    }

    return QMainWindow::eventFilter(obj, event);
}

void MainWindow::updateStatusLog(const QString& message)
{
    if (QThread::currentThread() != thread()) {
        QMetaObject::invokeMethod(this, [this, message]() {
            updateStatusLog(message);
        }, Qt::QueuedConnection);
        return;
    }

    if (m_logHelper) {
        m_logHelper->appendLog(message);
    }
}

void MainWindow::clearDetectionLog()
{
    if (m_logHelper) {
        m_logHelper->clearLog();
    }
}

void MainWindow::Init()
{
    m_presenter = new ParkingSpaceGuidePresenter();
    m_presenter->SetStatusCallback<IYParkingSpaceGuideStatus>(this);

    m_deviceStatusWidget = new DeviceStatusWidget(ui->frame_dev);
    m_deviceStatusWidget->setCameraCount(2, true);
    m_deviceStatusWidget->setCamera1Name(tr("平面相机"));
    m_deviceStatusWidget->setCamera2Name(tr("雷达"));
    m_deviceStatusWidget->setRobotVisible(false);
    connect(m_deviceStatusWidget, SIGNAL(cameraClicked(int)), this, SLOT(onCameraClicked(int)));

    auto* frameDevLayout = new QVBoxLayout(ui->frame_dev);
    frameDevLayout->setContentsMargins(0, 0, 0, 0);
    frameDevLayout->addWidget(m_deviceStatusWidget);

    SingleTargetResultWidget::setupListWidget(ui->detect_result_list, QSize(520, 420));

    setButtonsEnabled(false);

    m_initThread = std::thread([this]() {
        updateStatusLog(tr("系统初始化中..."));

        const int result = m_presenter->Init();
        if (result != 0) {
            updateStatusLog(tr("初始化失败，错误码：%1").arg(result));
        } else {
            updateStatusLog(tr("初始化完成"));
        }
    });
}

void MainWindow::displayImage(const QImage& image)
{
    if (image.isNull()) {
        updateStatusLog(tr("无预览图像"));
        return;
    }

    QGraphicsScene* scene = ui->detect_image->scene();
    scene->clear();
    scene->addPixmap(QPixmap::fromImage(image));
    ui->detect_image->fitInView(scene->sceneRect(), Qt::KeepAspectRatio);
}

void MainWindow::addDetectionResult(const DetectionResult& result)
{
    ui->detect_result_list->clear();

    const int itemWidth = (std::max)(360, ui->detect_result_list->viewport()->width() - 8);
    const int itemHeight = 420;
    SingleTargetResultWidget::setupListWidget(ui->detect_result_list, QSize(itemWidth, itemHeight));

    auto* resultWidget = new SingleTargetResultWidget();
    resultWidget->setAutoFillBackground(true);

    auto* item = new QListWidgetItem();
    item->setBackground(QBrush(Qt::transparent));
    item->setSizeHint(QSize(itemWidth, itemHeight));
    item->setFlags(item->flags() & ~Qt::ItemIsDragEnabled & ~Qt::ItemIsDropEnabled);
    ui->detect_result_list->addItem(item);
    ui->detect_result_list->setItemWidget(item, resultWidget);

    if (result.parkingSpaceInfoList.empty()) {
        resultWidget->setTitle(tr("当前状态"));
        resultWidget->setStatus(GuideStateName(ParkingGuideState::Unknown), false);
        resultWidget->setEmptyText(tr("暂无停机状态结果"));
        return;
    }

    const ParkingSpaceGuideInfo& info = result.parkingSpaceInfoList.front();
    const ParkingGuideState guideState = ParkingGuideStateFromCode(info.guideStateCode);
    resultWidget->setTitle(tr("当前状态"));
    resultWidget->setStatus(GuideStateName(guideState), false);
    resultWidget->setFields({
        {tr("目标编号"), info.targetId},
        {tr("停机位"), info.parkId},
        {tr("机型"), info.modelType},
        {tr("引导状态"), FormatGuideState(info)},
        {tr("到停止线"), FormatNumber(info.distance, tr("毫米"))},
        {tr("横向偏移"), FormatNumber(info.lateralOffset, tr("毫米"))},
        {tr("偏转角"), FormatNumber(info.angle, tr("度"))},
        {tr("速度"), FormatNumber(info.aircraftSpeed, tr("米/秒"), 2)}
    });
}

