#include "dialogalgoarg.h"
#include "ui_dialogalgoarg.h"
#include <QPushButton>
#include <QDoubleValidator>
#include <QGroupBox>
#include <QtMath>
#include "HandEyeCalibWidget.h"
#include "PathManager.h"
#include "StyledMessageBox.h"
#include "ToolExtrinsicWidget.h"
#include "NetworkConfigWidget.h"

#include "VrLog.h"

namespace
{

const int kHandEyeConfigIndex = 1;

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

}

DialogAlgoarg::DialogAlgoarg(ConfigManager* configManager, QWidget *parent)
    : QDialog(parent)
    , ui(new Ui::DialogAlgoarg)
    , m_pConfigManager(configManager)
    , m_handEyeCalibWidget(nullptr)
    , m_toolExtrinsicWidget(nullptr)
{
    try {
        ui->setupUi(this);

        ui->lineEdit_modelMinimumScore->setValidator(
            new QDoubleValidator(0.0, 1.0, 6, ui->lineEdit_modelMinimumScore));
        if (ui->lineEdit_fullImageExposure) ui->lineEdit_fullImageExposure->setValidator(new QDoubleValidator(0.0, 1e9, 0, ui->lineEdit_fullImageExposure));
        if (ui->lineEdit_fullImageGain) ui->lineEdit_fullImageGain->setValidator(new QDoubleValidator(0.0, 1e3, 0, ui->lineEdit_fullImageGain));
        if (ui->lineEdit_rotorRadius) ui->lineEdit_rotorRadius->setValidator(new QDoubleValidator(0.0, 1e6, 6, ui->lineEdit_rotorRadius));
        if (ui->lineEdit_rotorHeight) ui->lineEdit_rotorHeight->setValidator(new QDoubleValidator(0.0, 1e6, 6, ui->lineEdit_rotorHeight));
        if (ui->lineEdit_spacerLength)
        {
            ui->lineEdit_spacerLength->setValidator(
                new QDoubleValidator(0.0, 1e6, 6, ui->lineEdit_spacerLength));
        }
        if (ui->lineEdit_spacerWidth)
        {
            ui->lineEdit_spacerWidth->setValidator(
                new QDoubleValidator(0.0, 1e6, 6, ui->lineEdit_spacerWidth));
        }
        if (ui->lineEdit_layerRatio) ui->lineEdit_layerRatio->setValidator(new QDoubleValidator(0.0, 10.0, 6, ui->lineEdit_layerRatio));
        if (ui->lineEdit_distToSideRatio) ui->lineEdit_distToSideRatio->setValidator(new QDoubleValidator(0.0, 10.0, 6, ui->lineEdit_distToSideRatio));
        if (ui->lineEdit_groundRemoveOffset) ui->lineEdit_groundRemoveOffset->setValidator(new QDoubleValidator(-1e6, 1e6, 6, ui->lineEdit_groundRemoveOffset));
        ui->tabWidget->setCurrentIndex(0);

        InitHandEyeCalibTab();
        InitNetworkConfigTab();
        InitToolExtrinsicTab();

        // 隐藏标题栏
        // setWindowFlags(Qt::FramelessWindowHint);

        // 获取配置文件路径
        m_configFilePath = PathManager::GetInstance().GetConfigFilePath();

        // 检查配置文件路径是否有效
        if (m_configFilePath.isEmpty()) {
            StyledMessageBox::critical(this, "错误", "无法获取配置文件路径！");
            return;
        }

        // 从配置文件加载数据到界面
        LoadConfigToUI();

    } catch (const std::exception& e) {
        StyledMessageBox::critical(this, "初始化错误", QString("对话框初始化失败: %1").arg(e.what()));
    } catch (...) {
        StyledMessageBox::critical(this, "初始化错误", "对话框初始化失败！（未知错误）");
    }
}

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

void DialogAlgoarg::LoadConfigToUI()
{
    if (!m_pConfigManager) {
        StyledMessageBox::critical(this, "错误", "配置对象未初始化！");
        return;
    }

    try {
        // 从ConfigManager获取配置数据
        ConfigResult configData = m_pConfigManager->GetConfigResult();

