#include <vtkAxesActor.h>
#include <vtkOrientationMarkerWidget.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkTextActor.h>
#include <vtkTextProperty.h>
#include <vtkCoordinate.h>
#include <vtkRendererCollection.h>

#include "CloudShow.h"

#include <pcl/io/pcd_io.h>

#include <fstream>
#include <iomanip>
#include <iostream>
#include <cmath>

// ============================================================
// 工厂方法
// ============================================================
std::unique_ptr<ICloudShow> ICloudShow::Create()
{
    return std::make_unique<CCloudShow>();
}

// ============================================================
// 构造 / 析构
// ============================================================
CCloudShow::CCloudShow()
{
}

CCloudShow::~CCloudShow()
{
    Stop();
}

// ============================================================
// Show — 单次显示，阻塞直到关闭窗口
// ============================================================
int CCloudShow::Show(PointCloudPtr cloud, const std::string& windowName)
{
    if (!cloud || cloud->points.empty())
    {
        return -1;
    }

    pcl::visualization::PCLVisualizer viewer(windowName);
    viewer.setSize(670, 450);
    viewer.setBackgroundColor(0.05, 0.05, 0.05);
    viewer.addPointCloud<pcl::PointXYZI>(cloud, windowName);
    viewer.setPointCloudRenderingProperties(
        pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, windowName);
    viewer.initCameraParameters();
    viewer.setCameraPosition(-10000, 0, 8000, 0, 0, 0, 0, 0, 1);

    // 右下角坐标轴
    vtkAxesActor* axes = vtkAxesActor::New();
    vtkOrientationMarkerWidget* widget = vtkOrientationMarkerWidget::New();
    widget->SetOrientationMarker(axes);
    vtkRenderWindowInteractor* iren = viewer.getRenderWindow()->GetInteractor();
    if (!iren) { iren = vtkRenderWindowInteractor::New(); viewer.getRenderWindow()->SetInteractor(iren); iren->Delete(); }
    widget->SetInteractor(iren);
    widget->SetViewport(0.85, 0.0, 1.0, 0.15);
    widget->SetEnabled(1);
    widget->InteractiveOff();

    // 右侧保存按钮（viewport 归一化坐标，始终在右侧中部）
    vtkTextActor* textActor = vtkTextActor::New();
    textActor->SetInput("SAVE");
    textActor->GetTextProperty()->SetColor(0.2, 0.8, 0.2);
    textActor->GetTextProperty()->SetFontSize(20);
    textActor->GetPositionCoordinate()->SetCoordinateSystemToNormalizedViewport();
    textActor->SetPosition(0.88, 0.48);
    vtkRenderer* renderer = viewer.getRendererCollection()->GetFirstRenderer();
    if (renderer) renderer->AddActor2D(textActor);
    textActor->Delete();

    viewer.registerMouseCallback([&viewer, this](const pcl::visualization::MouseEvent& event) {
        if (event.getType() != pcl::visualization::MouseEvent::MouseButtonPress) return;
        if (event.getButton() != pcl::visualization::MouseEvent::LeftButton) return;
        int* sz = viewer.getRenderWindow()->GetSize();
        if (sz[0] <= 0 || sz[1] <= 0) return;
        float rx = (float)event.getX() / sz[0];
        float ry = (float)event.getY() / sz[1];
        if (rx >= 0.83f && rx <= 0.94f && ry >= 0.43f && ry <= 0.53f)
            m_bSaveRequested = true;
    });

    viewer.spin();

    widget->Delete();
    axes->Delete();

    return 0;
}

// ============================================================
// Start — 主线程创建 viewer，注册键盘回调
// ============================================================
int CCloudShow::Start(const std::string& windowName)
{
    if (m_bRunning)
    {
        return 0;
    }

    m_windowName = windowName;
    m_bFirstCloud = true;
    m_bQuitRequested = false;
    m_bSaveRequested = false;

    try
    {
        m_viewer = std::make_shared<pcl::visualization::PCLVisualizer>(windowName);
        m_viewer->setBackgroundColor(0.05, 0.05, 0.05);
        m_viewer->setSize(670, 450);
        m_viewer->initCameraParameters();
        m_viewer->setCameraPosition(-10000, 0, 8000, 0, 0, 0, 0, 0, 1);
        m_viewer->registerKeyboardCallback(&CCloudShow::keyboardCallback, this);