void MainWindow::OnStatusUpdate(const std::string& statusMessage)
{
    updateStatusLog(QString::fromStdString(statusMessage));
}

void MainWindow::OnDetectionResult(const DetectionResult& result)
{
    emit detectionResultUpdateRequested(result);
}

void MainWindow::OnCamera1StatusChanged(bool isConnected)
{
    if (QThread::currentThread() != thread()) {
        QMetaObject::invokeMethod(this, [this, isConnected]() {
            OnCamera1StatusChanged(isConnected);
        }, Qt::QueuedConnection);
        return;
    }

    if (m_deviceStatusWidget) {
        m_deviceStatusWidget->updateCamera1Status(isConnected);
    }
}

void MainWindow::OnCamera2StatusChanged(bool isConnected)
{
    if (QThread::currentThread() != thread()) {
        QMetaObject::invokeMethod(this, [this, isConnected]() {
            OnCamera2StatusChanged(isConnected);
        }, Qt::QueuedConnection);
        return;
    }

    if (m_deviceStatusWidget) {
        m_deviceStatusWidget->updateCamera2Status(isConnected);
    }
}

void MainWindow::OnRobotConnectionChanged(bool isConnected)
{
    Q_UNUSED(isConnected);
}

void MainWindow::OnSerialConnectionChanged(bool isConnected)
{
    if (QThread::currentThread() != thread()) {
        QMetaObject::invokeMethod(this, [this, isConnected]() {
            OnSerialConnectionChanged(isConnected);
        }, Qt::QueuedConnection);
        return;
    }

    if (m_deviceStatusWidget) {
        m_deviceStatusWidget->updateSerialStatus(isConnected);
    }
}

void MainWindow::OnCameraCountChanged(int cameraCount)
{
    Q_UNUSED(cameraCount);
    if (QThread::currentThread() != thread()) {
        QMetaObject::invokeMethod(this, [this]() {
            OnCameraCountChanged(2);
        }, Qt::QueuedConnection);
        return;
    }

    if (m_deviceStatusWidget) {
        m_deviceStatusWidget->setCameraCount(2, true);
        m_deviceStatusWidget->setCamera1Name(tr("平面相机"));
        m_deviceStatusWidget->setCamera2Name(tr("雷达"));
    }
}

void MainWindow::OnWorkStatusChanged(WorkStatus status)
{
    emit workStatusUpdateRequested(status);
}

void MainWindow::updateWorkStatusLabel(WorkStatus status)
{
    if (status == WorkStatus::Working || status == WorkStatus::Detecting) {
        clearDetectionLog();
    }

    if (!ui->label_work) {
        return;
    }

    const QString statusText = QString::fromStdString(WorkStatusToString(status));
    ui->label_work->setText(statusText);
    updateStatusLog(tr("工作状态：%1").arg(statusText));

    switch (status) {
    case WorkStatus::Ready:
        ui->label_work->setStyleSheet("color: green;");
        setButtonsEnabled(true);
        if (ui->btn_stop) ui->btn_stop->setEnabled(false);
        break;
    case WorkStatus::InitIng:
        ui->label_work->setStyleSheet("color: blue;");
        setButtonsEnabled(false);
        break;
    case WorkStatus::Working:
        ui->label_work->setStyleSheet("color: blue;");
        setButtonsEnabled(false);
        if (ui->btn_stop) ui->btn_stop->setEnabled(true);
        break;
    case WorkStatus::Detecting:
        ui->label_work->setStyleSheet("color: blue;");
        setButtonsEnabled(false);
        break;
    case WorkStatus::Completed:
        ui->label_work->setStyleSheet("color: green; font-weight: bold;");
        setButtonsEnabled(true);
        if (ui->btn_stop) ui->btn_stop->setEnabled(false);
        break;
    case WorkStatus::Error:
        ui->label_work->setStyleSheet("color: red; font-weight: bold;");
        setButtonsEnabled(true);
        if (ui->btn_stop) ui->btn_stop->setEnabled(false);
        break;
    default:
        ui->label_work->setStyleSheet("");
        setButtonsEnabled(false);
        break;
    }
}

void MainWindow::updateDetectionResultDisplay(const DetectionResult& result)
{
    if (!result.image.isNull()) {
        displayImage(result.image);
    }
    addDetectionResult(result);
}

void MainWindow::on_btn_start_clicked()
{
    if (!m_presenter) {
        updateStatusLog(tr("系统未初始化"));
        return;
    }

