#include "WorkflowWidget.h"
#include <QPainter>
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QFont>
#include <QGroupBox>

WorkflowWidget::WorkflowWidget(QWidget *parent)
    : QWidget(parent)
{
    setupUI();
}

void WorkflowWidget::setupUI()
{
    // 设置背景色
    setStyleSheet("background-color: rgb(37, 38, 42);");

    // 创建主布局
    QVBoxLayout* mainLayout = new QVBoxLayout(this);
    mainLayout->setContentsMargins(20, 10, 20, 10);
    mainLayout->setSpacing(8);

    // 创建步骤标签
    QFont stepFont;
    stepFont.setPointSize(14);
    stepFont.setBold(false);

    // 步骤1-4: 检测阶段
    QGroupBox* detectGroup = new QGroupBox("检测阶段");
    detectGroup->setStyleSheet(
        "QGroupBox {"
        "    color: rgb(239, 241, 245);"
        "    font-size: 15pt;"
        "    font-weight: bold;"
        "    border: 2px solid rgb(60, 120, 180);"
        "    border-radius: 6px;"
        "    margin-top: 10px;"
        "    padding-top: 8px;"
        "}"
        "QGroupBox::title {"
        "    subcontrol-origin: margin;"
        "    left: 12px;"
        "    padding: 0 6px;"
        "}"
    );
    QVBoxLayout* detectLayout = new QVBoxLayout(detectGroup);
    detectLayout->setSpacing(6);

    // 步骤1-4
    for (int i = 0; i < 4; ++i) {
        m_stepLabels[i] = new QLabel();
        m_stepLabels[i]->setFont(stepFont);
        m_stepLabels[i]->setStyleSheet(
            "color: rgb(150, 150, 150);"
            "padding: 6px 8px;"
            "border-left: 4px solid rgb(60, 60, 60);"
            "background-color: rgb(45, 46, 50);"
            "border-radius: 3px;"
        );
        detectLayout->addWidget(m_stepLabels[i]);
    }

    m_stepLabels[0]->setText("1. 机械臂运行到准备位置");
    m_stepLabels[1]->setText("2. 触发控制器检测");
    m_stepLabels[2]->setText("3. 等待检测完成");
    m_stepLabels[3]->setText("4. 读取检测结果");

    mainLayout->addWidget(detectGroup);

    // 结果显示区域
    m_resultLabel = new QLabel("检测结果: 等待检测...");
    m_resultLabel->setFont(stepFont);
    m_resultLabel->setStyleSheet(
        "color: rgb(100, 150, 255);"
        "padding: 8px 10px;"
        "background-color: rgb(45, 46, 50);"
        "border: 2px solid rgb(60, 120, 180);"
        "border-radius: 6px;"
        "font-size: 13pt;"
    );
    m_resultLabel->setWordWrap(true);
    m_resultLabel->setMinimumHeight(100);
    mainLayout->addWidget(m_resultLabel);

    // 步骤5-8: 执行阶段
    QGroupBox* executeGroup = new QGroupBox("执行阶段");
    executeGroup->setStyleSheet(
        "QGroupBox {"
        "    color: rgb(239, 241, 245);"
        "    font-size: 15pt;"
        "    font-weight: bold;"
        "    border: 2px solid rgb(100, 180, 120);"
        "    border-radius: 6px;"
        "    margin-top: 10px;"
        "    padding-top: 8px;"
        "}"
        "QGroupBox::title {"
        "    subcontrol-origin: margin;"
        "    left: 12px;"
        "    padding: 0 6px;"
        "}"
    );
    QVBoxLayout* executeLayout = new QVBoxLayout(executeGroup);
    executeLayout->setSpacing(6);

    // 步骤5-8
    for (int i = 4; i < 8; ++i) {
        m_stepLabels[i] = new QLabel();
        m_stepLabels[i]->setFont(stepFont);
        m_stepLabels[i]->setStyleSheet(
            "color: rgb(150, 150, 150);"
            "padding: 6px 8px;"
            "border-left: 4px solid rgb(60, 60, 60);"
            "background-color: rgb(45, 46, 50);"
            "border-radius: 3px;"
        );
        executeLayout->addWidget(m_stepLabels[i]);
    }

    m_stepLabels[4]->setText("5. 机械臂移动到抓取位置");
    m_stepLabels[5]->setText("6. 执行抓取");
    m_stepLabels[6]->setText("7. 机械臂移动到放置位置");
    m_stepLabels[7]->setText("8. 执行放置");

    mainLayout->addWidget(executeGroup);

    // 添加弹性空间
    mainLayout->addStretch();
}

void WorkflowWidget::updateStep(WorkflowStep step)
{
    // 重置所有步骤为默认样式（未执行）
    for (int i = 0; i < 8; ++i) {
        m_stepLabels[i]->setStyleSheet(
            "color: rgb(150, 150, 150);"
            "padding: 6px 8px;"
            "border-left: 4px solid rgb(60, 60, 60);"
            "background-color: rgb(45, 46, 50);"
            "border-radius: 3px;"
        );
    }

    // 当前正在执行的步骤样式（橙色高亮）
    QString activeStyle =
        "color: rgb(255, 255, 255);"
        "font-weight: bold;"
        "padding: 6px 8px;"
        "border-left: 4px solid rgb(255, 165, 0);"
        "background-color: rgb(80, 60, 30);"
        "border-radius: 3px;";