        // 右下角坐标轴
        vtkAxesActor* axes = vtkAxesActor::New();
        m_axesWidget = vtkOrientationMarkerWidget::New();
        m_axesWidget->SetOrientationMarker(axes);
        vtkRenderWindowInteractor* iren = m_viewer->getRenderWindow()->GetInteractor();
        if (!iren) { iren = vtkRenderWindowInteractor::New(); m_viewer->getRenderWindow()->SetInteractor(iren); iren->Delete(); }
        m_axesWidget->SetInteractor(iren);
        m_axesWidget->SetViewport(0.85, 0.0, 1.0, 0.15);
        m_axesWidget->SetEnabled(1);
        m_axesWidget->InteractiveOff();
        axes->Delete();

        // 右侧保存按钮（viewport 归一化坐标，始终在右侧中部）
        vtkTextActor* textActor = vtkTextActor::New();
        textActor->SetInput("SAVE");
        textActor->GetTextProperty()->SetColor(0.2, 0.8, 0.2);
        textActor->GetTextProperty()->SetFontSize(20);
        textActor->GetPositionCoordinate()->SetCoordinateSystemToNormalizedViewport();
        textActor->SetPosition(0.88, 0.48);
        vtkRenderer* renderer = m_viewer->getRendererCollection()->GetFirstRenderer();
        if (renderer) renderer->AddActor2D(textActor);
        textActor->Delete();

        m_viewer->registerMouseCallback([this](const pcl::visualization::MouseEvent& event) {
            if (event.getType() != pcl::visualization::MouseEvent::MouseButtonPress) return;
            if (event.getButton() != pcl::visualization::MouseEvent::LeftButton) return;
            int* sz = m_viewer->getRenderWindow()->GetSize();
            if (sz[0] <= 0 || sz[1] <= 0) return;
            float rx = (float)event.getX() / sz[0];
            float ry = (float)event.getY() / sz[1];
            if (rx >= 0.83f && rx <= 0.94f && ry >= 0.43f && ry <= 0.53f)
                m_bSaveRequested = true;
        });
    }
    catch (const std::exception& e)
    {
        std::cerr << "[CloudShow] 创建 PCL 窗口失败: " << e.what() << std::endl;
        return -1;
    }
    catch (...)
    {
        std::cerr << "[CloudShow] 创建 PCL 窗口失败: 未知异常" << std::endl;
        return -1;
    }

    m_bRunning = true;
    return 0;
}

// ============================================================
// UpdateCloud — 更新当前点云（线程安全，可跨线程调用）
// ============================================================
int CCloudShow::UpdateCloud(PointCloudPtr cloud)
{
    if (!m_bRunning || !cloud)
    {
        return -1;
    }

    {
        std::lock_guard<std::mutex> lock(m_cloudMutex);
        m_currentCloud = cloud;
        m_bUpdated = true;
    }

    return 0;
}

// ============================================================
// Stop — 关闭窗口
// ============================================================
int CCloudShow::Stop()
{
    if (!m_bRunning)
    {
        return 0;
    }

    m_bRunning = false;

    if (m_axesWidget)
    {
        m_axesWidget->Delete();
        m_axesWidget = nullptr;
    }

    if (m_viewer)
    {
        m_viewer->close();
        m_viewer.reset();
    }

    return 0;
}

bool CCloudShow::IsRunning() const
{
    return m_bRunning;
}

bool CCloudShow::IsQuitRequested() const
{
    return m_bQuitRequested;
}

bool CCloudShow::IsSaveRequested() const
{
    return m_bSaveRequested;
}

void CCloudShow::ClearSaveRequest()
{
    m_bSaveRequested = false;
}

// ============================================================
// keyboardCallback — PCL 键盘事件 → 原子标志
// ============================================================
void CCloudShow::keyboardCallback(const pcl::visualization::KeyboardEvent& event, void* cookie)
{
    if (!event.keyDown()) return;

