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

#include "HandEyeCalibWidget.h"
#include "NetworkConfigWidget.h"
#include "ToolExtrinsicWidget.h"
#include "PathManager.h"
#include "JiuruiWorkpiecePosePresenter.h"
#include "StyledMessageBox.h"

#include <QDoubleValidator>
#include <QGroupBox>
#include <QIntValidator>
#include <QLabel>
#include <QLineEdit>

#include <algorithm>
#include <cmath>
#include <cstring>

namespace {

bool IsIdentityMatrix(const double matrix[16])
{
    for (int i = 0; i < 16; ++i) {
        const double expected = (i / 4 == i % 4) ? 1.0 : 0.0;
        if (std::fabs(matrix[i] - expected) > 1e-9) {
            return false;
        }
    }
    return true;
}

} // namespace

DialogAlgoArg::DialogAlgoArg(QWidget *parent)
    : QDialog(parent)
    , ui(new Ui::DialogAlgoArg)
{
    ui->setupUi(this);
    setWindowTitle(QStringLiteral("工件定位 - 算法参数设置"));

    initNumericEditors();
    initWorkpieceParamEditors();
    initHandEyeCalibTab();
    initNetworkConfigTab();
}

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

void DialogAlgoArg::SetPresenter(JiuruiWorkpiecePosePresenter* presenter)
{
    m_presenter = presenter;
    loadParams();
    loadHandEyeCalibConfig();
    // 配置工具参数控件
    ui->toolExtrinsicWidget->setTargetOffsetVisible(true);
    ui->toolExtrinsicWidget->setAxialAngleRangeVisible(true);
    loadToolExtrinsicConfig();
    loadNetworkConfig();
}

void DialogAlgoArg::initNumericEditors()
{
    auto setupDoubleEditor = [](QLineEdit* edit, double min, double max, int decimals) {
        auto* validator = new QDoubleValidator(min, max, decimals, edit);
        validator->setNotation(QDoubleValidator::StandardNotation);
        edit->setValidator(validator);
    };

    // 角点检测的 6 个参数
    setupDoubleEditor(ui->spinCornerTh, 0.0, 180.0, 6);
    setupDoubleEditor(ui->spinScale, 0.0, 200.0, 6);
    setupDoubleEditor(ui->spinMinEndingGap, 0.0, 100.0, 6);
    setupDoubleEditor(ui->spinMinEndingGapZ, 0.0, 100.0, 6);
    setupDoubleEditor(ui->spinJumpCornerTh1, 0.0, 100.0, 6);
    setupDoubleEditor(ui->spinJumpCornerTh2, 0.0, 180.0, 6);
}

void DialogAlgoArg::initWorkpieceParamEditors()
{
    // 在 tabWidget 中新增独立的"工件参数"Tab 页
    if (!ui->tabWidget || m_editWpLength) {
        return;
    }

    // 创建 Tab 页容器
    auto* tabWorkpiece = new QWidget();
    tabWorkpiece->setObjectName(QStringLiteral("tabWorkpiece"));
    tabWorkpiece->setStyleSheet(ui->tabCorner->styleSheet());

    // 工件参数 GroupBox（三个参数：长、宽、厚）
    auto* groupBoxWorkpiece = new QGroupBox(QStringLiteral("工件参数 (WD_JiuruiWorkpieceParam)"), tabWorkpiece);
    groupBoxWorkpiece->setGeometry(10, 20, 671, 260);
    QFont groupFont = ui->groupBox_corner->font();
    groupBoxWorkpiece->setFont(groupFont);

    // 工件长度
    auto* labelLength = new QLabel(QStringLiteral("工件长度(len):"), groupBoxWorkpiece);
    labelLength->setGeometry(30, 50, 220, 32);
    labelLength->setFont(groupFont);

    m_editWpLength = new QLineEdit(groupBoxWorkpiece);
    m_editWpLength->setObjectName(QStringLiteral("spinWpLength"));
    m_editWpLength->setGeometry(280, 50, 200, 35);
    m_editWpLength->setFont(groupFont);
    m_editWpLength->setText(QStringLiteral("320"));

    // 工件宽度
    auto* labelWidth = new QLabel(QStringLiteral("工件宽度(width):"), groupBoxWorkpiece);
    labelWidth->setGeometry(30, 110, 220, 32);
    labelWidth->setFont(groupFont);

    m_editWpWidth = new QLineEdit(groupBoxWorkpiece);
    m_editWpWidth->setObjectName(QStringLiteral("spinWpWidth"));
    m_editWpWidth->setGeometry(280, 110, 200, 35);
    m_editWpWidth->setFont(groupFont);
    m_editWpWidth->setText(QStringLiteral("140"));

