#include "HandEyeCalibWidget.h"

#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QGridLayout>
#include <QFormLayout>
#include <QGroupBox>
#include <QDoubleValidator>
#include <QFileDialog>
#include <QSettings>
#include <cstring>

HandEyeCalibWidget::HandEyeCalibWidget(QWidget *parent)
    : QWidget(parent)
    , m_comboCamera(nullptr)
    , m_labelStatus(nullptr)
    , m_btnLoad(nullptr)
    , m_btnSave(nullptr)
    , m_groupExtrinsic(nullptr)
    , m_comboEulerOrder(nullptr)
    , m_editRotX(nullptr)
    , m_editRotY(nullptr)
    , m_editRotZ(nullptr)
    , m_labelApproachOffset(nullptr)
    , m_editApproachOffset(nullptr)
    , m_matrixEditable(false)
{
    memset(m_matrixEdits, 0, sizeof(m_matrixEdits));
    setupUI();
}

HandEyeCalibWidget::~HandEyeCalibWidget()
{
}

// ========== 公开接口 ==========

void HandEyeCalibWidget::setCameraList(const QVector<HandEyeCalibCameraInfo>& cameras)
{
    m_comboCamera->blockSignals(true);
    m_comboCamera->clear();

    for (int i = 0; i < cameras.size(); ++i) {
        m_comboCamera->addItem(cameras[i].displayName, QVariant(cameras[i].cameraIndex));
    }

    m_comboCamera->blockSignals(false);

    if (cameras.isEmpty()) {
        onCameraSelectionChanged(-1);
    } else {
        // 默认选中第一个相机
        m_comboCamera->setCurrentIndex(0);
        onCameraSelectionChanged(0);
    }
}

void HandEyeCalibWidget::setCalibData(int cameraIndex, const double matrix[16], bool isCalibrated)
{
    HandEyeCalibData& data = ensureCalibData(cameraIndex);
    memcpy(data.matrix, matrix, sizeof(double) * 16);
    data.isCalibrated = isCalibrated;

    // 如果当前正在显示这个相机，刷新 UI
    if (currentCameraIndex() == cameraIndex) {
        if (isCalibrated) {
            displayMatrix(matrix);
            updateCalibStatus(true);
        } else {
            displayIdentityMatrix();
            updateCalibStatus(false);
        }
    }
}

void HandEyeCalibWidget::setExtrinsicData(int cameraIndex, int eulerOrder,
                                          double rotX, double rotY, double rotZ)
{
    HandEyeCalibData& data = ensureCalibData(cameraIndex);
    data.eulerOrder = eulerOrder;
    data.rotX = rotX;
    data.rotY = rotY;
    data.rotZ = rotZ;

    if (currentCameraIndex() == cameraIndex) {
        displayExtrinsic(data);
    }
}

void HandEyeCalibWidget::setExtrinsicData(int cameraIndex, int eulerOrder,
                                          double rotX, double rotY, double rotZ,
                                          double approachOffset)
{
    HandEyeCalibData& data = ensureCalibData(cameraIndex);
    data.eulerOrder = eulerOrder;
    data.rotX = rotX;
    data.rotY = rotY;
    data.rotZ = rotZ;
    data.approachOffset = approachOffset;

    if (currentCameraIndex() == cameraIndex) {
        displayExtrinsic(data);
    }
}

bool HandEyeCalibWidget::getCalibData(int cameraIndex, double outMatrix[16], bool& outIsCalibrated) const
{
    // 如果当前显示的就是这个相机，且矩阵可编辑，优先从 UI 读取
    if (m_matrixEditable && currentCameraIndex() == cameraIndex) {
        double uiMatrix[16];
        if (readMatrixFromUI(uiMatrix)) {
            memcpy(outMatrix, uiMatrix, sizeof(double) * 16);
            outIsCalibrated = true;
            return true;
        }
    }

    const HandEyeCalibData* data = findCalibData(cameraIndex);
    if (!data) {
        return false;
    }