        // 检查配置文件路径是否有效
        if (m_configFilePath.isEmpty()) {
            LOG_WARNING("Config file path is empty\n");
        }

        const VrToolParam& toolParam = configData.algorithmParams.toolParam;
        LoadModelDetectionParamsToUI(configData.algorithmParams.modelParam);
        LoadBinDetectionParamsToUI(configData.algorithmParams.binParam);
        LoadRotorCoreParamsToUI(configData.algorithmParams.rotorCoreParam);
        LoadFullImageCaptureParamsToUI(configData.algorithmParams.fullImageCaptureParam);
        if (m_toolExtrinsicWidget) {
            m_toolExtrinsicWidget->setData(
                toolParam.eulerOrder,
                toolParam.rotX, toolParam.rotY, toolParam.rotZ,
                toolParam.offsetX, toolParam.offsetY, toolParam.offsetZ);
        }

        // 加载网络配置（JSON TCP 端口 + Modbus 寄存器地址）
        LoadPlcRobotServerConfigToUI(configData.plcRobotServerConfig);

        LoadHandEyeCalibConfig();

    } catch (const std::exception& e) {
        LOG_ERROR("Exception in LoadConfigToUI: %s\n", e.what());
        StyledMessageBox::warning(this, "警告",
            QString("加载配置时发生异常: %1\n将使用默认参数显示").arg(e.what()));

        ConfigResult configData;
        LoadModelDetectionParamsToUI(configData.algorithmParams.modelParam);
        LoadBinDetectionParamsToUI(configData.algorithmParams.binParam);
        LoadRotorCoreParamsToUI(configData.algorithmParams.rotorCoreParam);
        LoadFullImageCaptureParamsToUI(configData.algorithmParams.fullImageCaptureParam);
        const VrToolParam& toolParam = configData.algorithmParams.toolParam;
        if (m_toolExtrinsicWidget) {
            m_toolExtrinsicWidget->setData(
                toolParam.eulerOrder,
                toolParam.rotX, toolParam.rotY, toolParam.rotZ,
                toolParam.offsetX, toolParam.offsetY, toolParam.offsetZ);
        }
    } catch (...) {
        LOG_ERROR("Unknown exception in LoadConfigToUI\n");
        StyledMessageBox::warning(this, "警告", "加载配置文件失败（未知错误），将使用默认参数显示");

        ConfigResult configData;
        LoadModelDetectionParamsToUI(configData.algorithmParams.modelParam);
        LoadBinDetectionParamsToUI(configData.algorithmParams.binParam);
        LoadRotorCoreParamsToUI(configData.algorithmParams.rotorCoreParam);
        LoadFullImageCaptureParamsToUI(configData.algorithmParams.fullImageCaptureParam);
        const VrToolParam& toolParam = configData.algorithmParams.toolParam;
        if (m_toolExtrinsicWidget) {
            m_toolExtrinsicWidget->setData(
                toolParam.eulerOrder,
                toolParam.rotX, toolParam.rotY, toolParam.rotZ,
                toolParam.offsetX, toolParam.offsetY, toolParam.offsetZ);
        }
    }
}

void DialogAlgoarg::InitToolExtrinsicTab()
{
    if (!ui || !ui->verticalLayout_toolExtrinsicHost || m_toolExtrinsicWidget) {
        return;
    }

    m_toolExtrinsicWidget = new ToolExtrinsicWidget(this);
    m_toolExtrinsicWidget->setCameraSelectorVisible(false);
    m_toolExtrinsicWidget->setTargetOffsetVisible(true);
    m_toolExtrinsicWidget->setAxialAngleRangeVisible(false);
    ui->verticalLayout_toolExtrinsicHost->addWidget(m_toolExtrinsicWidget);
}

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

    m_handEyeCalibWidget = new HandEyeCalibWidget(this);
    m_handEyeCalibWidget->setMatrixEditable(true);
    m_handEyeCalibWidget->setDefaultCalibType(0);
    m_handEyeCalibWidget->setDefaultFilePath(
        PathManager::GetInstance().GetAppConfigDirectory());
    ui->verticalLayout_handEyeCalibHost->addWidget(m_handEyeCalibWidget);

