#include "DetectPresenter.h"
#include "workpieceHolePositioning_Export.h"
#include "SG_baseAlgo_Export.h"
#include "AlgoParamConverter.h"
#include "IHandEyeCalib.h"
#include <fstream>
#include <memory>

DetectPresenter::DetectPresenter(/* args */)
{
    LOG_DEBUG("DetectPresenter Init algo ver: %s\n", wd_workpieceHolePositioningVersion());
}

DetectPresenter::~DetectPresenter()
{
}

QString DetectPresenter::GetAlgoVersion()
{
    const char* ver = wd_workpieceHolePositioningVersion();
    return ver ? QString::fromUtf8(ver) : QString();
}


int DetectPresenter::DetectWorkpieceHole(
    int cameraIndex,
    std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
    const VrAlgorithmParams& algorithmParams,
    const VrDebugParam& debugParam,
    LaserDataLoader& dataLoader,
    const double clibMatrix[16],
    int eulerOrder,
    int dirVectorInvert,
    WorkpieceHoleDetectionResult& detectionResult)
{
    if (laserLines.empty()) {
        LOG_WARNING("No laser lines data available\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    // 获取当前相机的校准参数
    VrCameraPlaneCalibParam cameraCalibParamValue;
    const VrCameraPlaneCalibParam* cameraCalibParam = nullptr;
    if (algorithmParams.planeCalibParam.GetCameraCalibParam(cameraIndex, cameraCalibParamValue)) {
        cameraCalibParam = &cameraCalibParamValue;
    }

    // 保存debug数据
    std::string timeStamp = CVrDateUtils::GetNowTime();
    if(debugParam.enableDebug && debugParam.savePointCloud){
        LOG_INFO("[Algo Thread] Debug mode is enabled, saving point cloud data\n");

        // 获取当前时间戳，格式为YYYYMMDDHHMMSS
        std::string fileName = debugParam.debugOutputPath + "/Laserline_" + std::to_string(cameraIndex) + "_" + timeStamp + ".txt";

        // 直接使用统一格式保存数据
        dataLoader.SaveLaserScanData(fileName, laserLines, laserLines.size(), 0.0, 0, 0);
    }

    int nRet = SUCCESS;

    // 转换为算法需要的XYZ格式
    std::vector<std::vector<SVzNL3DPosition>> xyzData;
    int convertResult = dataLoader.ConvertToSVzNL3DPosition(laserLines, xyzData);
    if (convertResult != SUCCESS || xyzData.empty()) {
        LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    // 工件孔参数
    WD_workpieceHoleParam workpiecePara = AlgoParamConverter::ToAlgoParam(algorithmParams.workpieceHoleParam);

    // 线段分割参数
    SSG_lineSegParam lineSegPara = AlgoParamConverter::ToAlgoParam(algorithmParams.lineSegParam);

    // 滤波参数
    SSG_outlierFilterParam filterParam = AlgoParamConverter::ToAlgoParam(algorithmParams.filterParam);

    // 树生长参数
    SSG_treeGrowParam growParam = AlgoParamConverter::ToAlgoParam(algorithmParams.growParam);

    // 准备平面校准参数
    SSG_planeCalibPara groundCalibPara = AlgoParamConverter::ToAlgoPlaneCalibParam(cameraCalibParam);

    if(debugParam.enableDebug && debugParam.printDetailLog)
    {
        AlgoParamConverter::LogAlgoParams("[Algo Thread]",
            workpiecePara, lineSegPara, filterParam, growParam, groundCalibPara, clibMatrix);
    }
#if 0
    // 数据预处理：调平和去除地面（使用当前相机的调平参数）
    if(cameraCalibParam){
        LOG_DEBUG("Processing data with plane calibration\n"); 
        for(size_t i = 0; i < xyzData.size(); i++){
            wd_lineDataR(xyzData[i], cameraCalibParam->planeCalib, -1);
        }
    }
#endif

    int errCode = 0;
    CVrTimeUtils oTimeUtils;

    LOG_DEBUG("before wd_workpieceHolePositioning \n");