    memcpy(outMatrix, data->matrix, sizeof(double) * 16);
    outIsCalibrated = data->isCalibrated;
    return true;
}

bool HandEyeCalibWidget::getExtrinsicData(int cameraIndex, int& outEulerOrder,
                                          double& outRotX, double& outRotY, double& outRotZ) const
{
    // 当前相机若正在显示，优先读取 UI
    if (currentCameraIndex() == cameraIndex && m_comboEulerOrder && m_editRotX && m_editRotY && m_editRotZ) {
        outEulerOrder = m_comboEulerOrder->currentData().toInt();
        outRotX = m_editRotX->text().trimmed().toDouble();
        outRotY = m_editRotY->text().trimmed().toDouble();
        outRotZ = m_editRotZ->text().trimmed().toDouble();
        return true;
    }

    const HandEyeCalibData* data = findCalibData(cameraIndex);
    if (!data) {
        return false;
    }
    outEulerOrder = data->eulerOrder;
    outRotX = data->rotX;
    outRotY = data->rotY;
    outRotZ = data->rotZ;
    return true;
}

bool HandEyeCalibWidget::getExtrinsicData(int cameraIndex, int& outEulerOrder,
                                          double& outRotX, double& outRotY, double& outRotZ,
                                          double& outApproachOffset) const
{
    if (!getExtrinsicData(cameraIndex, outEulerOrder, outRotX, outRotY, outRotZ)) {
        return false;
    }

    // 接近点偏移：当前相机优先读 UI，否则读缓存
    if (currentCameraIndex() == cameraIndex && m_editApproachOffset) {
        outApproachOffset = m_editApproachOffset->text().trimmed().toDouble();
        return true;
    }
    const HandEyeCalibData* data = findCalibData(cameraIndex);
    outApproachOffset = data ? data->approachOffset : 0.0;
    return true;
}

int HandEyeCalibWidget::currentCameraIndex() const
{
    if (!m_comboCamera || m_comboCamera->count() == 0 || m_comboCamera->currentIndex() < 0) {
        return -1;
    }
    return m_comboCamera->currentData().toInt();
}

void HandEyeCalibWidget::setDefaultFilePath(const QString& path)
{
    m_defaultFilePath = path;
}

void HandEyeCalibWidget::setMatrixEditable(bool editable)
{
    m_matrixEditable = editable;
    for (int r = 0; r < 4; ++r) {
        for (int c = 0; c < 4; ++c) {
            if (m_matrixEdits[r][c]) {
                m_matrixEdits[r][c]->setReadOnly(!editable);
            }
        }
    }
}

void HandEyeCalibWidget::setExtrinsicControlsVisible(bool visible)
{
    if (m_groupExtrinsic) {
        m_groupExtrinsic->setVisible(visible);
    }
}

void HandEyeCalibWidget::setApproachOffsetVisible(bool visible)
{
    if (m_labelApproachOffset) {
        m_labelApproachOffset->setVisible(visible);
    }
    if (m_editApproachOffset) {
        m_editApproachOffset->setVisible(visible);
    }
}

// ========== 私有槽 ==========

void HandEyeCalibWidget::onCameraSelectionChanged(int index)
{
    if (index < 0 || !m_comboCamera || m_comboCamera->count() == 0) {
        m_btnLoad->setEnabled(false);
        m_btnSave->setEnabled(false);
        displayIdentityMatrix();
        updateCalibStatus(false);
        displayDefaultExtrinsic();
        return;
    }

    m_btnLoad->setEnabled(true);
    m_btnSave->setEnabled(true);

    int camIdx = m_comboCamera->itemData(index).toInt();
    const HandEyeCalibData* data = findCalibData(camIdx);
    if (data && data->isCalibrated) {
        displayMatrix(data->matrix);
        updateCalibStatus(true);
    } else {
        displayIdentityMatrix();
        updateCalibStatus(false);
    }
    if (data) {
        displayExtrinsic(*data);
    } else {
        displayDefaultExtrinsic();
    }
}

void HandEyeCalibWidget::onLoadCalibMatrixClicked()
{
    int camIdx = currentCameraIndex();
    if (camIdx < 0) {
        return;
    }