    QVector<HandEyeCalibCameraInfo> cameraList;
    HandEyeCalibCameraInfo cameraInfo;
    cameraInfo.cameraIndex = kHandEyeConfigIndex;
    cameraInfo.displayName = QStringLiteral("手眼标定");
    cameraList.append(cameraInfo);
    m_handEyeCalibWidget->setCameraList(cameraList);
    m_handEyeCalibWidget->setCalibType(kHandEyeConfigIndex, 0);

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

void DialogAlgoarg::InitNetworkConfigTab()
{
    if (!ui || !ui->tabWidget || m_networkConfigWidget) {
        return;
    }

    m_networkConfigWidget = new NetworkConfigWidget(true, true, ui->tabWidget);
    m_networkConfigWidget->setExtrinsicControlsVisible(false);
    m_networkConfigWidget->setPoseOutputOrderVisible(true);

    if (QGroupBox* group = m_networkConfigWidget->findChild<QGroupBox*>("groupPlc")) {
        group->setTitle(QStringLiteral("TCP端口与Modbus寄存器配置"));
    }
    const char* hideNames[] = {"labelPlcIp", "editPlcIp", "labelPlcPort", "editPlcPort"};
    for (const char* name : hideNames) {
        if (QWidget* widget = m_networkConfigWidget->findChild<QWidget*>(name)) {
            widget->hide();
        }
    }

    ui->tabWidget->addTab(m_networkConfigWidget, QStringLiteral("网络配置"));
}

bool DialogAlgoarg::SaveConfigFromUI()
{
    if (!m_pConfigManager) {
        return false;
    }

    try {
        // 获取当前配置
        SystemConfig systemConfig = m_pConfigManager->GetConfig();
        VrToolParam& toolParam = systemConfig.configResult.algorithmParams.toolParam;
        if (!SaveModelDetectionParamsFromUI(
                systemConfig.configResult.algorithmParams.modelParam)) {
            StyledMessageBox::warning(this, "错误", "模型检测参数输入有误，请检查！");
            return false;
        }
        if (!SaveBinDetectionParamsFromUI(systemConfig.configResult.algorithmParams.binParam)) {
            StyledMessageBox::warning(this, "错误", "料框检测参数输入有误，请检查！");
            return false;
        }
        if (!SaveRotorCoreParamsFromUI(systemConfig.configResult.algorithmParams.rotorCoreParam)) {
            StyledMessageBox::warning(this, "错误", "转子钢芯算法参数输入有误，请检查！");
            return false;
        }
        if (!SaveFullImageCaptureParamsFromUI(
                systemConfig.configResult.algorithmParams.fullImageCaptureParam)) {
            StyledMessageBox::warning(this, "错误", "二维全图采集参数输入有误，请检查！");
            return false;
        }
        if (!m_toolExtrinsicWidget || !m_toolExtrinsicWidget->hasAcceptableInput()) {
            StyledMessageBox::warning(this, "错误", "工具参数输入有误，请检查！");
            return false;
        }
        m_toolExtrinsicWidget->getData(
            toolParam.eulerOrder,
            toolParam.rotX, toolParam.rotY, toolParam.rotZ,
            toolParam.offsetX, toolParam.offsetY, toolParam.offsetZ);

        // 保存网络配置（JSON TCP 端口 + Modbus 寄存器地址）
        if (!SavePlcRobotServerConfigFromUI(systemConfig.configResult.plcRobotServerConfig)) {
            StyledMessageBox::warning(this, "错误", "网络配置输入有误，请检查！");
            return false;
        }

        // 保存手眼标定矩阵到配置
        if (!SaveCalibMatrixToConfig(systemConfig.configResult.handEyeCalibMatrix)) {
            StyledMessageBox::warning(this, "错误", "手眼标定矩阵输入有误，请检查！");
            return false;
        }

        // 更新并保存配置到文件
        if (!m_pConfigManager->UpdateFullConfig(systemConfig)) {
            return false;
        }

        return m_pConfigManager->SaveConfigToFile(m_configFilePath.toStdString());

