#include "ToolExtrinsicWidget.h"
#include "ui_ToolExtrinsicWidget.h"

#include <QDoubleValidator>
#include <QFont>
#include <QList>
#include <QVariant>

ToolExtrinsicWidget::ToolExtrinsicWidget(QWidget *parent)
    : QWidget(parent)
    , ui(new Ui::ToolExtrinsicWidget)
    , m_groupExtrinsic(nullptr)
    , m_comboCamera(nullptr)
    , m_comboEulerOrder(nullptr)
    , m_editRotX(nullptr)
    , m_editRotY(nullptr)
    , m_editRotZ(nullptr)
    , m_labelAxialAngleRange(nullptr)
    , m_widgetAxialAngleRangeRow(nullptr)
    , m_editAxialAngleMin(nullptr)
    , m_editAxialAngleMax(nullptr)
    , m_labelTargetOffset(nullptr)
    , m_widgetTargetOffsetRow(nullptr)
    , m_editOffsetX(nullptr)
    , m_editOffsetY(nullptr)
    , m_editOffsetZ(nullptr)
    , m_currentCameraIndex(-1)
{
    setupUI();
}

ToolExtrinsicWidget::~ToolExtrinsicWidget()
{
    delete ui;
}

void ToolExtrinsicWidget::setCameraList(const QVector<ToolExtrinsicCameraInfo>& cameras)
{
    saveCurrentUiToCache();

    if (!m_comboCamera) {
        return;
    }

    m_comboCamera->blockSignals(true);
    m_comboCamera->clear();

    for (const ToolExtrinsicCameraInfo& camera : cameras) {
        m_comboCamera->addItem(camera.displayName, QVariant(camera.cameraIndex));
        ensureData(camera.cameraIndex);
    }

    m_comboCamera->blockSignals(false);

    if (cameras.isEmpty()) {
        m_currentCameraIndex = -1;
        loadDataToUi(ToolExtrinsicData{});
    } else {
        m_comboCamera->setCurrentIndex(0);
        m_currentCameraIndex = cameras.first().cameraIndex;
        loadDataToUi(ensureData(m_currentCameraIndex));
    }
}

void ToolExtrinsicWidget::setData(int eulerOrder,
                                  double rotX, double rotY, double rotZ,
                                  double offsetX, double offsetY, double offsetZ)
{
    setData(eulerOrder,
            rotX, rotY, rotZ,
            offsetX, offsetY, offsetZ,
            -180.0, 180.0);
}

void ToolExtrinsicWidget::setData(int eulerOrder,
                                  double rotX, double rotY, double rotZ,
                                  double offsetX, double offsetY, double offsetZ,
                                  double axialAngleMin, double axialAngleMax)
{
    ToolExtrinsicData data;
    data.cameraIndex = m_currentCameraIndex;
    data.eulerOrder = eulerOrder;
    data.rotX = rotX;
    data.rotY = rotY;
    data.rotZ = rotZ;
    data.axialAngleMin = axialAngleMin;
    data.axialAngleMax = axialAngleMax;
    data.offsetX = offsetX;
    data.offsetY = offsetY;
    data.offsetZ = offsetZ;
    loadDataToUi(data);
    if (m_currentCameraIndex > 0) {
        ensureData(m_currentCameraIndex) = data;
    }
}

void ToolExtrinsicWidget::getData(int& eulerOrder,
                                  double& rotX, double& rotY, double& rotZ,
                                  double& offsetX, double& offsetY, double& offsetZ) const
{
    double axialAngleMin = -180.0;
    double axialAngleMax = 180.0;
    getData(eulerOrder,
            rotX, rotY, rotZ,
            offsetX, offsetY, offsetZ,
            axialAngleMin, axialAngleMax);
}