    // 工件厚度
    auto* labelThicknessWp = new QLabel(QStringLiteral("工件厚度(thickness):"), groupBoxWorkpiece);
    labelThicknessWp->setGeometry(30, 170, 220, 32);
    labelThicknessWp->setFont(groupFont);

    m_editWpThickness = new QLineEdit(groupBoxWorkpiece);
    m_editWpThickness->setObjectName(QStringLiteral("spinWpThickness"));
    m_editWpThickness->setGeometry(280, 170, 200, 35);
    m_editWpThickness->setFont(groupFont);
    m_editWpThickness->setText(QStringLiteral("48"));

    // 设置验证器
    auto setupDouble = [](QLineEdit* edit, double min, double max, int decimals) {
        auto* validator = new QDoubleValidator(min, max, decimals, edit);
        validator->setNotation(QDoubleValidator::StandardNotation);
        edit->setValidator(validator);
    };
    setupDouble(m_editWpLength, 0.0, 10000.0, 6);
    setupDouble(m_editWpWidth, 0.0, 10000.0, 6);
    setupDouble(m_editWpThickness, 0.0, 10000.0, 6);

    // 在"角点检测"Tab 之后插入"工件参数"Tab（索引 1）
    ui->tabWidget->insertTab(1, tabWorkpiece, QStringLiteral("工件参数"));
}

void DialogAlgoArg::initHandEyeCalibTab()
{
    if (!ui || !ui->verticalLayout_handEyeCalibHost || m_handEyeCalibWidget) {
        return;
    }

    m_handEyeCalibWidget = new HandEyeCalibWidget(this);
    m_handEyeCalibWidget->setMatrixEditable(true);
    m_handEyeCalibWidget->setExtrinsicControlsVisible(true);
    m_handEyeCalibWidget->setDefaultFilePath(PathManager::GetInstance().GetAppConfigDirectory());
    ui->verticalLayout_handEyeCalibHost->addWidget(m_handEyeCalibWidget);

    connect(m_handEyeCalibWidget, &HandEyeCalibWidget::calibMatrixLoaded,
            this, &DialogAlgoArg::onCalibMatrixLoaded);
    connect(m_handEyeCalibWidget, &HandEyeCalibWidget::saveCalibRequested,
            this, &DialogAlgoArg::onSaveCalibRequested);
}

void DialogAlgoArg::initNetworkConfigTab()
{
    if (!ui || !ui->verticalLayout_networkConfigHost || m_networkConfigWidget) {
        return;
    }

    m_networkConfigWidget = new NetworkConfigWidget(false, true, this);
    m_networkConfigWidget->setExtrinsicControlsVisible(true);
    ui->verticalLayout_networkConfigHost->addWidget(m_networkConfigWidget);
}

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

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

bool DialogAlgoArg::tryGetDouble(QLineEdit* edit, const QString& label, double& value)
{
    bool ok = false;
    value = edit->text().trimmed().toDouble(&ok);
    if (!ok) {
        StyledMessageBox::warning(this, QStringLiteral("错误"),
            QStringLiteral("\"%1\" 输入的数值无效。").arg(label));
        edit->setFocus();
        edit->selectAll();
        return false;
    }
    return true;
}

bool DialogAlgoArg::tryGetInt(QLineEdit* edit, const QString& label, int& value)
{
    bool ok = false;
    value = edit->text().trimmed().toInt(&ok);
    if (!ok) {
        StyledMessageBox::warning(this, QStringLiteral("错误"),
            QStringLiteral("\"%1\" 输入的整数无效。").arg(label));
        edit->setFocus();
        edit->selectAll();
        return false;
    }
    return true;
}

void DialogAlgoArg::loadParams()
{
    if (!m_presenter || !m_presenter->GetConfigManager()) {
        return;
    }

    const ConfigResult configResult = m_presenter->GetConfigManager()->GetConfigResult();
    const VrCornerParam corner = configResult.algorithmParams.cornerParam;
    const VrJiuruiWorkpieceParam wp = configResult.algorithmParams.workpieceParam;

    setDoubleEditorText(ui->spinCornerTh, corner.cornerTh);
    setDoubleEditorText(ui->spinScale, corner.scale);
    setDoubleEditorText(ui->spinMinEndingGap, corner.minEndingGap);
    setDoubleEditorText(ui->spinMinEndingGapZ, corner.minEndingGap_z);
    setDoubleEditorText(ui->spinJumpCornerTh1, corner.jumpCornerTh_1);
    setDoubleEditorText(ui->spinJumpCornerTh2, corner.jumpCornerTh_2);