    QString startDir = m_defaultFilePath.isEmpty() ? QString() : m_defaultFilePath;
    QString fileName = QFileDialog::getOpenFileName(this,
        QString::fromUtf8("选择手眼标定矩阵文件"),
        startDir,
        QString::fromUtf8("INI Files (*.ini);;All Files (*)"));

    if (fileName.isEmpty()) {
        return;
    }

    // 用 QSettings 读取 [CalibMatrixInfo_0] section
    QSettings settings(fileName, QSettings::IniFormat);
    settings.setIniCodec("UTF-8");
    settings.beginGroup("CalibMatrixInfo_0");

    double matrix[16];
    for (int i = 0; i < 16; ++i) {
        int row = i / 4;
        int col = i % 4;
        double defaultVal = (row == col) ? 1.0 : 0.0;
        QString key = QString("dCalibMatrix_%1").arg(i);
        matrix[i] = settings.value(key, defaultVal).toDouble();
    }
    settings.endGroup();

    // 更新缓存
    setCalibData(camIdx, matrix, true);

    // 发射信号通知外部
    emit calibMatrixLoaded(camIdx, matrix);
}

void HandEyeCalibWidget::onSaveCalibMatrixClicked()
{
    int camIdx = currentCameraIndex();
    if (camIdx < 0) {
        return;
    }

    // 如果可编辑，先从 UI 读取最新值更新到缓存
    if (m_matrixEditable) {
        double uiMatrix[16];
        if (readMatrixFromUI(uiMatrix)) {
            setCalibData(camIdx, uiMatrix, true);
        }
    }

    // 无论矩阵是否可编辑，都同步外参到缓存
    commitExtrinsicToCache(camIdx);

    const HandEyeCalibData* data = findCalibData(camIdx);
    if (data && data->isCalibrated) {
        emit saveCalibRequested(camIdx, data->matrix);
    }
}

// ========== 私有方法 ==========

void HandEyeCalibWidget::setupUI()
{
    // 主样式（继承父容器暗色主题）
    QString comboStyle =
        "QComboBox { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
        "border: 1px solid rgb(70, 72, 78); padding: 6px; }"
        "QComboBox QAbstractItemView { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
        "selection-background-color: rgb(70, 100, 150); }";

    QString editStyle =
        "QLineEdit { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
        "border: 1px solid rgb(70, 72, 78); padding: 4px; }";

    QString labelStyle = "color: rgb(221, 225, 233);";

    QString btnLoadStyle =
        "QPushButton { background-color: rgb(60, 120, 180); color: rgb(221, 225, 233); "
        "border: none; border-radius: 4px; padding: 8px 16px; }"
        "QPushButton:hover { background-color: rgb(80, 140, 200); }"
        "QPushButton:pressed { background-color: rgb(40, 100, 160); }"
        "QPushButton:disabled { background-color: rgb(80, 80, 80); color: rgb(120, 120, 120); }";

    QString btnSaveStyle =
        "QPushButton { background-color: rgb(60, 150, 80); color: rgb(221, 225, 233); "
        "border: none; border-radius: 4px; padding: 8px 16px; }"
        "QPushButton:hover { background-color: rgb(80, 170, 100); }"
        "QPushButton:pressed { background-color: rgb(40, 130, 60); }"
        "QPushButton:disabled { background-color: rgb(80, 80, 80); color: rgb(120, 120, 120); }";

    QVBoxLayout* mainLayout = new QVBoxLayout(this);
    mainLayout->setContentsMargins(20, 10, 20, 10);

