#include "DetectPresenter.h"
#include "AlgorithmParamConverter.h"
#include "PoseAxesBuilder.h"
#include "DiscHolePoseTCPProtocol.h"
#include "workpieceHolePositioning_Export.h"
#include <QColor>

namespace {

QImage BuildDiscHolePointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& xyzData,
                                     const WD_HolePositionInfo& holeInfo,
                                     bool hasResult)
{
    PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
    if (!canvas.isValid()) {
        return QImage();
    }

    if (hasResult) {
        constexpr double kNormalLineLength = 60.0;
        const QColor centerColor(0, 255, 0);
        const QColor normalColor(0, 180, 255);   // 蓝色：法向

        // 绘制孔中心点
        canvas.drawPoint(holeInfo.center.x, holeInfo.center.y, centerColor, 10);

        // 绘制法向量方向线
        const double normalEndX = holeInfo.center.x + kNormalLineLength * holeInfo.normDir.x;
        const double normalEndY = holeInfo.center.y + kNormalLineLength * holeInfo.normDir.y;
        canvas.drawLine(holeInfo.center.x, holeInfo.center.y, normalEndX, normalEndY, normalColor, 2);
        canvas.drawText(normalEndX, normalEndY, QStringLiteral("Z"), normalColor, 14, 6, -6);
    }

    return canvas.image().copy();
}

QImage BuildDiscRackPointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& xyzData,
                                     const SSG_pointPose& poseInfo,
                                     bool hasResult)
{
    PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
    if (!canvas.isValid()) {
        return QImage();
    }

    if (hasResult) {
        constexpr double kAxisLineLength = 60.0;
        const QColor centerColor(0, 255, 0);
        const QColor xAxisColor(255, 0, 0);      // 红色：X 轴
        const QColor yAxisColor(0, 255, 0);      // 绿色：Y 轴
        const QColor zAxisColor(0, 180, 255);    // 蓝色：Z 轴

        // 绘制架子中心点
        canvas.drawPoint(poseInfo.point.x, poseInfo.point.y, centerColor, 10);

        // 绘制 X 轴方向线
        const double xEndX = poseInfo.point.x + kAxisLineLength * poseInfo.pose_x.x;
        const double xEndY = poseInfo.point.y + kAxisLineLength * poseInfo.pose_x.y;
        canvas.drawLine(poseInfo.point.x, poseInfo.point.y, xEndX, xEndY, xAxisColor, 2);
        canvas.drawText(xEndX, xEndY, QStringLiteral("X"), xAxisColor, 14, 6, -6);

        // 绘制 Y 轴方向线
        const double yEndX = poseInfo.point.x + kAxisLineLength * poseInfo.pose_y.x;
        const double yEndY = poseInfo.point.y + kAxisLineLength * poseInfo.pose_y.y;
        canvas.drawLine(poseInfo.point.x, poseInfo.point.y, yEndX, yEndY, yAxisColor, 2);
        canvas.drawText(yEndX, yEndY, QStringLiteral("Y"), yAxisColor, 14, 6, -6);

        // 绘制 Z 轴方向线
        const double zEndX = poseInfo.point.x + kAxisLineLength * poseInfo.pose_z.x;
        const double zEndY = poseInfo.point.y + kAxisLineLength * poseInfo.pose_z.y;
        canvas.drawLine(poseInfo.point.x, poseInfo.point.y, zEndX, zEndY, zAxisColor, 2);
        canvas.drawText(zEndX, zEndY, QStringLiteral("Z"), zAxisColor, 14, 6, -6);
    }

    return canvas.image().copy();
}

void SaveDebugImageIfNeeded(int cameraIndex,
                            const VrDebugParam& debugParam,
                            const QImage& image,
                            const QString& prefix)
{
    if (!debugParam.enableDebug || !debugParam.saveDebugImage || image.isNull()) {
        return;
    }

    const std::string timeStamp = CVrDateUtils::GetNowTime();
    const std::string fileName = debugParam.debugOutputPath + "/" +
                                 prefix.toStdString() + "_" + std::to_string(cameraIndex) + "_" + timeStamp + ".png";
    LOG_INFO("[Algo Thread] Debug image saved image : %s\n", fileName.c_str());
    image.save(QString::fromStdString(fileName));
}

