#include "DialogConfig.h"
#include "ui_dialogconfig.h"
#include "DemoControlPresenter.h"
#include "StyledMessageBox.h"
#include <QDebug>
#include <QSettings>
#include <QCoreApplication>
#include <QStandardPaths>
#include <QDir>
#include <QFile>

DialogConfig::DialogConfig(DemoControlPresenter* presenter, QWidget *parent)
    : QDialog(parent)
    , ui(new Ui::DialogConfig)
    , m_presenter(presenter)
{
    ui->setupUi(this);

    // 设置窗口标志
    setWindowFlags(Qt::Dialog | Qt::WindowCloseButtonHint);

    // 加载当前配置
    loadCurrentConfig();
}

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

QString DialogConfig::GetConfigFilePath()
{
    // 获取用户应用数据目录
    QString appDataPath = QStandardPaths::writableLocation(QStandardPaths::AppDataLocation);

    // 确保目录存在
    QDir dir(appDataPath);
    if (!dir.exists()) {
        dir.mkpath(appDataPath);
    }

    // 配置文件路径
    QString configFilePath = appDataPath + "/config.ini";

    // 如果配置文件不存在，尝试从应用程序目录复制默认配置
    if (!QFile::exists(configFilePath)) {
        QString defaultConfigPath = QCoreApplication::applicationDirPath() + "/config.ini";
        if (QFile::exists(defaultConfigPath)) {
            QFile::copy(defaultConfigPath, configFilePath);
            qDebug() << "已从应用程序目录复制默认配置到用户目录:" << configFilePath;
        } else {
            qDebug() << "默认配置文件不存在，将创建新配置:" << configFilePath;
        }
    }

    return configFilePath;
}

void DialogConfig::loadConfigFromFile()
{
    QSettings settings(GetConfigFilePath(), QSettings::IniFormat);

    // 控制器配置
    ui->lineEdit_controller_ip->setText(settings.value("Controller/IP", "192.168.0.88").toString());
    ui->spinBox_controller_port->setValue(settings.value("Controller/Port", 502).toInt());

    // 机械臂配置
    ui->lineEdit_robot_ip->setText(settings.value("Robot/IP", "192.168.58.2").toString());

    // 准备位置
    ui->doubleSpinBox_ready_x->setValue(settings.value("ReadyPosition/X", 0.0).toDouble());
    ui->doubleSpinBox_ready_y->setValue(settings.value("ReadyPosition/Y", 0.0).toDouble());
    ui->doubleSpinBox_ready_z->setValue(settings.value("ReadyPosition/Z", 500.0).toDouble());
    ui->doubleSpinBox_ready_rx->setValue(settings.value("ReadyPosition/RX", 0.0).toDouble());
    ui->doubleSpinBox_ready_ry->setValue(settings.value("ReadyPosition/RY", 0.0).toDouble());
    ui->doubleSpinBox_ready_rz->setValue(settings.value("ReadyPosition/RZ", 0.0).toDouble());

    // 放置位置
    ui->doubleSpinBox_place_x->setValue(settings.value("PlacePosition/X", 500.0).toDouble());
    ui->doubleSpinBox_place_y->setValue(settings.value("PlacePosition/Y", 0.0).toDouble());
    ui->doubleSpinBox_place_z->setValue(settings.value("PlacePosition/Z", 200.0).toDouble());
    ui->doubleSpinBox_place_rx->setValue(settings.value("PlacePosition/RX", 0.0).toDouble());
    ui->doubleSpinBox_place_ry->setValue(settings.value("PlacePosition/RY", 0.0).toDouble());
    ui->doubleSpinBox_place_rz->setValue(settings.value("PlacePosition/RZ", 0.0).toDouble());

    // 抓取偏移
    ui->doubleSpinBox_grasp_offset->setValue(settings.value("Grasp/OffsetZ", -50.0).toDouble());