    setDoubleEditorText(m_editWpLength, wp.len);
    setDoubleEditorText(m_editWpWidth, wp.width);
    setDoubleEditorText(m_editWpThickness, wp.thickness);
}

void DialogAlgoArg::loadHandEyeCalibConfig()
{
    if (!m_presenter || !m_handEyeCalibWidget || !m_presenter->GetConfigManager()) {
        return;
    }

    const ConfigResult configResult = m_presenter->GetConfigManager()->GetConfigResult();
    QVector<HandEyeCalibCameraInfo> cameraInfos;
    if (configResult.cameraList.empty()) {
        HandEyeCalibCameraInfo defaultCam;
        defaultCam.cameraIndex = 1;
        defaultCam.displayName = QStringLiteral("相机 1");
        cameraInfos.append(defaultCam);
    } else {
        for (size_t i = 0; i < configResult.cameraList.size(); ++i) {
            HandEyeCalibCameraInfo info;
            info.cameraIndex = static_cast<int>(i + 1);
            info.displayName = QString::fromStdString(configResult.cameraList[i].name);
            cameraInfos.append(info);
        }
    }

    m_handEyeCalibWidget->setCameraList(cameraInfos);

    for (const auto& info : cameraInfos) {
        const VrHandEyeCalibMatrix* savedMatrix =
            configResult.FindHandEyeMatrix(info.cameraIndex);

        if (savedMatrix) {
            m_handEyeCalibWidget->setCalibData(info.cameraIndex,
                                               savedMatrix->matrix,
                                               !IsIdentityMatrix(savedMatrix->matrix));
            m_handEyeCalibWidget->setExtrinsicData(info.cameraIndex,
                                                   savedMatrix->eulerOrder,
                                                   savedMatrix->rotX,
                                                   savedMatrix->rotY,
                                                   savedMatrix->rotZ,
                                                   savedMatrix->approachOffset,
                                                   savedMatrix->offsetX,
                                                   savedMatrix->offsetY,
                                                   savedMatrix->offsetZ);
        } else {
            const CalibMatrix calibMatrix = m_presenter->GetClibMatrix(info.cameraIndex - 1);
            m_handEyeCalibWidget->setCalibData(info.cameraIndex,
                                               calibMatrix.clibMatrix,
                                               !IsIdentityMatrix(calibMatrix.clibMatrix));
            m_handEyeCalibWidget->setExtrinsicData(info.cameraIndex, 11, 0.0, 0.0, 0.0, 0.0);
        }
    }
}

void DialogAlgoArg::loadNetworkConfig()
{
    if (!m_presenter || !m_presenter->GetConfigManager() || !m_networkConfigWidget) {
        return;
    }

    const ConfigResult configResult = m_presenter->GetConfigManager()->GetConfigResult();

    NetworkConfigData netConfig;
    netConfig.tcpServerPort = configResult.tcpPort;
    netConfig.eulerOrder = configResult.eulerOrder;
    netConfig.outputEulerOrder = configResult.outputEulerOrder;
    netConfig.poseOutputOrder = configResult.poseOutputOrder;
    netConfig.byteOrder = configResult.byteOrder;

    m_networkConfigWidget->setConfig(netConfig);
}

bool DialogAlgoArg::saveParams()
{
    if (!m_presenter || !m_presenter->GetConfigManager()) {
        return false;
    }

    SystemConfig systemConfig = m_presenter->GetConfigManager()->GetConfig();

    // —— 读取共享算法参数 ——

    VrCornerParam& corner = systemConfig.configResult.algorithmParams.cornerParam;
    if (!tryGetDouble(ui->spinCornerTh, QStringLiteral("拐角阈值"), corner.cornerTh)) return false;
    if (!tryGetDouble(ui->spinScale, QStringLiteral("窗口比例因子"), corner.scale)) return false;
    if (!tryGetDouble(ui->spinMinEndingGap, QStringLiteral("Y方向最小结束间隙"), corner.minEndingGap)) return false;
    if (!tryGetDouble(ui->spinMinEndingGapZ, QStringLiteral("Z方向最小结束间隙"), corner.minEndingGap_z)) return false;
    if (!tryGetDouble(ui->spinJumpCornerTh1, QStringLiteral("跳变拐角阈值1"), corner.jumpCornerTh_1)) return false;
    if (!tryGetDouble(ui->spinJumpCornerTh2, QStringLiteral("跳变拐角阈值2"), corner.jumpCornerTh_2)) return false;