    // 相机选择行
    QHBoxLayout* cameraRow = new QHBoxLayout();
    QLabel* labelCamera = new QLabel(QString::fromUtf8("选择相机:"), this);
    labelCamera->setStyleSheet(labelStyle);
    QFont labelFont;
    labelFont.setPointSize(16);
    labelCamera->setFont(labelFont);
    labelCamera->setMinimumWidth(120);

    m_comboCamera = new QComboBox(this);
    QFont comboFont;
    comboFont.setPointSize(14);
    m_comboCamera->setFont(comboFont);
    m_comboCamera->setStyleSheet(comboStyle);

    cameraRow->addWidget(labelCamera);
    cameraRow->addWidget(m_comboCamera);
    mainLayout->addLayout(cameraRow);

    // 标定状态
    m_labelStatus = new QLabel(QString::fromUtf8("标定状态: 未标定"), this);
    QFont statusFont;
    statusFont.setPointSize(14);
    m_labelStatus->setFont(statusFont);
    m_labelStatus->setStyleSheet("color: rgb(180, 180, 180); padding: 4px 0;");
    mainLayout->addWidget(m_labelStatus);

    // 矩阵标题
    QLabel* labelMatrixTitle = new QLabel(QString::fromUtf8("4x4 变换矩阵:"), this);
    QFont titleFont;
    titleFont.setPointSize(14);
    labelMatrixTitle->setFont(titleFont);
    labelMatrixTitle->setStyleSheet(labelStyle);
    mainLayout->addWidget(labelMatrixTitle);

    // 4x4 矩阵 Grid
    QGridLayout* gridLayout = new QGridLayout();
    QFont editFont;
    editFont.setPointSize(12);
    for (int r = 0; r < 4; ++r) {
        for (int c = 0; c < 4; ++c) {
            m_matrixEdits[r][c] = new QLineEdit(this);
            m_matrixEdits[r][c]->setFont(editFont);
            m_matrixEdits[r][c]->setReadOnly(true);  // 默认只读
            m_matrixEdits[r][c]->setStyleSheet(editStyle);
            gridLayout->addWidget(m_matrixEdits[r][c], r, c);
        }
    }
    mainLayout->addLayout(gridLayout);

    // 可选外参区（欧拉角顺序 + 补偿旋转）
    setupExtrinsicGroup();

    // 按钮行
    QHBoxLayout* btnRow = new QHBoxLayout();
    m_btnLoad = new QPushButton(QString::fromUtf8("加载标定矩阵"), this);
    QFont btnFont;
    btnFont.setPointSize(14);
    btnFont.setBold(true);
    m_btnLoad->setFont(btnFont);
    m_btnLoad->setStyleSheet(btnLoadStyle);
    m_btnLoad->setEnabled(false);

    m_btnSave = new QPushButton(QString::fromUtf8("保存标定"), this);
    m_btnSave->setFont(btnFont);
    m_btnSave->setStyleSheet(btnSaveStyle);
    m_btnSave->setEnabled(false);

    btnRow->addWidget(m_btnLoad);
    btnRow->addWidget(m_btnSave);
    mainLayout->addLayout(btnRow);

    if (m_groupExtrinsic) {
        mainLayout->addWidget(m_groupExtrinsic);
        m_groupExtrinsic->setVisible(false);  // 默认隐藏，调用方按需开启
    }

    // 底部弹性空间
    mainLayout->addStretch();

    // 连接信号
    connect(m_comboCamera, static_cast<void(QComboBox::*)(int)>(&QComboBox::currentIndexChanged),
            this, &HandEyeCalibWidget::onCameraSelectionChanged);
    connect(m_btnLoad, &QPushButton::clicked,
            this, &HandEyeCalibWidget::onLoadCalibMatrixClicked);
    connect(m_btnSave, &QPushButton::clicked,
            this, &HandEyeCalibWidget::onSaveCalibMatrixClicked);
}