    // 运动参数
    ui->spinBox_tool->setValue(settings.value("Motion/ToolNumber", 0).toInt());
    ui->doubleSpinBox_velocity->setValue(settings.value("Motion/Velocity", 50.0).toDouble());
    ui->doubleSpinBox_acceleration->setValue(settings.value("Motion/Acceleration", 50.0).toDouble());
}

void DialogConfig::saveConfigToFile()
{
    QSettings settings(GetConfigFilePath(), QSettings::IniFormat);

    // 控制器配置
    settings.setValue("Controller/IP", ui->lineEdit_controller_ip->text());
    settings.setValue("Controller/Port", ui->spinBox_controller_port->value());

    // 机械臂配置
    settings.setValue("Robot/IP", ui->lineEdit_robot_ip->text());

    // 准备位置
    settings.setValue("ReadyPosition/X", ui->doubleSpinBox_ready_x->value());
    settings.setValue("ReadyPosition/Y", ui->doubleSpinBox_ready_y->value());
    settings.setValue("ReadyPosition/Z", ui->doubleSpinBox_ready_z->value());
    settings.setValue("ReadyPosition/RX", ui->doubleSpinBox_ready_rx->value());
    settings.setValue("ReadyPosition/RY", ui->doubleSpinBox_ready_ry->value());
    settings.setValue("ReadyPosition/RZ", ui->doubleSpinBox_ready_rz->value());

    // 放置位置
    settings.setValue("PlacePosition/X", ui->doubleSpinBox_place_x->value());
    settings.setValue("PlacePosition/Y", ui->doubleSpinBox_place_y->value());
    settings.setValue("PlacePosition/Z", ui->doubleSpinBox_place_z->value());
    settings.setValue("PlacePosition/RX", ui->doubleSpinBox_place_rx->value());
    settings.setValue("PlacePosition/RY", ui->doubleSpinBox_place_ry->value());
    settings.setValue("PlacePosition/RZ", ui->doubleSpinBox_place_rz->value());

    // 抓取偏移
    settings.setValue("Grasp/OffsetZ", ui->doubleSpinBox_grasp_offset->value());

    // 运动参数
    settings.setValue("Motion/ToolNumber", ui->spinBox_tool->value());
    settings.setValue("Motion/Velocity", ui->doubleSpinBox_velocity->value());
    settings.setValue("Motion/Acceleration", ui->doubleSpinBox_acceleration->value());

    settings.sync();
}

void DialogConfig::loadCurrentConfig()
{
    // 从配置文件加载
    loadConfigFromFile();
}

void DialogConfig::saveConfig()
{
    if (!m_presenter) {
        return;
    }

    // 保存到配置文件
    saveConfigToFile();

    // 保存准备位置
    m_presenter->SetReadyPosition(
        ui->doubleSpinBox_ready_x->value(),
        ui->doubleSpinBox_ready_y->value(),
        ui->doubleSpinBox_ready_z->value(),
        ui->doubleSpinBox_ready_rx->value(),
        ui->doubleSpinBox_ready_ry->value(),
        ui->doubleSpinBox_ready_rz->value()
    );

    // 保存放置位置
    m_presenter->SetPlacePosition(
        ui->doubleSpinBox_place_x->value(),
        ui->doubleSpinBox_place_y->value(),
        ui->doubleSpinBox_place_z->value(),
        ui->doubleSpinBox_place_rx->value(),
        ui->doubleSpinBox_place_ry->value(),
        ui->doubleSpinBox_place_rz->value()
    );

    // 保存抓取偏移
    m_presenter->SetGraspOffset(ui->doubleSpinBox_grasp_offset->value());

    // 保存运动参数
    m_presenter->SetToolNumber(ui->spinBox_tool->value());
    m_presenter->SetVelocity(ui->doubleSpinBox_velocity->value());
    m_presenter->SetAcceleration(ui->doubleSpinBox_acceleration->value());
}

// 静态方法：从配置文件加载配置到Presenter
void DialogConfig::LoadConfigToPresenter(DemoControlPresenter* presenter)
{
    if (!presenter) {
        return;
    }