    VrJiuruiWorkpieceParam& wp = systemConfig.configResult.algorithmParams.workpieceParam;
    if (!tryGetDouble(m_editWpLength, QStringLiteral("工件长度"), wp.len)) return false;
    if (!tryGetDouble(m_editWpWidth, QStringLiteral("工件宽度"), wp.width)) return false;
    if (!tryGetDouble(m_editWpThickness, QStringLiteral("工件厚度"), wp.thickness)) return false;

    // —— 保存手眼标定矩阵到 handEyeCalibMatrixList ——

    if (m_handEyeCalibWidget) {
        const int cameraCount = std::max(1, static_cast<int>(systemConfig.configResult.cameraList.size()));
        for (int camIdx = 1; camIdx <= cameraCount; ++camIdx) {
            systemConfig.configResult.EnsureHandEyeMatrix(camIdx);
        }

        for (int camIdx = 1; camIdx <= cameraCount; ++camIdx) {
            bool isCalibrated = false;
            double matrix[16];
            int eulerOrder = 11;
            double rotX = 0.0, rotY = 0.0, rotZ = 0.0;
            double approachOffset = 0.0;
            double offsetX = 0.0, offsetY = 0.0, offsetZ = 0.0;
            const bool hasMatrix = m_handEyeCalibWidget->getCalibData(camIdx, matrix, isCalibrated) && isCalibrated;
            const bool hasExtrinsic = m_handEyeCalibWidget->getExtrinsicData(
                camIdx, eulerOrder, rotX, rotY, rotZ, approachOffset, offsetX, offsetY, offsetZ);

            VrHandEyeCalibMatrix* hePtr = systemConfig.configResult.FindHandEyeMatrix(camIdx);
            if (!hePtr) {
                systemConfig.configResult.EnsureHandEyeMatrix(camIdx);
                hePtr = systemConfig.configResult.FindHandEyeMatrix(camIdx);
            }

            if (hePtr) {
                hePtr->cameraIndex = camIdx;
                if (hasMatrix) {
                    std::memcpy(hePtr->matrix, matrix, sizeof(double) * 16);
                }
                if (hasExtrinsic) {
                    hePtr->eulerOrder = eulerOrder;
                    hePtr->rotX = rotX;
                    hePtr->rotY = rotY;
                    hePtr->rotZ = rotZ;
                    hePtr->offsetX = offsetX;
                    hePtr->offsetY = offsetY;
                    hePtr->offsetZ = offsetZ;
                }

                // 从工具参数控件获取该相机的工具外参
                if (ui->toolExtrinsicWidget) {
                    int toolEulerOrder = hePtr->eulerOrder;
                    double toolRotX = hePtr->rotX;
                    double toolRotY = hePtr->rotY;
                    double toolRotZ = hePtr->rotZ;
                    double toolOffsetX = hePtr->offsetX;
                    double toolOffsetY = hePtr->offsetY;
                    double toolOffsetZ = hePtr->offsetZ;
                    double axialAngleMin = hePtr->axialAngleMin;
                    double axialAngleMax = hePtr->axialAngleMax;
                    if (ui->toolExtrinsicWidget->getData(camIdx,
                                                       toolEulerOrder,
                                                       toolRotX, toolRotY, toolRotZ,
                                                       toolOffsetX, toolOffsetY, toolOffsetZ,
                                                       axialAngleMin, axialAngleMax)) {
                        hePtr->eulerOrder = toolEulerOrder;
                        hePtr->rotX = toolRotX;
                        hePtr->rotY = toolRotY;
                        hePtr->rotZ = toolRotZ;
                        hePtr->offsetX = toolOffsetX;
                        hePtr->offsetY = toolOffsetY;
                        hePtr->offsetZ = toolOffsetZ;
                        hePtr->axialAngleMin = axialAngleMin;
                        hePtr->axialAngleMax = axialAngleMax;
                    }
                }
            }
        }
    }

    // —— 网络配置 ——

    if (m_networkConfigWidget) {
        const NetworkConfigData netConfig = m_networkConfigWidget->getConfig();
        if (netConfig.tcpServerPort <= 0 || netConfig.tcpServerPort > 65535) {
            StyledMessageBox::warning(this, QStringLiteral("错误"),
                QStringLiteral("TCP端口必须在 1 到 65535 之间。"));
            return false;
        }

        systemConfig.configResult.tcpPort = static_cast<uint16_t>(netConfig.tcpServerPort);
        systemConfig.configResult.eulerOrder = netConfig.eulerOrder;
        systemConfig.configResult.outputEulerOrder = netConfig.outputEulerOrder;
        systemConfig.configResult.poseOutputOrder = netConfig.poseOutputOrder;
        systemConfig.configResult.byteOrder = netConfig.byteOrder;
    }