}

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

DetectPresenter::~DetectPresenter()
{
}

QString DetectPresenter::GetAlgoVersion()
{
    return QString(wd_workpieceHolePositioningVersion());
}

int DetectPresenter::DetectDiscHole(
    int cameraIndex,
    std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
    const VrAlgorithmParams& algorithmParams,
    const VrDebugParam& debugParam,
    LaserDataLoader& dataLoader,
    const double clibMatrix[16],
    const RobotPose6D& robotPose,
    const HandEyeExtrinsic& extrinsic,
    int poseOutputOrder,
    DetectionResult& detectionResult)
{
    if (laserLines.empty()) {
        LOG_WARNING("No laser lines data available for disc hole detection\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    std::vector<std::vector<SVzNL3DPosition>> xyzData;
    int convertResult = dataLoader.ConvertToSVzNL3DPosition(laserLines, xyzData);
    if (convertResult != SUCCESS || xyzData.empty()) {
        LOG_WARNING("Failed to convert disc hole data to XYZ format or no XYZ data available\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    // 砂轮盘孔定位算法参数（仅使用 cornerParam）
    const DiscHoleAlgorithmParams algoParams = AlgorithmParamConverter::ToDiscHoleAlgorithmParams(algorithmParams);
    const SSG_cornerParam& cornerParam = algoParams.cornerParam;

    if (debugParam.enableDebug && debugParam.printDetailLog) {
        LOG_INFO("[Algo Thread] DiscHole clibMatrix: \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[%.3f, %.3f, %.3f, %.3f]\n",
            clibMatrix[0], clibMatrix[1], clibMatrix[2], clibMatrix[3],
            clibMatrix[4], clibMatrix[5], clibMatrix[6], clibMatrix[7],
            clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
            clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);

        LOG_INFO("[Algo Thread] DiscHole Corner: cornerTh=%.1f, scale=%.1f, minEndingGap=%.1f, minEndingGap_z=%.1f, jumpCornerTh_1=%.1f, jumpCornerTh_2=%.1f\n",
                 cornerParam.cornerTh, cornerParam.scale, cornerParam.minEndingGap,
                 cornerParam.minEndingGap_z, cornerParam.jumpCornerTh_1, cornerParam.jumpCornerTh_2);
        LOG_INFO("[Algo Thread] DiscHole Pose Config: eulerOrder=%d, poseOutputOrder=%d, rotX=%.3f, rotY=%.3f, rotZ=%.3f, outRotX=%.3f, outRotY=%.3f, outRotZ=%.3f\n",
                 extrinsic.eulerOrder, poseOutputOrder, extrinsic.rotX, extrinsic.rotY, extrinsic.rotZ,
                 extrinsic.outRotX, extrinsic.outRotY, extrinsic.outRotZ);
    }

    int errCode = 0;
    CVrTimeUtils oTimeUtils;

    LOG_DEBUG("before sx_getDiscHolePose\n");

    WD_HolePositionInfo holeInfo = sx_getDiscHolePose(xyzData, cornerParam, &errCode);

    LOG_DEBUG("after sx_getDiscHolePose\n");
    LOG_INFO("sx_getDiscHolePose: err=%d runtime=%.3fms\n", errCode, oTimeUtils.GetElapsedTimeInMilliSec());
    ERR_CODE_RETURN(errCode);

    detectionResult.success = true;
    detectionResult.errorCode = 0;
    detectionResult.message = QStringLiteral("砂轮盘孔检测成功");

    // 使用 NormalDirToPoseAngles：从 WD_HolePositionInfo 的 normDir+center 计算完整姿态
    // （内部封装了手眼变换流水线：法兰姿态构造 -> eye-in-hand 变换 -> rot/outRot 补偿 -> 欧拉提取）
    double outX, outY, outZ, outRoll, outPitch, outYaw;
    if (!PoseAxesBuilder::NormalDirToPoseAngles(
        holeInfo.center,
        holeInfo.normDir,
        clibMatrix,
        extrinsic,
        robotPose,
        outX, outY, outZ,
        outRoll, outPitch, outYaw,
        poseOutputOrder)) {
        LOG_WARNING("[Algo Thread] DiscHole pose transform failed: invalid normal or transform axes\n");
        detectionResult.success = false;
        detectionResult.errorCode = ERR_CODE(DEV_DATA_INVALID);
        detectionResult.message = QStringLiteral("砂轮盘孔姿态计算失败");
        return detectionResult.errorCode;
    }