void ToolExtrinsicWidget::getData(int& eulerOrder,
                                  double& rotX, double& rotY, double& rotZ,
                                  double& offsetX, double& offsetY, double& offsetZ,
                                  double& axialAngleMin, double& axialAngleMax) const
{
    eulerOrder = m_comboEulerOrder ? m_comboEulerOrder->currentData().toInt() : 11;
    rotX = m_editRotX ? m_editRotX->text().trimmed().toDouble() : 0.0;
    rotY = m_editRotY ? m_editRotY->text().trimmed().toDouble() : 0.0;
    rotZ = m_editRotZ ? m_editRotZ->text().trimmed().toDouble() : 0.0;
    axialAngleMin = m_editAxialAngleMin ? m_editAxialAngleMin->text().trimmed().toDouble() : -180.0;
    axialAngleMax = m_editAxialAngleMax ? m_editAxialAngleMax->text().trimmed().toDouble() : 180.0;
    offsetX = m_editOffsetX ? m_editOffsetX->text().trimmed().toDouble() : 0.0;
    offsetY = m_editOffsetY ? m_editOffsetY->text().trimmed().toDouble() : 0.0;
    offsetZ = m_editOffsetZ ? m_editOffsetZ->text().trimmed().toDouble() : 0.0;
}

void ToolExtrinsicWidget::setData(int cameraIndex,
                                  int eulerOrder,
                                  double rotX, double rotY, double rotZ,
                                  double offsetX, double offsetY, double offsetZ)
{
    setData(cameraIndex,
            eulerOrder,
            rotX, rotY, rotZ,
            offsetX, offsetY, offsetZ,
            -180.0, 180.0);
}

void ToolExtrinsicWidget::setData(int cameraIndex,
                                  int eulerOrder,
                                  double rotX, double rotY, double rotZ,
                                  double offsetX, double offsetY, double offsetZ,
                                  double axialAngleMin, double axialAngleMax)
{
    ToolExtrinsicData& data = ensureData(cameraIndex);
    data.eulerOrder = eulerOrder;
    data.rotX = rotX;
    data.rotY = rotY;
    data.rotZ = rotZ;
    data.axialAngleMin = axialAngleMin;
    data.axialAngleMax = axialAngleMax;
    data.offsetX = offsetX;
    data.offsetY = offsetY;
    data.offsetZ = offsetZ;

    if (currentCameraIndex() == cameraIndex) {
        loadDataToUi(data);
    }
}

bool ToolExtrinsicWidget::getData(int cameraIndex,
                                  int& eulerOrder,
                                  double& rotX, double& rotY, double& rotZ,
                                  double& offsetX, double& offsetY, double& offsetZ) const
{
    double axialAngleMin = -180.0;
    double axialAngleMax = 180.0;
    return getData(cameraIndex,
                   eulerOrder,
                   rotX, rotY, rotZ,
                   offsetX, offsetY, offsetZ,
                   axialAngleMin, axialAngleMax);
}

bool ToolExtrinsicWidget::getData(int cameraIndex,
                                  int& eulerOrder,
                                  double& rotX, double& rotY, double& rotZ,
                                  double& offsetX, double& offsetY, double& offsetZ,
                                  double& axialAngleMin, double& axialAngleMax) const
{
    if (currentCameraIndex() == cameraIndex) {
        getData(eulerOrder, rotX, rotY, rotZ, offsetX, offsetY, offsetZ, axialAngleMin, axialAngleMax);
        return true;
    }

    const ToolExtrinsicData* data = findData(cameraIndex);
    if (!data) {
        return false;
    }

    eulerOrder = data->eulerOrder;
    rotX = data->rotX;
    rotY = data->rotY;
    rotZ = data->rotZ;
    axialAngleMin = data->axialAngleMin;
    axialAngleMax = data->axialAngleMax;
    offsetX = data->offsetX;
    offsetY = data->offsetY;
    offsetZ = data->offsetZ;
    return true;
}

int ToolExtrinsicWidget::currentCameraIndex() const
{
    if (!m_comboCamera || m_comboCamera->count() == 0 || m_comboCamera->currentIndex() < 0) {
        return -1;
    }
    return m_comboCamera->currentData().toInt();
}

void ToolExtrinsicWidget::setTargetOffsetVisible(bool visible)
{
    if (m_labelTargetOffset) m_labelTargetOffset->setVisible(visible);
    if (m_widgetTargetOffsetRow) m_widgetTargetOffsetRow->setVisible(visible);
}

