#ifndef IVRCONFIG_H
#define IVRCONFIG_H

#include <cstdint>
#include <iostream>
#include <string>
#include <vector>

#include <QString>

#include "VrCommonConfig.h"
#include "VrHandEyeCalibConfig.h"

// 角点检测参数（砂轮盘孔定位算法仅使用 cornerParam）
struct VrCornerParam
{
    double minEndingGap = 10.0;
    double minEndingGap_z = 5.0;
    double scale = 10.0;
    double cornerTh = 60.0;
    double jumpCornerTh_1 = 15.0;
    double jumpCornerTh_2 = 60.0;
};

// DiscHolePose 算法参数：仅 cornerParam，因为 sx_getDiscHolePose
// 和 sx_getDiscRackCenterPosition 都只接受 SSG_cornerParam
struct VrAlgorithmParams
{
    VrCornerParam cornerParam;
    // 多相机平面校准：相机级共享配置
    VrPlaneCalibParam planeCalibParam;
};

// 检测对象类型：砂轮盘孔 / 砂轮盘架子
enum DetectionType {
    DETECTION_TYPE_DISC_HOLE = 1,
    DETECTION_TYPE_DISC_RACK = 2
};

/**
 * @brief 单个 (相机, 检测对象) 组合的完整配置
 *
 * 每台相机对每种检测对象都有独立的手眼矩阵与算法参数。
 * 双相机 x 两种对象 = 4 个 set。
 */
struct VrDetectionConfigSet
{
    int cameraIndex = 1;
    DetectionType detectionType = DETECTION_TYPE_DISC_HOLE;
    VrHandEyeCalibMatrix handEyeMatrix;
    VrAlgorithmParams algorithmParams;
};

struct ConfigResult
{
    std::vector<DeviceInfo> cameraList;
    VrDebugParam debugParam;
    SerialConfig serialConfig;
    uint16_t tcpPort = 7800;
    int poseOutputOrder = 0;
    int byteOrder = 0;

    // 共享算法参数：仅 planeCalibParam 字段在此结构中被使用
    VrAlgorithmParams algorithmParams;

    // 4 套 (相机, 对象) 配置
    std::vector<VrDetectionConfigSet> detectionConfigList;

    // —— 辅助查询 ——
    const VrDetectionConfigSet* FindDetectionConfig(int cameraIndex, DetectionType type) const
    {
        for (const auto& item : detectionConfigList) {
            if (item.cameraIndex == cameraIndex && item.detectionType == type) {
                return &item;
            }
        }
        return nullptr;
    }

    VrDetectionConfigSet* FindDetectionConfig(int cameraIndex, DetectionType type)
    {
        for (auto& item : detectionConfigList) {
            if (item.cameraIndex == cameraIndex && item.detectionType == type) {
                return &item;
            }
        }
        return nullptr;
    }

    VrDetectionConfigSet& EnsureDetectionConfig(int cameraIndex, DetectionType type)
    {
        if (auto* p = FindDetectionConfig(cameraIndex, type)) {
            return *p;
        }
        VrDetectionConfigSet item;
        item.cameraIndex = cameraIndex;
        item.detectionType = type;
        item.handEyeMatrix.cameraIndex = cameraIndex;
        detectionConfigList.push_back(item);
        return detectionConfigList.back();
    }

    ConfigResult& operator=(const ConfigResult& other)
    {
        if (this != &other) {
            cameraList = other.cameraList;
            debugParam = other.debugParam;
            serialConfig = other.serialConfig;
            tcpPort = other.tcpPort;
            poseOutputOrder = other.poseOutputOrder;
            byteOrder = other.byteOrder;
            algorithmParams = other.algorithmParams;
            detectionConfigList = other.detectionConfigList;
        }
        return *this;
    }

    ConfigResult(const ConfigResult& other)
        : cameraList(other.cameraList)
        , debugParam(other.debugParam)
        , serialConfig(other.serialConfig)
        , tcpPort(other.tcpPort)
        , poseOutputOrder(other.poseOutputOrder)
        , byteOrder(other.byteOrder)
        , algorithmParams(other.algorithmParams)
        , detectionConfigList(other.detectionConfigList)
    {
    }

    ConfigResult() = default;
};

enum LoadConfigErrorCode
{
    LOAD_CONFIG_SUCCESS = 0,
    LOAD_CONFIG_FILE_NOT_FOUND = -1,
    LOAD_CONFIG_PARSE_ERROR = -2,
    LOAD_CONFIG_INVALID_FORMAT = -3,
    LOAD_CONFIG_UNKNOWN_ERROR = -99
};

class IVrConfig
{
public:
    virtual ~IVrConfig() {}

    static bool CreateInstance(IVrConfig** ppVrConfig);

    virtual int LoadConfig(const std::string& filePath, ConfigResult& configResult) = 0;
    virtual bool SaveConfig(const std::string& filePath, ConfigResult& configResult) = 0;
    virtual void SetConfigChangeNotify(IVrConfigChangeNotify* notify) = 0;
};

// ---- 检测输出结构 ----

// 砂轮盘孔输出（来自 sx_getDiscHolePose 返回的 WD_HolePositionInfo）
struct DiscHoleDetectOutput {
    double x = 0.0;
    double y = 0.0;
    double z = 0.0;
    double roll = 0.0;
    double pitch = 0.0;
    double yaw = 0.0;
};

// 砂轮盘架子输出（来自 sx_getDiscRackCenterPosition 返回的 SSG_pointPose）
struct DiscRackDetectOutput {
    double x = 0.0;
    double y = 0.0;
    double z = 0.0;
    double roll = 0.0;
    double pitch = 0.0;
    double yaw = 0.0;
};

// 统一协议输出
struct ProtocolDetectionOutput {
    DetectionType type = DETECTION_TYPE_DISC_HOLE;
    bool success = true;
    int errorCode = 0;
    QString message;
    int cameraIndex = 0;
    qint64 timestamp = 0;
    std::vector<DiscHoleDetectOutput> discHoleOutputs;
    std::vector<DiscRackDetectOutput> discRackOutputs;
};

#endif // IVRCONFIG_H