    DiscHolePosition pos;
    pos.x = outX;
    pos.y = outY;
    pos.z = outZ;
    pos.roll = outRoll;
    pos.pitch = outPitch;
    pos.yaw = outYaw;
    detectionResult.positions.push_back(pos);

    DiscHoleInfo info;
    info.centerX = holeInfo.center.x;
    info.centerY = holeInfo.center.y;
    info.centerZ = holeInfo.center.z;
    info.normDirX = holeInfo.normDir.x;
    info.normDirY = holeInfo.normDir.y;
    info.normDirZ = holeInfo.normDir.z;
    detectionResult.discHoleInfoList.push_back(info);

    if (debugParam.enableDebug && debugParam.printDetailLog) {
        LOG_INFO("[Algo Thread] DiscHole Eye Center: X=%.2f, Y=%.2f, Z=%.2f\n",
                 holeInfo.center.x, holeInfo.center.y, holeInfo.center.z);
        LOG_INFO("[Algo Thread] DiscHole Eye NormDir: X=%.3f, Y=%.3f, Z=%.3f\n",
                 holeInfo.normDir.x, holeInfo.normDir.y, holeInfo.normDir.z);
        LOG_INFO("[Algo Thread] DiscHole Robot Coords: X=%.2f, Y=%.2f, Z=%.2f, RPY=%.2f/%.2f/%.2f\n",
                 pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
    }

    detectionResult.image = BuildDiscHolePointCloudImage(xyzData, holeInfo, true);

    SaveDebugImageIfNeeded(cameraIndex, debugParam, detectionResult.image, QStringLiteral("DiscHole_Image"));
    return SUCCESS;
}

int DetectPresenter::DetectDiscRack(
    int cameraIndex,
    std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
    const VrAlgorithmParams& algorithmParams,
    const VrDebugParam& debugParam,
    LaserDataLoader& dataLoader,
    const double clibMatrix[16],
    const RobotPose6D& robotPose,
    const HandEyeExtrinsic& extrinsic,
    int poseOutputOrder,
    DetectionResult& detectionResult)
{
    if (laserLines.empty()) {
        LOG_WARNING("No laser lines data available for disc rack detection\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    std::vector<std::vector<SVzNL3DPosition>> xyzData;
    int convertResult = dataLoader.ConvertToSVzNL3DPosition(laserLines, xyzData);
    if (convertResult != SUCCESS || xyzData.empty()) {
        LOG_WARNING("Failed to convert disc rack data to XYZ format or no XYZ data available\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    // 砂轮盘架子定位算法参数（仅使用 cornerParam）
    const DiscHoleAlgorithmParams algoParams = AlgorithmParamConverter::ToDiscHoleAlgorithmParams(algorithmParams);
    const SSG_cornerParam& cornerParam = algoParams.cornerParam;

    if (debugParam.enableDebug && debugParam.printDetailLog) {
        LOG_INFO("[Algo Thread] DiscRack clibMatrix: \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[%.3f, %.3f, %.3f, %.3f]\n",
            clibMatrix[0], clibMatrix[1], clibMatrix[2], clibMatrix[3],
            clibMatrix[4], clibMatrix[5], clibMatrix[6], clibMatrix[7],
            clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
            clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);

        LOG_INFO("[Algo Thread] DiscRack Corner: cornerTh=%.1f, scale=%.1f, minEndingGap=%.1f, minEndingGap_z=%.1f, jumpCornerTh_1=%.1f, jumpCornerTh_2=%.1f\n",
                 cornerParam.cornerTh, cornerParam.scale, cornerParam.minEndingGap,
                 cornerParam.minEndingGap_z, cornerParam.jumpCornerTh_1, cornerParam.jumpCornerTh_2);
        LOG_INFO("[Algo Thread] DiscRack Pose Config: eulerOrder=%d, poseOutputOrder=%d, rotX=%.3f, rotY=%.3f, rotZ=%.3f, outRotX=%.3f, outRotY=%.3f, outRotZ=%.3f\n",
                 extrinsic.eulerOrder, poseOutputOrder, extrinsic.rotX, extrinsic.rotY, extrinsic.rotZ,
                 extrinsic.outRotX, extrinsic.outRotY, extrinsic.outRotZ);
    }

    int errCode = 0;
    CVrTimeUtils oTimeUtils;

