#ifndef IVRCONFIG_H
#define IVRCONFIG_H

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

#include <QString>

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

/**
 * @brief 角点检测参数（工件定位算法使用 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;
};

/**
 * @brief 北京工件参数
 */
struct VrJiuruiWorkpieceParam
{
    double len = 320.0;       // 工件长度 (mm)
    double width = 140.0;     // 工件宽度 (mm)
    double thickness = 48.0;  // 工件厚度 (mm)
};

/**
 * @brief 算法参数配置结构（类比 WorkpieceHole 的扁平化风格）
 *
 * Jiurui_getWorkpiecePose 接受 SSG_cornerParam + WD_JiuruiWorkpieceParam + SSG_planeCalibPara
 */
struct VrAlgorithmParams
{
    VrCornerParam cornerParam;
    VrJiuruiWorkpieceParam workpieceParam;
    // 多相机平面校准：相机级共享配置
    VrPlaneCalibParam planeCalibParam;

    VrAlgorithmParams& operator=(const VrAlgorithmParams& other) {
        if (this != &other) {
            cornerParam = other.cornerParam;
            workpieceParam = other.workpieceParam;
            planeCalibParam = other.planeCalibParam;
        }
        return *this;
    }

    VrAlgorithmParams(const VrAlgorithmParams& other)
        : cornerParam(other.cornerParam)
        , workpieceParam(other.workpieceParam)
        , planeCalibParam(other.planeCalibParam) {
    }

    VrAlgorithmParams() = default;
};

/**
 * @brief 配置加载结果（类比 WorkpieceHole 的扁平化风格）
 */
struct ConfigResult
{
    std::vector<DeviceInfo> cameraList;
    VrAlgorithmParams algorithmParams;                          // 共享算法参数
    std::vector<VrHandEyeCalibMatrix> handEyeCalibMatrixList;   // 多相机手眼标定矩阵列表
    VrDebugParam debugParam;                                    // 调试参数
    SerialConfig serialConfig;                                  // 串口配置
    uint16_t tcpPort = 7800;                                    // TCP 端口
    int eulerOrder = 11;                                        // 欧拉角输入顺序（机械臂姿态分解）
    int outputEulerOrder = 10;                                  // 欧拉角输出顺序（姿态合成→展示/下发）
    int poseOutputOrder = 0;                                    // 姿态输出顺序
    int byteOrder = 0;                                          // 数据字节序

    // —— 辅助查询：按相机索引查找手眼标定矩阵 ——
    const VrHandEyeCalibMatrix* FindHandEyeMatrix(int cameraIndex) const
    {
        for (const auto& item : handEyeCalibMatrixList) {
            if (item.cameraIndex == cameraIndex) {
                return &item;
            }
        }
        return nullptr;
    }

    VrHandEyeCalibMatrix* FindHandEyeMatrix(int cameraIndex)
    {
        for (auto& item : handEyeCalibMatrixList) {
            if (item.cameraIndex == cameraIndex) {
                return &item;
            }
        }
        return nullptr;
    }

    VrHandEyeCalibMatrix& EnsureHandEyeMatrix(int cameraIndex)
    {
        if (auto* p = FindHandEyeMatrix(cameraIndex)) {
            return *p;
        }
        VrHandEyeCalibMatrix item;
        item.cameraIndex = cameraIndex;
        handEyeCalibMatrixList.push_back(item);
        return handEyeCalibMatrixList.back();
    }

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

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

    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 ----

// 工件位姿输出（来自 Jiurui_getWorkpiecePose 返回的 SSG_pointPose）
struct JiuruiWorkpieceDetectOutput {
    double x = 0.0;
    double y = 0.0;
    double z = 0.0;
    double roll = 0.0;
    double pitch = 0.0;
    double yaw = 0.0;
    // SSG_pointPose 直接输出完整三轴姿态，不需要孔半径
};

// 统一协议输出
struct ProtocolDetectionOutput {
    bool success = true;
    int errorCode = 0;
    QString message;
    int cameraIndex = 0;
    qint64 timestamp = 0;
    std::vector<JiuruiWorkpieceDetectOutput> workpieceOutputs;
};

#endif // IVRCONFIG_H