void HandEyeCalibWidget::setupExtrinsicGroup()
{
    const QString labelStyle = "color: rgb(221, 225, 233);";
    const QString editStyle =
        "QLineEdit { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
        "border: 1px solid rgb(70, 72, 78); padding: 4px; }";
    const QString comboStyle =
        "QComboBox { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
        "border: 1px solid rgb(70, 72, 78); padding: 6px; }"
        "QComboBox QAbstractItemView { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
        "selection-background-color: rgb(70, 100, 150); }";
    const QString groupStyle =
        "QGroupBox { color: rgb(221, 225, 233); border: 1px solid rgb(100, 100, 100); "
        "border-radius: 4px; margin-top: 12px; padding-top: 8px; }"
        "QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 3px 0 3px; }";

    QFont font;
    font.setPointSize(14);

    m_groupExtrinsic = new QGroupBox(QString::fromUtf8("欧拉角顺序 / 工具坐标系补偿旋转"), this);
    m_groupExtrinsic->setFont(font);
    m_groupExtrinsic->setStyleSheet(groupStyle);

    QFormLayout* form = new QFormLayout(m_groupExtrinsic);
    form->setSpacing(8);

    m_comboEulerOrder = new QComboBox(this);
    m_comboEulerOrder->setFont(font);
    m_comboEulerOrder->setStyleSheet(comboStyle);
    initEulerOrderComboBox();
    QLabel* labelEuler = new QLabel(QString::fromUtf8("欧拉角旋转顺序:"), this);
    labelEuler->setFont(font);
    labelEuler->setStyleSheet(labelStyle);
    form->addRow(labelEuler, m_comboEulerOrder);

    auto* validatorX = new QDoubleValidator(-360.0, 360.0, 6, this);
    validatorX->setNotation(QDoubleValidator::StandardNotation);
    auto* validatorY = new QDoubleValidator(-360.0, 360.0, 6, this);
    validatorY->setNotation(QDoubleValidator::StandardNotation);
    auto* validatorZ = new QDoubleValidator(-360.0, 360.0, 6, this);
    validatorZ->setNotation(QDoubleValidator::StandardNotation);

    m_editRotX = new QLineEdit(this);
    m_editRotX->setFont(font);
    m_editRotX->setStyleSheet(editStyle);
    m_editRotX->setValidator(validatorX);

    m_editRotY = new QLineEdit(this);
    m_editRotY->setFont(font);
    m_editRotY->setStyleSheet(editStyle);
    m_editRotY->setValidator(validatorY);

    m_editRotZ = new QLineEdit(this);
    m_editRotZ->setFont(font);
    m_editRotZ->setStyleSheet(editStyle);
    m_editRotZ->setValidator(validatorZ);

    auto makeAxisLabel = [&](const QString& text) {
        QLabel* label = new QLabel(text, this);
        label->setFont(font);
        label->setStyleSheet(labelStyle);
        return label;
    };

    QWidget* rotationRow = new QWidget(this);
    QHBoxLayout* rotationLayout = new QHBoxLayout(rotationRow);
    rotationLayout->setContentsMargins(0, 0, 0, 0);
    rotationLayout->setSpacing(8);
    rotationLayout->addWidget(makeAxisLabel(QString::fromUtf8("X:")));
    rotationLayout->addWidget(m_editRotX, 1);
    rotationLayout->addWidget(makeAxisLabel(QString::fromUtf8("Y:")));
    rotationLayout->addWidget(m_editRotY, 1);
    rotationLayout->addWidget(makeAxisLabel(QString::fromUtf8("Z:")));
    rotationLayout->addWidget(m_editRotZ, 1);