    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(systemConfig.configResult);
    return true;
}

void DialogAlgoArg::resetParams()
{
    setDoubleEditorText(ui->spinCornerTh, 60.0);
    setDoubleEditorText(ui->spinScale, 10.0);
    setDoubleEditorText(ui->spinMinEndingGap, 10.0);
    setDoubleEditorText(ui->spinMinEndingGapZ, 5.0);
    setDoubleEditorText(ui->spinJumpCornerTh1, 15.0);
    setDoubleEditorText(ui->spinJumpCornerTh2, 60.0);
    setDoubleEditorText(m_editWpLength, 320.0);
    setDoubleEditorText(m_editWpWidth, 140.0);
    setDoubleEditorText(m_editWpThickness, 48.0);
}

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()
{
    const auto ret = StyledMessageBox::question(this, QStringLiteral("确认重置"),
        QStringLiteral("确定要重置为默认参数吗？"), QMessageBox::Yes | QMessageBox::No);
    if (ret == QMessageBox::Yes) {
        resetParams();
    }
}

void DialogAlgoArg::onCalibMatrixLoaded(int cameraIndex, const double* matrix)
{
    Q_UNUSED(cameraIndex);
    Q_UNUSED(matrix);
    StyledMessageBox::information(this, QStringLiteral("提示"),
        QStringLiteral("已从文件导入手眼标定矩阵。"));
}

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

    if (saveParams()) {
        StyledMessageBox::information(this, QStringLiteral("成功"),
            QStringLiteral("手眼标定参数已保存。"));
    } else {
        StyledMessageBox::warning(this, QStringLiteral("失败"),
            QStringLiteral("保存手眼标定参数失败。"));
    }
}

// ========== 工具参数相关实现 ==========

void DialogAlgoArg::loadToolExtrinsicConfig()
{
    if (!m_presenter || !ui->toolExtrinsicWidget) return;

    ConfigManager* configManager = m_presenter->GetConfigManager();
    if (!configManager) return;

    const ConfigResult configResult = configManager->GetConfigResult();
    const auto& cameraList = configResult.cameraList;
    int cameraCount = std::max(1, static_cast<int>(cameraList.size()));

    // 设置相机列表
    QVector<ToolExtrinsicCameraInfo> toolCameraList;
    for (size_t i = 0; i < cameraList.size(); ++i) {
        ToolExtrinsicCameraInfo info;
        info.cameraIndex = static_cast<int>(i + 1);
        info.displayName = QString::fromStdString(cameraList[i].name);
        toolCameraList.append(info);
    }
    if (toolCameraList.empty()) {
        ToolExtrinsicCameraInfo defaultCam;
        defaultCam.cameraIndex = 1;
        defaultCam.displayName = QString::fromUtf8("相机 1");
        toolCameraList.append(defaultCam);
    }
    ui->toolExtrinsicWidget->setCameraList(toolCameraList);

    // 加载每台相机的工具参数
    for (int i = 0; i < cameraCount; ++i) {
        int camIdx = i + 1;
        int toolEulerOrder = 11;
        double rotX = 0.0;
        double rotY = 0.0;
        double rotZ = 0.0;
        double offsetX = 0.0;
        double offsetY = 0.0;
        double offsetZ = 0.0;
        double axialAngleMin = -180.0;
        double axialAngleMax = 180.0;

        for (const auto& toolConfig : configResult.handEyeCalibMatrixList) {
            if (toolConfig.cameraIndex == camIdx) {
                toolEulerOrder = toolConfig.eulerOrder;
                rotX = toolConfig.rotX;
                rotY = toolConfig.rotY;
                rotZ = toolConfig.rotZ;
                offsetX = toolConfig.offsetX;
                offsetY = toolConfig.offsetY;
                offsetZ = toolConfig.offsetZ;
                axialAngleMin = toolConfig.axialAngleMin;
                axialAngleMax = toolConfig.axialAngleMax;
                break;
            }
        }

        ui->toolExtrinsicWidget->setData(camIdx,
                                         toolEulerOrder,
                                         rotX, rotY, rotZ,
                                         offsetX, offsetY, offsetZ,
                                         axialAngleMin, axialAngleMax);
    }
}