    auto* self = static_cast<CCloudShow*>(cookie);
    if (!self) return;

    std::string key = event.getKeySym();
    if (key == "q" || key == "Q")
    {
        self->m_bQuitRequested = true;
    }
    else if (key == "s" || key == "S")
    {
        self->m_bSaveRequested = true;
    }
}

// ============================================================
// SpinOnce — 消费点云 + 驱动一次渲染（必须与 Start 同线程）
// ============================================================
int CCloudShow::SpinOnce(int ms)
{
    if (!m_bRunning || !m_viewer)
    {
        return -1;
    }

    if (m_viewer->wasStopped())
    {
        m_bQuitRequested = true;
        Stop();
        return -1;
    }

    PointCloudPtr cloud;
    {
        std::lock_guard<std::mutex> lock(m_cloudMutex);
        if (m_bUpdated)
        {
            cloud = m_currentCloud;
            m_bUpdated = false;
        }
    }

    if (cloud && !cloud->points.empty())
    {
        if (m_bFirstCloud)
        {
            m_viewer->addPointCloud<pcl::PointXYZI>(cloud, m_windowName);
            m_viewer->setPointCloudRenderingProperties(
                pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2.0, m_windowName);
            m_viewer->resetCamera();
            m_viewer->setCameraPosition(-10000, 0, 8000, 0, 0, 0, 0, 0, 1);
            m_bFirstCloud = false;
        }
        else
        {
            m_viewer->updatePointCloud<pcl::PointXYZI>(cloud, m_windowName);
        }
    }

    m_viewer->spinOnce(ms);
    return 0;
}

// ============================================================
// SaveToTxt — 保存为 LaserDataLoader::DebugSaveLaser 兼容 TXT 格式
// 格式: LineNum/DataType:0/ScanSpeed:0/PointAdjust:1/MaxTimeStamp:0_0
//       Line_<line>_0_<count>
//       { x, y, z } - { 0, 0 } - { 0, 0 }
// ============================================================
int CCloudShow::SaveToTxt(const std::string& fileName, PointCloudPtr cloud)
{
    if (!cloud || cloud->points.empty())
    {
        return -1;
    }

    std::ofstream ofs(fileName);
    if (!ofs.is_open())
    {
        return -2;
    }

    const auto& pts = cloud->points;
    const size_t N = pts.size();
    const size_t height = (cloud->height > 0) ? cloud->height : 1;
    const size_t width  = (cloud->width  > 0) ? cloud->width  : N;

    ofs << "LineNum:" << height << std::endl;
    ofs << "DataType: 0" << std::endl;
    ofs << "ScanSpeed:0" << std::endl;
    ofs << "PointAdjust: 1" << std::endl;
    ofs << "MaxTimeStamp:0_0" << std::endl;

    for (size_t line = 0; line < height; ++line)
    {
        size_t start = line * width;
        size_t end = (line + 1 == height) ? N : (start + width);
        size_t count = end - start;

        ofs << "Line_" << line << "_0_" << count << std::endl;

        for (size_t i = start; i < end; ++i)
        {
            float x = pts[i].x;
            float y = pts[i].y;
            float z = pts[i].z;
            ofs << "{ "
                << std::fixed << std::setprecision(3) << (std::isnan(x) ? 0.0f : x) << ", "
                << std::fixed << std::setprecision(3) << (std::isnan(y) ? 0.0f : y) << ", "
                << std::fixed << std::setprecision(3) << (std::isnan(z) ? 0.0f : z)
                << " } - { 0, 0 } - { 0, 0 }" << std::endl;
        }
    }

    ofs.close();
    return 0;
}