    QLabel* labelRotation = new QLabel(QString::fromUtf8("姿态调整 (°):"), this);
    labelRotation->setFont(font);
    labelRotation->setStyleSheet(labelStyle);
    form->addRow(labelRotation, rotationRow);

    auto* validatorOffset = new QDoubleValidator(-10000.0, 10000.0, 3, this);
    validatorOffset->setNotation(QDoubleValidator::StandardNotation);
    m_editApproachOffset = new QLineEdit(this);
    m_editApproachOffset->setFont(font);
    m_editApproachOffset->setStyleSheet(editStyle);
    m_editApproachOffset->setValidator(validatorOffset);

    m_labelApproachOffset = new QLabel(QString::fromUtf8("接近点偏移 (mm):"), this);
    m_labelApproachOffset->setFont(font);
    m_labelApproachOffset->setStyleSheet(labelStyle);
    form->addRow(m_labelApproachOffset, m_editApproachOffset);

    // 默认隐藏，仅需要 approach 点的 App 调 setApproachOffsetVisible(true) 打开
    m_labelApproachOffset->setVisible(false);
    m_editApproachOffset->setVisible(false);

    displayDefaultExtrinsic();
}

void HandEyeCalibWidget::initEulerOrderComboBox()
{
    if (!m_comboEulerOrder) return;
    // 外旋 (绕固定轴)：CTEulerOrder sXYZ=10 ... sXZY=15
    m_comboEulerOrder->addItem(QString::fromUtf8("RZ-RY-RX (外旋ZYX)"), 11);
    m_comboEulerOrder->addItem(QString::fromUtf8("RX-RY-RZ (外旋XYZ)"), 10);
    m_comboEulerOrder->addItem(QString::fromUtf8("RZ-RX-RY (外旋ZXY)"), 12);
    m_comboEulerOrder->addItem(QString::fromUtf8("RY-RX-RZ (外旋YXZ)"), 13);
    m_comboEulerOrder->addItem(QString::fromUtf8("RY-RZ-RX (外旋YZX)"), 14);
    m_comboEulerOrder->addItem(QString::fromUtf8("RX-RZ-RY (外旋XZY)"), 15);
    // 内旋 (绕旋转后的新轴)：CTEulerOrder XYZ=0 ... XZY=5
    m_comboEulerOrder->addItem(QString::fromUtf8("RZ-RY-RX (内旋ZYX)"), 1);
    m_comboEulerOrder->addItem(QString::fromUtf8("RX-RY-RZ (内旋XYZ)"), 0);
    m_comboEulerOrder->addItem(QString::fromUtf8("RZ-RX-RY (内旋ZXY)"), 2);
    m_comboEulerOrder->addItem(QString::fromUtf8("RY-RX-RZ (内旋YXZ)"), 3);
    m_comboEulerOrder->addItem(QString::fromUtf8("RY-RZ-RX (内旋YZX)"), 4);
    m_comboEulerOrder->addItem(QString::fromUtf8("RX-RZ-RY (内旋XZY)"), 5);
    m_comboEulerOrder->setCurrentIndex(0);
}

void HandEyeCalibWidget::displayMatrix(const double* matrix)
{
    if (!matrix) return;

    for (int r = 0; r < 4; ++r) {
        for (int c = 0; c < 4; ++c) {
            m_matrixEdits[r][c]->setText(QString::number(matrix[r * 4 + c], 'f', 6));
        }
    }
}

void HandEyeCalibWidget::clearMatrix()
{
    for (int r = 0; r < 4; ++r) {
        for (int c = 0; c < 4; ++c) {
            m_matrixEdits[r][c]->setText("");
        }
    }
}

void HandEyeCalibWidget::displayIdentityMatrix()
{
    static const double identity[16] = {
        1.0, 0.0, 0.0, 0.0,
        0.0, 1.0, 0.0, 0.0,
        0.0, 0.0, 1.0, 0.0,
        0.0, 0.0, 0.0, 1.0
    };
    displayMatrix(identity);
}

void HandEyeCalibWidget::updateCalibStatus(bool isCalibrated)
{
    if (isCalibrated) {
        m_labelStatus->setText(QString::fromUtf8("标定状态: 已标定"));
        m_labelStatus->setStyleSheet("color: rgb(100, 200, 100); padding: 4px 0;");
    } else {
        m_labelStatus->setText(QString::fromUtf8("标定状态: 未标定"));
        m_labelStatus->setStyleSheet("color: rgb(180, 180, 180); padding: 4px 0;");
    }
}

