#ifndef IVRCONFIG_HOLEPITPOSITION_H
#define IVRCONFIG_HOLEPITPOSITION_H

#include <iostream>
#include <string>
#include <vector>
#include <utility>
#include <algorithm>
#include <cstring>

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

/**
 * @brief 线段参数（对应 SSG_lineSegParam）
 */
struct VrLineSegParam
{
    double distScale = 25.0;       // 距离缩放
    double segGapTh_y = 25.0;     // y方向分段间隔阈值
    double segGapTh_z = 0.0;      // z方向分段间隔阈值
};

/**
 * @brief 角点参数（对应 SSG_cornerParam）
 */
struct VrCornerParam
{
    double cornerTh = 60.0;        // 角度阈值
    double scale = 4.0;            // 方向角计算窗口比例
    double minEndingGap = 10.0;    // y方向端点最小间距
    double minEndingGap_z = 5.0;   // z方向端点最小间距
    double jumpCornerTh_1 = 15.0;  // 跳变角度阈值1（水平角度，小于此视为水平）
    double jumpCornerTh_2 = 60.0;  // 跳变角度阈值2
};

/**
 * @brief 噪声滤除参数（对应 SSG_outlierFilterParam）
 */
struct VrOutlierFilterParam
{
    double continuityTh = 20.0;    // 连续性阈值（z跳变大于此阈值时检查噪声）
    double outlierTh = 5.0;        // 噪声判定阈值（点数小于此阈值视为噪声）
};

/**
 * @brief 树生长参数（对应 SSG_treeGrowParam）
 */
struct VrTreeGrowParam
{
    int maxLineSkipNum = 2;        // 最大跳行数
    double yDeviation_max = 4.0;   // Y方向最大偏差
    double maxSkipDistance = 0.0;   // 最大跳跃距离
    double zDeviation_max = 10.0;  // Z方向最大偏差
    double minLTypeTreeLen = 1.0;  // L型最小树长(mm)
    double minVTypeTreeLen = 1.0;  // V型最小树长(mm)
};

/**
 * @brief 姿态输出顺序枚举
 */
enum VrPoseOutputOrder
{
    POSE_ORDER_RPY = 0,  // Roll, Pitch, Yaw（默认）
    POSE_ORDER_RYP = 1,  // Roll, Yaw, Pitch
    POSE_ORDER_PRY = 2,  // Pitch, Roll, Yaw
    POSE_ORDER_PYR = 3,  // Pitch, Yaw, Roll
    POSE_ORDER_YRP = 4,  // Yaw, Roll, Pitch
    POSE_ORDER_YPR = 5   // Yaw, Pitch, Roll
};

/**
 * @brief 方向向量反向配置枚举
 */
enum VrDirVectorInvert
{
    DIR_INVERT_NONE = 0,  // 不反向
    DIR_INVERT_XY   = 1,  // X和Y方向反向
    DIR_INVERT_XZ   = 2,  // X和Z方向反向
    DIR_INVERT_YZ   = 3   // Y和Z方向反向（默认）
};

/**
 * @brief TCP协议和坐标输出配置
 */
struct VrPlcRobotServerConfig
{
    int tcpServerPort = 7800;                        // TCP协议服务端口
    int poseOutputOrder = POSE_ORDER_RPY;            // 姿态输出顺序
    int dirVectorInvert = DIR_INVERT_YZ;             // 方向向量反向配置

    VrPlcRobotServerConfig& operator=(const VrPlcRobotServerConfig& other) {
        if (this != &other) {
            tcpServerPort = other.tcpServerPort;
            poseOutputOrder = other.poseOutputOrder;
            dirVectorInvert = other.dirVectorInvert;
        }
        return *this;
    }

    VrPlcRobotServerConfig(const VrPlcRobotServerConfig& other)
        : tcpServerPort(other.tcpServerPort)
        , poseOutputOrder(other.poseOutputOrder)
        , dirVectorInvert(other.dirVectorInvert) {
    }

    VrPlcRobotServerConfig() = default;
};

/**
 * @brief 算法参数配置结构
 */
struct VrAlgorithmParams
{
    VrLineSegParam          lineSegParam;         // 线段参数
    VrCornerParam           cornerParam;          // 角点参数
    VrOutlierFilterParam    outlierFilterParam;   // 噪声滤除参数
    VrTreeGrowParam         treeGrowParam;        // 树生长参数
    VrPlaneCalibParam       planeCalibParam;      // 平面校准参数

    VrAlgorithmParams& operator=(const VrAlgorithmParams& other) {
        if (this != &other) {
            lineSegParam = other.lineSegParam;
            cornerParam = other.cornerParam;
            outlierFilterParam = other.outlierFilterParam;
            treeGrowParam = other.treeGrowParam;
            planeCalibParam = other.planeCalibParam;
        }
        return *this;
    }

    VrAlgorithmParams(const VrAlgorithmParams& other)
        : lineSegParam(other.lineSegParam)
        , cornerParam(other.cornerParam)
        , outlierFilterParam(other.outlierFilterParam)
        , treeGrowParam(other.treeGrowParam)
        , planeCalibParam(other.planeCalibParam) {
    }

    VrAlgorithmParams() = default;
};

/**
 * @brief 配置加载结果
 */
struct ConfigResult
{
    std::vector<DeviceInfo>    cameraList;
    std::vector<DeviceInfo>    deviceList;
    VrAlgorithmParams          algorithmParams;
    std::vector<VrHandEyeCalibMatrix> handEyeCalibMatrixList;
    VrDebugParam               debugParam;
    SerialConfig               serialConfig;
    VrPlcRobotServerConfig     plcRobotServerConfig;

    ConfigResult& operator=(const ConfigResult& other) {
        if (this != &other) {
            cameraList = other.cameraList;
            deviceList = other.deviceList;
            algorithmParams = other.algorithmParams;
            handEyeCalibMatrixList = other.handEyeCalibMatrixList;
            debugParam = other.debugParam;
            serialConfig = other.serialConfig;
            plcRobotServerConfig = other.plcRobotServerConfig;
        }
        return *this;
    }

    ConfigResult(const ConfigResult& other)
        : cameraList(other.cameraList)
        , deviceList(other.deviceList)
        , algorithmParams(other.algorithmParams)
        , handEyeCalibMatrixList(other.handEyeCalibMatrixList)
        , debugParam(other.debugParam)
        , serialConfig(other.serialConfig)
        , plcRobotServerConfig(other.plcRobotServerConfig) {
    }

    ConfigResult() = default;
};

/**
 * @brief 配置加载错误代码
 */
enum LoadConfigErrorCode
{
    LOAD_CONFIG_SUCCESS = 0,
    LOAD_CONFIG_FILE_NOT_FOUND = -1,
    LOAD_CONFIG_PARSE_ERROR = -2,
    LOAD_CONFIG_INVALID_FORMAT = -3,
    LOAD_CONFIG_UNKNOWN_ERROR = -99
};

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

    static bool CreateInstance(IVrConfig** ppVrConfig);

    virtual int LoadConfig(const std::string& filePath, ConfigResult& configResult) = 0;
    virtual bool SaveConfig(const std::string& filePath, ConfigResult& configResult) = 0;
    virtual void SetConfigChangeNotify(IVrConfigChangeNotify* notify) = 0;
};

#endif // IVRCONFIG_HOLEPITPOSITION_H