    QSettings settings(GetConfigFilePath(), QSettings::IniFormat);

    // 加载准备位置
    presenter->SetReadyPosition(
        settings.value("ReadyPosition/X", 0.0).toDouble(),
        settings.value("ReadyPosition/Y", 0.0).toDouble(),
        settings.value("ReadyPosition/Z", 500.0).toDouble(),
        settings.value("ReadyPosition/RX", 0.0).toDouble(),
        settings.value("ReadyPosition/RY", 0.0).toDouble(),
        settings.value("ReadyPosition/RZ", 0.0).toDouble()
    );

    // 加载放置位置
    presenter->SetPlacePosition(
        settings.value("PlacePosition/X", 500.0).toDouble(),
        settings.value("PlacePosition/Y", 0.0).toDouble(),
        settings.value("PlacePosition/Z", 200.0).toDouble(),
        settings.value("PlacePosition/RX", 0.0).toDouble(),
        settings.value("PlacePosition/RY", 0.0).toDouble(),
        settings.value("PlacePosition/RZ", 0.0).toDouble()
    );

    // 加载抓取偏移
    presenter->SetGraspOffset(settings.value("Grasp/OffsetZ", -50.0).toDouble());

    // 加载运动参数
    presenter->SetToolNumber(settings.value("Motion/ToolNumber", 0).toInt());
    presenter->SetVelocity(settings.value("Motion/Velocity", 50.0).toDouble());
    presenter->SetAcceleration(settings.value("Motion/Acceleration", 50.0).toDouble());
}

void DialogConfig::on_btn_save_clicked()
{
    saveConfig();
    StyledMessageBox::information(this, "保存成功", "配置已保存，重启后生效");
    accept();
}

void DialogConfig::on_btn_cancel_clicked()
{
    reject();
}

void DialogConfig::on_btn_test_controller_clicked()
{
    if (!m_presenter) {
        return;
    }

    QString ip = ui->lineEdit_controller_ip->text();
    int port = ui->spinBox_controller_port->value();

    // 断开当前连接
    m_presenter->DisconnectController();

    // 尝试连接
    bool success = m_presenter->ConnectToController(ip, port);

    if (success) {
        StyledMessageBox::information(this, "测试成功", "控制器连接成功");
    } else {
        StyledMessageBox::warning(this, "测试失败", "控制器连接失败，请检查IP和端口");
    }
}

void DialogConfig::on_btn_test_robot_clicked()
{
    if (!m_presenter) {
        return;
    }

    QString ip = ui->lineEdit_robot_ip->text();

    // 断开当前连接
    m_presenter->DisconnectRobot();

    // 尝试连接
    bool success = m_presenter->ConnectToRobot(ip);

    if (success) {
        StyledMessageBox::information(this, "测试成功", "机械臂连接成功");
    } else {
        StyledMessageBox::warning(this, "测试失败", "机械臂连接失败，请检查IP地址");
    }
}

void DialogConfig::on_btn_test_ready_clicked()
{
    if (!m_presenter) {
        return;
    }

    if (!m_presenter->IsRobotConnected()) {
        StyledMessageBox::warning(this, "测试失败", "机械臂未连接，请先连接机械臂");
        return;
    }

    // 先保存当前配置到Presenter（不保存到文件）
    m_presenter->SetReadyPosition(
        ui->doubleSpinBox_ready_x->value(),
        ui->doubleSpinBox_ready_y->value(),
        ui->doubleSpinBox_ready_z->value(),
        ui->doubleSpinBox_ready_rx->value(),
        ui->doubleSpinBox_ready_ry->value(),
        ui->doubleSpinBox_ready_rz->value()
    );

    // 测试移动
    bool success = m_presenter->TestMoveToReady();

    if (success) {
        StyledMessageBox::information(this, "测试成功", "机械臂已移动到准备位置");
    } else {
        StyledMessageBox::warning(this, "测试失败", "机械臂移动失败，请检查位置参数");
    }
}

void DialogConfig::on_btn_test_place_clicked()
{
    if (!m_presenter) {
        return;
    }

    if (!m_presenter->IsRobotConnected()) {
        StyledMessageBox::warning(this, "测试失败", "机械臂未连接，请先连接机械臂");
        return;
    }