    clearDetectionLog();
    updateStatusLog(tr("开始停车引导检测"));
    if (!m_presenter->StartDetection(-1)) {
        updateStatusLog(tr("启动检测失败"));
    }
}

void MainWindow::on_btn_stop_clicked()
{
    if (m_presenter) {
        m_presenter->StopDetection();
    }
}

void MainWindow::showParameterDialog(DialogAlgoArg::ConfigPage page, QPushButton* button)
{
    if (m_selectedButton && m_selectedButton != button) {
        updateStatusLog(tr("请先关闭当前参数窗口"));
        return;
    }

    if (!m_presenter) {
        updateStatusLog(tr("系统未初始化"));
        return;
    }

    setButtonSelectedState(button, true);

    if (!ui_dialogAlgoArg) {
        ui_dialogAlgoArg = new DialogAlgoArg(this);
        connect(ui_dialogAlgoArg, &QDialog::finished, this, [this]() {
            if (m_selectedButton) {
                setButtonSelectedState(m_selectedButton, false);
            }
        });
    }

    ui_dialogAlgoArg->SetPresenter(m_presenter);
    ui_dialogAlgoArg->SetCurrentPage(page);
    ui_dialogAlgoArg->show();
    ui_dialogAlgoArg->raise();
    ui_dialogAlgoArg->activateWindow();
}

void MainWindow::on_btn_camera_clicked()
{
    updateStatusLog(tr("打开相机参数设置"));
    showParameterDialog(DialogAlgoArg::ConfigPage::Camera, ui->btn_camera);
}

void MainWindow::on_btn_algo_config_clicked()
{
    updateStatusLog(tr("打开检测参数设置"));
    showParameterDialog(DialogAlgoArg::ConfigPage::Detection, ui->btn_algo_config);
}

void MainWindow::on_btn_camera_levelling_clicked()
{
    updateStatusLog(tr("打开相机调平标定"));
    showParameterDialog(DialogAlgoArg::ConfigPage::Calibration, ui->btn_camera_levelling);
}

void MainWindow::on_btn_hide_clicked()
{
    showMinimized();
}

void MainWindow::on_btn_close_clicked()
{
    close();
}

void MainWindow::on_btn_test_clicked()
{
    if (!m_presenter) {
        StyledMessageBox::warning(this, tr("错误"), tr("系统未初始化"));
        return;
    }

    if (m_selectedButton && m_selectedButton != ui->btn_test) {
        updateStatusLog(tr("请先关闭当前参数窗口"));
        return;
    }

    setButtonSelectedState(ui->btn_test, true);
    setButtonsEnabled(false);
    clearDetectionLog();
    updateStatusLog(tr("运行预留算法接口测试"));

    if (m_testThread.joinable()) {
        m_testThread.join();
    }
    m_testThread = std::thread([this]() {
        const bool ok = m_presenter->TriggerDetection(-1);
        updateStatusLog(ok ? tr("测试检测完成") : tr("测试检测失败"));
        QMetaObject::invokeMethod(this, [this]() {
            setButtonSelectedState(ui->btn_test, false);
            const bool running = m_presenter && m_presenter->IsDetectionRunning();
            setButtonsEnabled(!running);
            if (ui->btn_stop) ui->btn_stop->setEnabled(running);
        }, Qt::QueuedConnection);
    });
}

void MainWindow::setButtonsEnabled(bool enabled)
{
    if (ui->btn_start) ui->btn_start->setEnabled(enabled);
    if (ui->btn_stop) ui->btn_stop->setEnabled(enabled);
    if (ui->btn_camera) ui->btn_camera->setEnabled(enabled);
    if (ui->btn_algo_config) ui->btn_algo_config->setEnabled(enabled);
    if (ui->btn_camera_levelling) ui->btn_camera_levelling->setEnabled(enabled);
    if (ui->btn_test) ui->btn_test->setEnabled(enabled);
}

void MainWindow::setButtonImage(QPushButton* button, const QString& imagePath)
{
    if (button) {
        button->setStyleSheet(QString("image: url(%1);background-color: rgb(38, 40, 47);border: none;")
                                  .arg(imagePath));
    }
}

void MainWindow::setButtonSelectedState(QPushButton* button, bool selected)
{
    if (!button) {
        return;
    }