    } catch (const std::exception&) {
        return false;
    }
}

void DialogAlgoarg::LoadModelDetectionParamsToUI(const VrWorkpieceModelParam& modelParam)
{
    if (!ui || !ui->lineEdit_modelMinimumScore) {
        return;
    }
    ui->lineEdit_modelMinimumScore->setText(QString::number(modelParam.minimumScore, 'f', 6));
}

void DialogAlgoarg::LoadBinDetectionParamsToUI(const VrBinParam& binParam)
{
    Q_UNUSED(binParam);
}

bool DialogAlgoarg::SaveBinDetectionParamsFromUI(VrBinParam& binParam)
{
    Q_UNUSED(binParam);
    return true;
}

void DialogAlgoarg::LoadRotorCoreParamsToUI(const VrRotorCoreParam& rotorParam)
{
    if (!ui || !ui->lineEdit_rotorRadius || !ui->lineEdit_rotorHeight ||
        !ui->lineEdit_spacerLength || !ui->lineEdit_spacerWidth ||
        !ui->lineEdit_layerRatio || !ui->lineEdit_distToSideRatio ||
        !ui->lineEdit_groundRemoveOffset) {
        return;
    }
    ui->lineEdit_rotorRadius->setText(QString::number(rotorParam.radius, 'f', 6));
    ui->lineEdit_rotorHeight->setText(QString::number(rotorParam.height, 'f', 6));
    ui->lineEdit_spacerLength->setText(QString::number(rotorParam.spacerLength, 'f', 6));
    ui->lineEdit_spacerWidth->setText(QString::number(rotorParam.spacerWidth, 'f', 6));
    ui->lineEdit_layerRatio->setText(QString::number(rotorParam.layerRatio, 'f', 6));
    ui->lineEdit_distToSideRatio->setText(QString::number(rotorParam.distToSideRatio, 'f', 6));
    ui->lineEdit_groundRemoveOffset->setText(QString::number(rotorParam.groundRemoveOffset, 'f', 6));
}

bool DialogAlgoarg::SaveRotorCoreParamsFromUI(VrRotorCoreParam& rotorParam)
{
    if (!ui || !ui->lineEdit_rotorRadius || !ui->lineEdit_rotorHeight ||
        !ui->lineEdit_spacerLength || !ui->lineEdit_spacerWidth ||
        !ui->lineEdit_layerRatio || !ui->lineEdit_distToSideRatio ||
        !ui->lineEdit_groundRemoveOffset) {
        return false;
    }

    bool ok = false;
    rotorParam.radius = ui->lineEdit_rotorRadius->text().toDouble(&ok);
    if (!ok || rotorParam.radius <= 0.0) return false;
    rotorParam.height = ui->lineEdit_rotorHeight->text().toDouble(&ok);
    if (!ok || rotorParam.height <= 0.0) return false;
    rotorParam.spacerLength = ui->lineEdit_spacerLength->text().toDouble(&ok);
    if (!ok || rotorParam.spacerLength <= 0.0)
    {
        return false;
    }
    rotorParam.spacerWidth = ui->lineEdit_spacerWidth->text().toDouble(&ok);
    if (!ok || rotorParam.spacerWidth <= 0.0)
    {
        return false;
    }
    rotorParam.layerRatio = ui->lineEdit_layerRatio->text().toDouble(&ok);
    if (!ok || rotorParam.layerRatio <= 0.0) return false;
    rotorParam.distToSideRatio = ui->lineEdit_distToSideRatio->text().toDouble(&ok);
    if (!ok || rotorParam.distToSideRatio <= 0.0) return false;
    rotorParam.groundRemoveOffset = ui->lineEdit_groundRemoveOffset->text().toDouble(&ok);
    if (!ok) return false;
    return true;
}

bool DialogAlgoarg::SaveModelDetectionParamsFromUI(VrWorkpieceModelParam& modelParam)
{
    if (!ui || !ui->lineEdit_modelMinimumScore) {
        return false;
    }

    bool scoreOk = false;
    const double minimumScore = ui->lineEdit_modelMinimumScore->text().toDouble(&scoreOk);
    if (!scoreOk || minimumScore < 0.0 || minimumScore > 1.0) {
        return false;
    }

    modelParam.minimumScore = minimumScore;
    return true;
}

void DialogAlgoarg::LoadFullImageCaptureParamsToUI(const VrFullImageCaptureParam& captureParam)
{
    if (!ui || !ui->lineEdit_fullImageExposure || !ui->lineEdit_fullImageGain) {
        return;
    }
    ui->lineEdit_fullImageExposure->setText(QString::number(captureParam.exposure));
    ui->lineEdit_fullImageGain->setText(QString::number(captureParam.gain));
}

