#include "VrConfig.h"
#include <iostream>
#include <vector>
#include <string>

#include "VrLog.h"
#include "ConfigXmlUtils.h"

using namespace tinyxml2;

CVrConfig::CVrConfig() : m_pNotify(nullptr)
{
}

CVrConfig::~CVrConfig()
{
}

int CVrConfig::LoadConfig(const std::string& filePath, ConfigResult& configResult)
{
    // 读取 HoleDetection 专用配置文件。
    XMLDocument doc;
    XMLError err = doc.LoadFile(filePath.c_str());
    if (err != XML_SUCCESS)
    {
        LOG_ERR("open config file failed: %s\n", filePath.c_str());
        return LOAD_CONFIG_FILE_NOT_FOUND;
    }

    // 根节点固定为 HoleDetectionConfig，便于和其它应用配置区分。
    XMLElement* root = doc.RootElement();
    if (!root || std::string(root->Name()) != "HoleDetectionConfig")
    {
        std::cerr << "config file format error: root element is not HoleDetectionConfig" << std::endl;
        return LOAD_CONFIG_INVALID_FORMAT;
    }

    // 通用配置仍复用公共工具读取，例如相机列表、调试参数、串口等。
    ConfigXmlUtils::LoadCameraList(root, configResult.cameraList);

    XMLElement* devicesElement = root->FirstChildElement("Devices");
    if (devicesElement)
    {
        XMLElement* deviceElement = devicesElement->FirstChildElement("Device");
        while (deviceElement)
        {
            DeviceInfo device;
            if (deviceElement->Attribute("name"))
                device.name = deviceElement->Attribute("name");

            if (deviceElement->Attribute("ip"))
                device.ip = deviceElement->Attribute("ip");

            configResult.deviceList.push_back(device);
            deviceElement = deviceElement->NextSiblingElement("Device");
        }
    }

    // 算法参数分为 RANSAC / Detection / Filter 三组，分别与算法头文件一一对应。
    XMLElement* algoParamsElement = root->FirstChildElement("AlgorithmParams");
    if (algoParamsElement)
    {
        XMLElement* ransacParamElement = algoParamsElement->FirstChildElement("RansacParam");
        if (ransacParamElement)
        {
            // 读取 RANSAC 平面分割参数。
            if (ransacParamElement->Attribute("distanceThreshold"))
                configResult.algorithmParams.ransacParam.distanceThreshold = ransacParamElement->DoubleAttribute("distanceThreshold");
            if (ransacParamElement->Attribute("maxIterations"))
                configResult.algorithmParams.ransacParam.maxIterations = ransacParamElement->IntAttribute("maxIterations");
            if (ransacParamElement->Attribute("minPlanePoints"))
                configResult.algorithmParams.ransacParam.minPlanePoints = ransacParamElement->IntAttribute("minPlanePoints");
            if (ransacParamElement->Attribute("maxPlanes"))
                configResult.algorithmParams.ransacParam.maxPlanes = ransacParamElement->IntAttribute("maxPlanes");
            if (ransacParamElement->Attribute("growthZThreshold"))
                configResult.algorithmParams.ransacParam.growthZThreshold = ransacParamElement->DoubleAttribute("growthZThreshold");
            if (ransacParamElement->Attribute("minPlaneRatio"))
                configResult.algorithmParams.ransacParam.minPlaneRatio = ransacParamElement->DoubleAttribute("minPlaneRatio");
            if (ransacParamElement->Attribute("maxNormalAngleDeg"))
                configResult.algorithmParams.ransacParam.maxNormalAngleDeg = ransacParamElement->DoubleAttribute("maxNormalAngleDeg");
        }