void HandEyeCalibWidget::displayExtrinsic(const HandEyeCalibData& data)
{
    if (m_comboEulerOrder) {
        int idx = m_comboEulerOrder->findData(data.eulerOrder);
        if (idx < 0) idx = 0;
        m_comboEulerOrder->setCurrentIndex(idx);
    }
    if (m_editRotX) m_editRotX->setText(QString::number(data.rotX, 'f', 6));
    if (m_editRotY) m_editRotY->setText(QString::number(data.rotY, 'f', 6));
    if (m_editRotZ) m_editRotZ->setText(QString::number(data.rotZ, 'f', 6));
    if (m_editApproachOffset) m_editApproachOffset->setText(QString::number(data.approachOffset, 'f', 3));
}

void HandEyeCalibWidget::displayDefaultExtrinsic()
{
    if (m_comboEulerOrder) {
        int idx = m_comboEulerOrder->findData(11);
        if (idx < 0) idx = 0;
        m_comboEulerOrder->setCurrentIndex(idx);
    }
    if (m_editRotX) m_editRotX->setText(QString::number(0.0, 'f', 6));
    if (m_editRotY) m_editRotY->setText(QString::number(0.0, 'f', 6));
    if (m_editRotZ) m_editRotZ->setText(QString::number(0.0, 'f', 6));
    if (m_editApproachOffset) m_editApproachOffset->setText(QString::number(0.0, 'f', 3));
}

bool HandEyeCalibWidget::readMatrixFromUI(double outMatrix[16]) const
{
    for (int r = 0; r < 4; ++r) {
        for (int c = 0; c < 4; ++c) {
            if (!m_matrixEdits[r][c]) return false;
            QString text = m_matrixEdits[r][c]->text().trimmed();
            if (text.isEmpty()) return false;
            bool ok = false;
            outMatrix[r * 4 + c] = text.toDouble(&ok);
            if (!ok) return false;
        }
    }
    return true;
}

void HandEyeCalibWidget::commitExtrinsicToCache(int cameraIndex)
{
    if (!m_comboEulerOrder || !m_editRotX || !m_editRotY || !m_editRotZ) {
        return;
    }
    HandEyeCalibData& data = ensureCalibData(cameraIndex);
    data.eulerOrder = m_comboEulerOrder->currentData().toInt();
    data.rotX = m_editRotX->text().trimmed().toDouble();
    data.rotY = m_editRotY->text().trimmed().toDouble();
    data.rotZ = m_editRotZ->text().trimmed().toDouble();
    if (m_editApproachOffset) {
        data.approachOffset = m_editApproachOffset->text().trimmed().toDouble();
    }
}

HandEyeCalibData* HandEyeCalibWidget::findCalibData(int cameraIndex)
{
    for (int i = 0; i < m_calibDataCache.size(); ++i) {
        if (m_calibDataCache[i].cameraIndex == cameraIndex) {
            return &m_calibDataCache[i];
        }
    }
    return nullptr;
}

const HandEyeCalibData* HandEyeCalibWidget::findCalibData(int cameraIndex) const
{
    for (int i = 0; i < m_calibDataCache.size(); ++i) {
        if (m_calibDataCache[i].cameraIndex == cameraIndex) {
            return &m_calibDataCache[i];
        }
    }
    return nullptr;
}

HandEyeCalibData& HandEyeCalibWidget::ensureCalibData(int cameraIndex)
{
    HandEyeCalibData* existing = findCalibData(cameraIndex);
    if (existing) {
        return *existing;
    }
    HandEyeCalibData newData;
    newData.cameraIndex = cameraIndex;
    m_calibDataCache.append(newData);
    return m_calibDataCache.last();
}