bool DialogAlgoarg::SaveFullImageCaptureParamsFromUI(VrFullImageCaptureParam& captureParam)
{
    if (!ui || !ui->lineEdit_fullImageExposure || !ui->lineEdit_fullImageGain) {
        return false;
    }

    bool exposureOk = false;
    bool gainOk = false;
    const unsigned int exposure = ui->lineEdit_fullImageExposure->text().toUInt(&exposureOk);
    const unsigned int gain = ui->lineEdit_fullImageGain->text().toUInt(&gainOk);
    if (!exposureOk || exposure == 0 || !gainOk) {
        return false;
    }

    captureParam.exposure = exposure;
    captureParam.gain = gain;
    return true;
}

void DialogAlgoarg::on_btn_camer_ok_clicked()
{
    if (SaveConfigFromUI()) {
        StyledMessageBox::information(this, "成功", "配置保存成功！");
        accept();
    } else {
        StyledMessageBox::warning(this, "失败", "配置保存失败，请检查文件权限或参数输入！");
    }
}

void DialogAlgoarg::on_btn_camer_cancel_clicked()
{
    reject();
}

void DialogAlgoarg::onCalibMatrixLoaded(int cameraIndex, const double* matrix)
{
    Q_UNUSED(cameraIndex);
    Q_UNUSED(matrix);
    StyledMessageBox::information(this, "提示", "已从文件导入标定矩阵");
}

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

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

void DialogAlgoarg::LoadHandEyeCalibConfig()
{
    if (!m_pConfigManager || !m_handEyeCalibWidget)
    {
        return;
    }

    const ConfigResult configData = m_pConfigManager->GetConfigResult();
    const VrHandEyeCalibMatrix& calibMatrix = configData.handEyeCalibMatrix;
    m_handEyeCalibWidget->setCalibData(
        kHandEyeConfigIndex,
        calibMatrix.matrix,
        !isIdentityMatrix(calibMatrix.matrix));
}

bool DialogAlgoarg::SaveCalibMatrixToConfig(VrHandEyeCalibMatrix& calibMatrix)
{
    if (!m_handEyeCalibWidget)
    {
        return false;
    }

    bool isCalibrated = false;
    return m_handEyeCalibWidget->getCalibData(
        kHandEyeConfigIndex, calibMatrix.matrix, isCalibrated);
}

void DialogAlgoarg::LoadPlcRobotServerConfigToUI(const VrPlcRobotServerConfig& config)
{
    if (!m_networkConfigWidget) return;

    NetworkConfigData data;
    data.poseOutputOrder = config.poseOutputOrder;
    data.byteOrder = config.byteOrder;
    data.dirVectorInvert = config.dirVectorInvert;
    data.addrPhotoRequest = config.registerConfig.addrTrigger;
    data.addrDataComplete = config.registerConfig.addrWorkStatus;
    data.addrCoordDataStart = config.registerConfig.addrCoordDataStart;
    data.tcpServerPort = config.robotServerPort;
    m_networkConfigWidget->setConfig(data);
}

bool DialogAlgoarg::SavePlcRobotServerConfigFromUI(VrPlcRobotServerConfig& config)
{
    if (!m_networkConfigWidget) return false;

    const NetworkConfigData data = m_networkConfigWidget->getConfig();
    if (data.tcpServerPort <= 0 || data.tcpServerPort > 65535 ||
        data.addrPhotoRequest < 0 ||
        data.addrDataComplete < 0 ||
        data.addrCoordDataStart < 0) {
        return false;
    }

    config.robotServerPort = data.tcpServerPort;
    config.registerConfig.addrTrigger = data.addrPhotoRequest;
    config.registerConfig.addrWorkStatus = data.addrDataComplete;
    config.registerConfig.addrCoordDataStart = data.addrCoordDataStart;
    config.poseOutputOrder = data.poseOutputOrder;
    config.dirVectorInvert = data.dirVectorInvert;
    config.byteOrder = data.byteOrder;

    return true;
}