    // 调用工件孔定位算法
    std::vector<WD_workpieceInfo> workpiecePositioning;
    wd_workpieceHolePositioning(
        xyzData,
        workpiecePara,
        lineSegPara,
        filterParam,
        growParam,
        groundCalibPara,
        workpiecePositioning,
        &errCode
    );

    LOG_DEBUG("after wd_workpieceHolePositioning \n");

    LOG_INFO("wd_workpieceHolePositioning: found %zu workpieces, err=%d runtime=%.3fms\n", workpiecePositioning.size(), errCode, oTimeUtils.GetElapsedTimeInMilliSec());
    ERR_CODE_RETURN(errCode);

    // 创建手眼标定实例
    std::unique_ptr<IHandEyeCalib, decltype(&DestroyHandEyeCalibInstance)> handEyeCalib(
                                                CreateHandEyeCalibInstance(),
                                                DestroyHandEyeCalibInstance);
    if (!handEyeCalib) {
        LOG_ERROR("Failed to create HandEyeCalib instance\n");
        return ERR_CODE(DEV_NOT_FIND);
    }

    const HECCalibResult calibResult = HECCalibResult::fromHomogeneousArray(clibMatrix);

    // 处理每个工件的检测结果
    for (size_t i = 0; i < workpiecePositioning.size(); i++) {
        const WD_workpieceInfo& workpiece = workpiecePositioning[i];

        // 保存工件类型（仅保存第一个工件的类型）
        if (i == 0) {
            detectionResult.workpieceType = workpiece.workpieceType;
        }

        // 六轴转换：位置+姿态（转换到机械臂坐标系）
        HECPoint3D eyeCenter(workpiece.center.x, workpiece.center.y, workpiece.center.z);

        // 构建方向向量（眼坐标系）
        std::vector<HECPoint3D> dirVectors_eye(3);
        dirVectors_eye[0] = HECPoint3D(workpiece.x_dir.x, workpiece.x_dir.y, workpiece.x_dir.z);
        dirVectors_eye[1] = HECPoint3D(workpiece.y_dir.x, workpiece.y_dir.y, workpiece.y_dir.z);
        dirVectors_eye[2] = HECPoint3D(workpiece.z_dir.x, workpiece.z_dir.y, workpiece.z_dir.z);

        // 根据配置决定方向向量反向
        switch (dirVectorInvert) {
            case DIR_INVERT_NONE:
                break;
            case DIR_INVERT_XY:
                dirVectors_eye[0] = dirVectors_eye[0] * (-1.0);
                dirVectors_eye[1] = dirVectors_eye[1] * (-1.0);
                break;
            case DIR_INVERT_XZ:
                dirVectors_eye[0] = dirVectors_eye[0] * (-1.0);
                dirVectors_eye[2] = dirVectors_eye[2] * (-1.0);
                break;
            case DIR_INVERT_YZ:
            default:
                dirVectors_eye[1] = dirVectors_eye[1] * (-1.0);
                dirVectors_eye[2] = dirVectors_eye[2] * (-1.0);
                break;
        }

        // 1. 位置转换：R * P_eye + T
        HECPoint3D ptRobot;
        handEyeCalib->TransformPoint(calibResult.R, calibResult.T, eyeCenter, ptRobot);

        // 2. 方向向量旋转变换（仅旋转，不平移）
        std::vector<HECPoint3D> dirVectors_robot(3);
        for (int j = 0; j < 3; j++) {
            handEyeCalib->RotatePoint(calibResult.R, dirVectors_eye[j], dirVectors_robot[j]);
        }

        // 3. 构建旋转矩阵（列向量形式）
        double R_pose[3][3];
        R_pose[0][0] = dirVectors_robot[0].x;
        R_pose[0][1] = dirVectors_robot[1].x;
        R_pose[0][2] = dirVectors_robot[2].x;
        R_pose[1][0] = dirVectors_robot[0].y;
        R_pose[1][1] = dirVectors_robot[1].y;
        R_pose[1][2] = dirVectors_robot[2].y;
        R_pose[2][0] = dirVectors_robot[0].z;
        R_pose[2][1] = dirVectors_robot[1].z;
        R_pose[2][2] = dirVectors_robot[2].z;