    // 先保存当前配置到Presenter（不保存到文件）
    m_presenter->SetPlacePosition(
        ui->doubleSpinBox_place_x->value(),
        ui->doubleSpinBox_place_y->value(),
        ui->doubleSpinBox_place_z->value(),
        ui->doubleSpinBox_place_rx->value(),
        ui->doubleSpinBox_place_ry->value(),
        ui->doubleSpinBox_place_rz->value()
    );

    // 测试移动
    bool success = m_presenter->TestMoveToPlace();

    if (success) {
        StyledMessageBox::information(this, "测试成功", "机械臂已移动到放置位置");
    } else {
        StyledMessageBox::warning(this, "测试失败", "机械臂移动失败，请检查位置参数");
    }
}

void DialogConfig::on_btn_read_ready_clicked()
{
    if (!m_presenter) {
        return;
    }

    if (!m_presenter->IsRobotConnected()) {
        StyledMessageBox::warning(this, "读取失败", "机械臂未连接，请先连接机械臂");
        return;
    }

    // 读取当前位置
    double x, y, z, rx, ry, rz;
    bool success = m_presenter->GetCurrentPosition(x, y, z, rx, ry, rz);

    if (success) {
        // 填充到准备位置输入框
        ui->doubleSpinBox_ready_x->setValue(x);
        ui->doubleSpinBox_ready_y->setValue(y);
        ui->doubleSpinBox_ready_z->setValue(z);
        ui->doubleSpinBox_ready_rx->setValue(rx);
        ui->doubleSpinBox_ready_ry->setValue(ry);
        ui->doubleSpinBox_ready_rz->setValue(rz);

        QString message = QString("已读取当前位置到准备位置") +
                         QString("\nX=%1, Y=%2, Z=%3").arg(x, 0, 'f', 2).arg(y, 0, 'f', 2).arg(z, 0, 'f', 2) +
                         QString("\nRX=%1, RY=%2, RZ=%3").arg(rx, 0, 'f', 2).arg(ry, 0, 'f', 2).arg(rz, 0, 'f', 2);
        StyledMessageBox::information(this, "读取成功", message);
    } else {
        StyledMessageBox::warning(this, "读取失败", "读取机械臂当前位置失败");
    }
}

void DialogConfig::on_btn_read_place_clicked()
{
    if (!m_presenter) {
        return;
    }

    if (!m_presenter->IsRobotConnected()) {
        StyledMessageBox::warning(this, "读取失败", "机械臂未连接，请先连接机械臂");
        return;
    }

    // 读取当前位置
    double x, y, z, rx, ry, rz;
    bool success = m_presenter->GetCurrentPosition(x, y, z, rx, ry, rz);

    if (success) {
        // 填充到放置位置输入框
        ui->doubleSpinBox_place_x->setValue(x);
        ui->doubleSpinBox_place_y->setValue(y);
        ui->doubleSpinBox_place_z->setValue(z);
        ui->doubleSpinBox_place_rx->setValue(rx);
        ui->doubleSpinBox_place_ry->setValue(ry);
        ui->doubleSpinBox_place_rz->setValue(rz);

        QString message = QString("已读取当前位置到放置位置") +
                         QString("\nX=%1, Y=%2, Z=%3").arg(x, 0, 'f', 2).arg(y, 0, 'f', 2).arg(z, 0, 'f', 2) +
                         QString("\nRX=%1, RY=%2, RZ=%3").arg(rx, 0, 'f', 2).arg(ry, 0, 'f', 2).arg(rz, 0, 'f', 2);
        StyledMessageBox::information(this, "读取成功", message);
    } else {
        StyledMessageBox::warning(this, "读取失败", "读取机械臂当前位置失败");
    }
}