    // 已完成的步骤样式（绿色）
    QString completedStyle =
        "color: rgb(200, 255, 200);"
        "padding: 6px 8px;"
        "border-left: 4px solid rgb(100, 200, 100);"
        "background-color: rgb(40, 60, 45);"
        "border-radius: 3px;";

    // 错误步骤样式（红色）
    QString errorStyle =
        "color: rgb(255, 255, 255);"
        "font-weight: bold;"
        "padding: 6px 8px;"
        "border-left: 4px solid rgb(255, 80, 80);"
        "background-color: rgb(80, 40, 40);"
        "border-radius: 3px;";

    switch (step) {
        case WorkflowStep::Idle:
            break;

        case WorkflowStep::MovingToReady:
            m_stepLabels[0]->setStyleSheet(activeStyle);
            break;

        case WorkflowStep::TriggeringDetection:
            m_stepLabels[0]->setStyleSheet(completedStyle);
            m_stepLabels[1]->setStyleSheet(activeStyle);
            break;

        case WorkflowStep::WaitingDetectionComplete:
            m_stepLabels[0]->setStyleSheet(completedStyle);
            m_stepLabels[1]->setStyleSheet(completedStyle);
            m_stepLabels[2]->setStyleSheet(activeStyle);
            break;

        case WorkflowStep::ReadingResult:
            m_stepLabels[0]->setStyleSheet(completedStyle);
            m_stepLabels[1]->setStyleSheet(completedStyle);
            m_stepLabels[2]->setStyleSheet(completedStyle);
            m_stepLabels[3]->setStyleSheet(activeStyle);
            break;

        case WorkflowStep::MovingToGrasp:
            for (int i = 0; i < 4; ++i) {
                m_stepLabels[i]->setStyleSheet(completedStyle);
            }
            m_stepLabels[4]->setStyleSheet(activeStyle);
            break;

        case WorkflowStep::Grasping:
            for (int i = 0; i < 5; ++i) {
                m_stepLabels[i]->setStyleSheet(completedStyle);
            }
            m_stepLabels[5]->setStyleSheet(activeStyle);
            break;

        case WorkflowStep::MovingToPlace:
            for (int i = 0; i < 6; ++i) {
                m_stepLabels[i]->setStyleSheet(completedStyle);
            }
            m_stepLabels[6]->setStyleSheet(activeStyle);
            break;

        case WorkflowStep::Placing:
            for (int i = 0; i < 7; ++i) {
                m_stepLabels[i]->setStyleSheet(completedStyle);
            }
            m_stepLabels[7]->setStyleSheet(activeStyle);
            break;

        case WorkflowStep::Completed:
            for (int i = 0; i < 8; ++i) {
                m_stepLabels[i]->setStyleSheet(completedStyle);
            }
            break;

        case WorkflowStep::Error:
            // 错误状态，找到当前步骤显示为红色
            for (int i = 0; i < 8; ++i) {
                QString currentStyle = m_stepLabels[i]->styleSheet();
                if (currentStyle.contains("bold")) {
                    m_stepLabels[i]->setStyleSheet(errorStyle);
                    break;
                }
            }
            break;

        default:
            break;
    }
}

void WorkflowWidget::updateDetectionResult(const DetectionResult& result)
{
    if (!result.valid) {
        m_resultLabel->setText("检测结果: 无效");
        m_resultLabel->setStyleSheet(
            "color: rgb(255, 100, 100);"
            "padding: 15px;"
            "background-color: rgb(60, 45, 45);"
            "border: 2px solid rgb(255, 100, 100);"
            "border-radius: 8px;"
            "font-size: 14pt;"
        );
        return;
    }

    QString resultText = QString(
        "检测结果:\n"
        "X: %1 mm    Y: %2 mm    Z: %3 mm\n"
        "Roll: %4°    Pitch: %5°    Yaw: %6°"
    ).arg(result.x, 0, 'f', 2)
     .arg(result.y, 0, 'f', 2)
     .arg(result.z, 0, 'f', 2)
     .arg(result.roll, 0, 'f', 2)
     .arg(result.pitch, 0, 'f', 2)
     .arg(result.yaw, 0, 'f', 2);

    m_resultLabel->setText(resultText);
    m_resultLabel->setStyleSheet(
        "color: rgb(100, 200, 100);"
        "padding: 15px;"
        "background-color: rgb(45, 55, 50);"
        "border: 2px solid rgb(100, 200, 100);"
        "border-radius: 8px;"
        "font-size: 14pt;"
    );
}

void WorkflowWidget::reset()
{
    // 重置所有步骤为默认样式
    for (int i = 0; i < 8; ++i) {
        m_stepLabels[i]->setStyleSheet(
            "color: rgb(150, 150, 150);"
            "padding: 6px 8px;"
            "border-left: 4px solid rgb(60, 60, 60);"
            "background-color: rgb(45, 46, 50);"
            "border-radius: 3px;"
        );
    }

    // 重置结果显示
    m_resultLabel->setText("检测结果: 等待检测...");
    m_resultLabel->setStyleSheet(
        "color: rgb(100, 150, 255);"
        "padding: 8px 10px;"
        "background-color: rgb(45, 46, 50);"
        "border: 2px solid rgb(60, 120, 180);"
        "border-radius: 6px;"
        "font-size: 13pt;"
    );
}