    QString normalImage;
    QString selectedImage;
    if (button == ui->btn_camera) {
        normalImage = ":/common/resource/config_camera.png";
        selectedImage = ":/common/resource/config_camera_s.png";
    } else if (button == ui->btn_algo_config) {
        normalImage = ":/common/resource/config_algo.png";
        selectedImage = ":/common/resource/config_algo_s.png";
    } else if (button == ui->btn_camera_levelling) {
        normalImage = ":/common/resource/config_camera_level.png";
        selectedImage = ":/common/resource/config_camera_level_s.png";
    } else if (button == ui->btn_test) {
        normalImage = ":/common/resource/config_data_test.png";
        selectedImage = ":/common/resource/config_data_test_s.png";
    }

    if (selected) {
        setButtonImage(button, selectedImage);
        m_selectedButton = button;
        setOtherButtonsEnabled(button, false);
    } else {
        setButtonImage(button, normalImage);
        if (m_selectedButton == button) {
            m_selectedButton = nullptr;
            setOtherButtonsEnabled(nullptr, true);
        }
    }
}

void MainWindow::restoreAllButtonStates()
{
    setButtonSelectedState(ui->btn_camera, false);
    setButtonSelectedState(ui->btn_algo_config, false);
    setButtonSelectedState(ui->btn_camera_levelling, false);
    setButtonSelectedState(ui->btn_test, false);
}

void MainWindow::setOtherButtonsEnabled(QPushButton* exceptButton, bool enabled)
{
    const QList<QPushButton*> configButtons = {
        ui->btn_camera,
        ui->btn_algo_config,
        ui->btn_camera_levelling,
        ui->btn_test
    };

    for (QPushButton* button : configButtons) {
        if (button && button != exceptButton) {
            button->setEnabled(enabled);
        }
    }
}

void MainWindow::onCameraClicked(int cameraIndex)
{
    if (m_presenter) {
        m_presenter->SetDefaultCameraIndex(cameraIndex);
    }
}

void MainWindow::setupContextMenu()
{
    m_contextMenu = new QMenu(this);
    m_saveDataAction = new QAction(tr("保存检测数据"), this);
    m_contextMenu->addAction(m_saveDataAction);

    connect(m_saveDataAction, &QAction::triggered, this, &MainWindow::onSaveDetectionData);

    ui->detect_image->setContextMenuPolicy(Qt::CustomContextMenu);
    connect(ui->detect_image, &QGraphicsView::customContextMenuRequested,
            this, &MainWindow::showContextMenu);
}

void MainWindow::showContextMenu(const QPoint& pos)
{
    if (!m_presenter) {
        updateStatusLog(tr("系统未初始化，无法保存数据"));
        return;
    }

    if (m_presenter->GetDetectionDataCacheSize() == 0) {
        updateStatusLog(tr("没有可保存的检测数据"));
        return;
    }

    m_contextMenu->exec(ui->detect_image->mapToGlobal(pos));
}

void MainWindow::onSaveDetectionData()
{
    if (!m_presenter) {
        updateStatusLog(tr("系统未初始化，无法保存数据"));
        return;
    }

    const QString dirPath = QFileDialog::getExistingDirectory(
        this,
        tr("选择保存目录"),
        QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation),
        QFileDialog::ShowDirsOnly | QFileDialog::DontResolveSymlinks);

    if (dirPath.isEmpty()) {
        updateStatusLog(tr("保存已取消"));
        return;
    }

    const std::string timeStamp = CVrDateUtils::GetNowTime();
    const QString fileName = QString("停车引导_%1_%2.txt")
                                 .arg(m_presenter->GetDetectIndex())
                                 .arg(QString::fromStdString(timeStamp));
    const QString fullPath = QDir(dirPath).filePath(fileName);

    if (saveDetectionDataToFile(fullPath)) {
        updateStatusLog(tr("检测数据已保存：%1").arg(fileName));
    } else {
        updateStatusLog(tr("保存检测数据失败"));
    }
}

bool MainWindow::saveDetectionDataToFile(const QString& filePath)
{
    if (!m_presenter) {
        return false;
    }

    try {
        const int result = m_presenter->SaveDetectionDataToFile(filePath.toStdString());
        if (result != 0) {
            updateStatusLog(tr("保存数据失败，错误码：%1").arg(result));
            return false;
        }
        return true;
    } catch (const std::exception&) {
        updateStatusLog(tr("保存数据异常"));
        return false;
    }
}