void ToolExtrinsicWidget::setAxialAngleRangeVisible(bool visible)
{
    if (m_labelAxialAngleRange) m_labelAxialAngleRange->setVisible(visible);
    if (m_widgetAxialAngleRangeRow) m_widgetAxialAngleRangeRow->setVisible(visible);
}

void ToolExtrinsicWidget::onCameraSelectionChanged(int index)
{
    saveCurrentUiToCache();

    if (index < 0 || !m_comboCamera || m_comboCamera->count() == 0) {
        m_currentCameraIndex = -1;
        loadDataToUi(ToolExtrinsicData{});
        return;
    }

    m_currentCameraIndex = m_comboCamera->itemData(index).toInt();
    loadDataToUi(ensureData(m_currentCameraIndex));
}

void ToolExtrinsicWidget::loadDataToUi(const ToolExtrinsicData& data)
{
    if (m_comboEulerOrder) {
        int idx = m_comboEulerOrder->findData(data.eulerOrder);
        if (idx < 0) idx = 0;
        m_comboEulerOrder->setCurrentIndex(idx);
    }
    if (m_editRotX) m_editRotX->setText(QString::number(data.rotX, 'f', 3));
    if (m_editRotY) m_editRotY->setText(QString::number(data.rotY, 'f', 3));
    if (m_editRotZ) m_editRotZ->setText(QString::number(data.rotZ, 'f', 3));
    if (m_editAxialAngleMin) m_editAxialAngleMin->setText(QString::number(data.axialAngleMin, 'f', 3));
    if (m_editAxialAngleMax) m_editAxialAngleMax->setText(QString::number(data.axialAngleMax, 'f', 3));
    if (m_editOffsetX) m_editOffsetX->setText(QString::number(data.offsetX, 'f', 3));
    if (m_editOffsetY) m_editOffsetY->setText(QString::number(data.offsetY, 'f', 3));
    if (m_editOffsetZ) m_editOffsetZ->setText(QString::number(data.offsetZ, 'f', 3));
}

void ToolExtrinsicWidget::saveCurrentUiToCache()
{
    if (m_currentCameraIndex <= 0) {
        return;
    }

    ToolExtrinsicData& data = ensureData(m_currentCameraIndex);
    data.cameraIndex = m_currentCameraIndex;
    getData(data.eulerOrder,
            data.rotX, data.rotY, data.rotZ,
            data.offsetX, data.offsetY, data.offsetZ,
            data.axialAngleMin, data.axialAngleMax);
}

ToolExtrinsicData* ToolExtrinsicWidget::findData(int cameraIndex)
{
    for (ToolExtrinsicData& data : m_dataCache) {
        if (data.cameraIndex == cameraIndex) {
            return &data;
        }
    }
    return nullptr;
}

const ToolExtrinsicData* ToolExtrinsicWidget::findData(int cameraIndex) const
{
    for (const ToolExtrinsicData& data : m_dataCache) {
        if (data.cameraIndex == cameraIndex) {
            return &data;
        }
    }
    return nullptr;
}

ToolExtrinsicData& ToolExtrinsicWidget::ensureData(int cameraIndex)
{
    if (ToolExtrinsicData* data = findData(cameraIndex)) {
        return *data;
    }

    ToolExtrinsicData data;
    data.cameraIndex = cameraIndex;
    m_dataCache.append(data);
    return m_dataCache.last();
}

void ToolExtrinsicWidget::initEulerOrderComboBox()
{
    if (!m_comboEulerOrder) return;
    m_comboEulerOrder->addItem(QStringLiteral("RZ-RY-RX (外旋ZYX)"), 11);
    m_comboEulerOrder->addItem(QStringLiteral("RX-RY-RZ (外旋XYZ)"), 10);
    m_comboEulerOrder->addItem(QStringLiteral("RZ-RX-RY (外旋ZXY)"), 12);
    m_comboEulerOrder->addItem(QStringLiteral("RY-RX-RZ (外旋YXZ)"), 13);
    m_comboEulerOrder->addItem(QStringLiteral("RY-RZ-RX (外旋YZX)"), 14);
    m_comboEulerOrder->addItem(QStringLiteral("RX-RZ-RY (外旋XZY)"), 15);
    m_comboEulerOrder->setCurrentIndex(0);
}

void ToolExtrinsicWidget::setupUI()
{
    ui->setupUi(this);