        // 4. 使用算法库的 rotationMatrixToEulerZYX 转换为欧拉角（返回角度）
        SSG_EulerAngles robotRpy = rotationMatrixToEulerZYX(R_pose);

        // 将机器人坐标系下的位姿添加到positions列表
        HolePosition centerRobotPos;
        centerRobotPos.x = ptRobot.x;
        centerRobotPos.y = ptRobot.y;
        centerRobotPos.z = ptRobot.z;
        centerRobotPos.roll  = robotRpy.roll;
        centerRobotPos.pitch = robotRpy.pitch;
        centerRobotPos.yaw   = robotRpy.yaw;

        detectionResult.positions.push_back(centerRobotPos);

        if(debugParam.enableDebug && debugParam.printDetailLog){
            LOG_INFO("[Algo Thread] Direction vectors (eye): X=(%.3f,%.3f,%.3f), Y=(%.3f,%.3f,%.3f), Z=(%.3f,%.3f,%.3f)\n",
                    workpiece.x_dir.x, workpiece.x_dir.y, workpiece.x_dir.z,
                    workpiece.y_dir.x, workpiece.y_dir.y, workpiece.y_dir.z,
                    workpiece.z_dir.x, workpiece.z_dir.y, workpiece.z_dir.z);
            LOG_INFO("[Algo Thread] Direction vectors (robot): X=(%.3f,%.3f,%.3f), Y=(%.3f,%.3f,%.3f), Z=(%.3f,%.3f,%.3f)\n",
                    dirVectors_robot[0].x, dirVectors_robot[0].y, dirVectors_robot[0].z,
                    dirVectors_robot[1].x, dirVectors_robot[1].y, dirVectors_robot[1].z,
                    dirVectors_robot[2].x, dirVectors_robot[2].y, dirVectors_robot[2].z);
            LOG_INFO("[Algo Thread] Center Eye   Coords: X=%.3f, Y=%.3f, Z=%.3f\n",
                    workpiece.center.x, workpiece.center.y, workpiece.center.z);
            LOG_INFO("[Algo Thread] Center Robot Coords: X=%.3f, Y=%.3f, Z=%.3f, R=%.4f, P=%.4f, Y=%.4f\n",
                    ptRobot.x, ptRobot.y, ptRobot.z,
                    centerRobotPos.roll, centerRobotPos.pitch, centerRobotPos.yaw);
        }
    }

    // 使用 PointCloudCanvas 生成点云图像（灰色底图 + 红色孔位标记 + 中心点编号）
    {
        PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
        for (size_t i = 0; i < workpiecePositioning.size(); i++) {
            const WD_workpieceInfo& workpiece = workpiecePositioning[i];
            // 红色小圆点标记每个孔
            for (size_t j = 0; j < workpiece.holes.size(); j++) {
                canvas.drawPoint(workpiece.holes[j].x, workpiece.holes[j].y, QColor(255, 0, 0), 4);
            }
            // 中心点标记 + 白色编号
            canvas.drawPoint(workpiece.center.x, workpiece.center.y, QColor(255, 0, 0), 4);
            canvas.drawText(workpiece.center.x, workpiece.center.y,
                            QString("%1").arg(i + 1), Qt::white, 14);
        }
        detectionResult.image = canvas.image();
    }

    if(debugParam.enableDebug && debugParam.saveDebugImage){
        // 获取当前时间戳，格式为YYYYMMDDHHMMSS
        std::string fileName = debugParam.debugOutputPath + "/Image_" + std::to_string(cameraIndex) + "_" + timeStamp + ".png";
        LOG_INFO("[Algo Thread] Debug image saved image : %s\n", fileName.c_str());

        // 保存检测结果图片
        if (!detectionResult.image.isNull()) {
            QString qFileName = QString::fromStdString(fileName);
            detectionResult.image.save(qFileName);
        } else {
            LOG_WARNING("[Algo Thread] No valid image to save for debug\n");
        }
    }

    return nRet;
}