    LOG_DEBUG("before sx_getDiscRackCenterPosition\n");

    SSG_pointPose pointPose = sx_getDiscRackCenterPosition(xyzData, cornerParam, &errCode);

    LOG_DEBUG("after sx_getDiscRackCenterPosition\n");
    LOG_INFO("sx_getDiscRackCenterPosition: err=%d runtime=%.3fms\n", errCode, oTimeUtils.GetElapsedTimeInMilliSec());
    ERR_CODE_RETURN(errCode);

    detectionResult.success = true;
    detectionResult.errorCode = 0;
    detectionResult.message = QStringLiteral("砂轮盘架子检测成功");

    // 使用 PointPoseToEuler：从 SSG_pointPose 的三轴向量 (pose_x/y/z) 构造旋转矩阵并提取欧拉
    // （内部封装了手眼变换流水线：法兰姿态构造 -> eye-in-hand 变换 -> rot/outRot 补偿 -> 欧拉提取）
    double outX, outY, outZ, outRoll, outPitch, outYaw;
    if (!PoseAxesBuilder::PointPoseToEuler(
        pointPose,
        clibMatrix,
        extrinsic,
        robotPose,
        outX, outY, outZ,
        outRoll, outPitch, outYaw,
        poseOutputOrder)) {
        LOG_WARNING("[Algo Thread] DiscRack pose transform failed: invalid pose axes or transform axes\n");
        detectionResult.success = false;
        detectionResult.errorCode = ERR_CODE(DEV_DATA_INVALID);
        detectionResult.message = QStringLiteral("砂轮盘架子姿态计算失败");
        return detectionResult.errorCode;
    }

    DiscHolePosition pos;
    pos.x = outX;
    pos.y = outY;
    pos.z = outZ;
    pos.roll = outRoll;
    pos.pitch = outPitch;
    pos.yaw = outYaw;
    detectionResult.positions.push_back(pos);

    DiscRackInfo info;
    info.centerX = pointPose.point.x;
    info.centerY = pointPose.point.y;
    info.centerZ = pointPose.point.z;
    info.roll = outRoll;
    info.pitch = outPitch;
    info.yaw = outYaw;
    detectionResult.discRackInfoList.push_back(info);

    if (debugParam.enableDebug && debugParam.printDetailLog) {
        LOG_INFO("[Algo Thread] DiscRack Eye Point: X=%.2f, Y=%.2f, Z=%.2f\n",
                 pointPose.point.x, pointPose.point.y, pointPose.point.z);
        LOG_INFO("[Algo Thread] DiscRack Eye PoseX: X=%.3f, Y=%.3f, Z=%.3f\n",
                 pointPose.pose_x.x, pointPose.pose_x.y, pointPose.pose_x.z);
        LOG_INFO("[Algo Thread] DiscRack Eye PoseY: X=%.3f, Y=%.3f, Z=%.3f\n",
                 pointPose.pose_y.x, pointPose.pose_y.y, pointPose.pose_y.z);
        LOG_INFO("[Algo Thread] DiscRack Eye PoseZ: X=%.3f, Y=%.3f, Z=%.3f\n",
                 pointPose.pose_z.x, pointPose.pose_z.y, pointPose.pose_z.z);
        LOG_INFO("[Algo Thread] DiscRack Robot Coords: X=%.2f, Y=%.2f, Z=%.2f, RPY=%.2f/%.2f/%.2f\n",
                 pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
    }

    detectionResult.image = BuildDiscRackPointCloudImage(xyzData, pointPose, true);

    SaveDebugImageIfNeeded(cameraIndex, debugParam, detectionResult.image, QStringLiteral("DiscRack_Image"));
    return SUCCESS;
}