    QFont font;
    font.setPointSize(16);

    setStyleSheet(
        "QLabel { color: rgb(221, 225, 233); }"
        "QLineEdit { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
        "border: 1px solid rgb(70, 72, 78); padding: 4px; }"
        "QComboBox { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
        "border: 1px solid rgb(70, 72, 78); padding: 6px; }"
        "QComboBox QAbstractItemView { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
        "selection-background-color: rgb(70, 100, 150); }"
        "QGroupBox { color: rgb(221, 225, 233); border: 1px solid rgb(100, 100, 100); "
        "border-radius: 4px; margin-top: 12px; padding-top: 8px; }"
        "QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 3px 0 3px; }");

    const QList<QWidget*> widgets = findChildren<QWidget*>();
    for (QWidget* widget : widgets) {
        widget->setFont(font);
    }

    m_groupExtrinsic = ui->groupExtrinsic;
    m_comboCamera = ui->comboCamera;
    m_comboEulerOrder = ui->comboEulerOrder;
    m_editRotX = ui->editRotX;
    m_editRotY = ui->editRotY;
    m_editRotZ = ui->editRotZ;
    m_labelAxialAngleRange = ui->labelAxialAngleRange;
    m_widgetAxialAngleRangeRow = ui->widgetAxialAngleRangeRow;
    m_editAxialAngleMin = ui->editAxialAngleMin;
    m_editAxialAngleMax = ui->editAxialAngleMax;
    m_labelTargetOffset = ui->labelTargetOffset;
    m_widgetTargetOffsetRow = ui->widgetTargetOffsetRow;
    m_editOffsetX = ui->editOffsetX;
    m_editOffsetY = ui->editOffsetY;
    m_editOffsetZ = ui->editOffsetZ;

    initEulerOrderComboBox();

    connect(m_comboCamera, QOverload<int>::of(&QComboBox::currentIndexChanged),
            this, &ToolExtrinsicWidget::onCameraSelectionChanged);

    auto* validatorX = new QDoubleValidator(-360.0, 360.0, 3, this);
    validatorX->setNotation(QDoubleValidator::StandardNotation);
    auto* validatorY = new QDoubleValidator(-360.0, 360.0, 3, this);
    validatorY->setNotation(QDoubleValidator::StandardNotation);
    auto* validatorZ = new QDoubleValidator(-360.0, 360.0, 3, this);
    validatorZ->setNotation(QDoubleValidator::StandardNotation);
    m_editRotX->setValidator(validatorX);
    m_editRotY->setValidator(validatorY);
    m_editRotZ->setValidator(validatorZ);

    auto* validatorAxialAngle = new QDoubleValidator(-180.0, 180.0, 3, this);
    validatorAxialAngle->setNotation(QDoubleValidator::StandardNotation);
    m_editAxialAngleMin->setValidator(validatorAxialAngle);
    m_editAxialAngleMax->setValidator(validatorAxialAngle);

    auto* validatorTargetOffset = new QDoubleValidator(-10000.0, 10000.0, 3, this);
    validatorTargetOffset->setNotation(QDoubleValidator::StandardNotation);
    m_editOffsetX->setValidator(validatorTargetOffset);
    m_editOffsetY->setValidator(validatorTargetOffset);
    m_editOffsetZ->setValidator(validatorTargetOffset);

    setTargetOffsetVisible(false);
    setAxialAngleRangeVisible(false);
    QVector<ToolExtrinsicCameraInfo> defaultCameras;
    ToolExtrinsicCameraInfo defaultCamera;
    defaultCamera.cameraIndex = 1;
    defaultCamera.displayName = QStringLiteral("相机 1");
    defaultCameras.append(defaultCamera);
    setCameraList(defaultCameras);
    setData(11, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
}