        XMLElement* detectionParamElement = algoParamsElement->FirstChildElement("DetectionParam");
        if (detectionParamElement)
        {
            // 孔检测参数，需要完整覆盖 SHoleDetectionParams。
            if (detectionParamElement->Attribute("angleThresholdPos"))
                configResult.algorithmParams.detectionParam.angleThresholdPos = detectionParamElement->DoubleAttribute("angleThresholdPos");
            if (detectionParamElement->Attribute("angleThresholdNeg"))
                configResult.algorithmParams.detectionParam.angleThresholdNeg = detectionParamElement->DoubleAttribute("angleThresholdNeg");
            if (detectionParamElement->Attribute("angleSearchDistance"))
                configResult.algorithmParams.detectionParam.angleSearchDistance = detectionParamElement->DoubleAttribute("angleSearchDistance");
            if (detectionParamElement->Attribute("minPitDepth"))
                configResult.algorithmParams.detectionParam.minPitDepth = detectionParamElement->DoubleAttribute("minPitDepth");
            if (detectionParamElement->Attribute("minRadius"))
                configResult.algorithmParams.detectionParam.minRadius = detectionParamElement->DoubleAttribute("minRadius");
            if (detectionParamElement->Attribute("maxRadius"))
                configResult.algorithmParams.detectionParam.maxRadius = detectionParamElement->DoubleAttribute("maxRadius");
            if (detectionParamElement->Attribute("expansionSize1"))
                configResult.algorithmParams.detectionParam.expansionSize1 = detectionParamElement->IntAttribute("expansionSize1");
            if (detectionParamElement->Attribute("expansionSize2"))
                configResult.algorithmParams.detectionParam.expansionSize2 = detectionParamElement->IntAttribute("expansionSize2");
            if (detectionParamElement->Attribute("minVTransitionPoints"))
                configResult.algorithmParams.detectionParam.minVTransitionPoints = detectionParamElement->IntAttribute("minVTransitionPoints");
            if (detectionParamElement->Attribute("jumpThresholdResidual"))
                configResult.algorithmParams.detectionParam.jumpThresholdResidual = detectionParamElement->DoubleAttribute("jumpThresholdResidual");
            if (detectionParamElement->Attribute("gapJumpThresholdResidual"))
                configResult.algorithmParams.detectionParam.gapJumpThresholdResidual = detectionParamElement->DoubleAttribute("gapJumpThresholdResidual");
            if (detectionParamElement->Attribute("maxGapPointsInLine"))
                configResult.algorithmParams.detectionParam.maxGapPointsInLine = detectionParamElement->IntAttribute("maxGapPointsInLine");
            if (detectionParamElement->Attribute("minFeatureSpan"))
                configResult.algorithmParams.detectionParam.minFeatureSpan = detectionParamElement->DoubleAttribute("minFeatureSpan");
            if (detectionParamElement->Attribute("residualSmoothWindow"))
                configResult.algorithmParams.detectionParam.residualSmoothWindow = detectionParamElement->IntAttribute("residualSmoothWindow");
            if (detectionParamElement->Attribute("slopeAngleThreshold"))
                configResult.algorithmParams.detectionParam.slopeAngleThreshold = detectionParamElement->DoubleAttribute("slopeAngleThreshold");
            if (detectionParamElement->Attribute("edgeBoundaryFilterDist"))
                configResult.algorithmParams.detectionParam.edgeBoundaryFilterDist = detectionParamElement->DoubleAttribute("edgeBoundaryFilterDist");
        }

        XMLElement* filterParamElement = algoParamsElement->FirstChildElement("FilterParam");
        if (filterParamElement)
        {
            // 孔过滤参数，需要完整覆盖 SHoleFilterParams。
            if (filterParamElement->Attribute("maxEccentricity"))
                configResult.algorithmParams.filterParam.maxEccentricity = filterParamElement->DoubleAttribute("maxEccentricity");
            if (filterParamElement->Attribute("minAngularCoverage"))
                configResult.algorithmParams.filterParam.minAngularCoverage = filterParamElement->DoubleAttribute("minAngularCoverage");
            if (filterParamElement->Attribute("maxRadiusFitRatio"))
                configResult.algorithmParams.filterParam.maxRadiusFitRatio = filterParamElement->DoubleAttribute("maxRadiusFitRatio");
            if (filterParamElement->Attribute("minQualityScore"))
                configResult.algorithmParams.filterParam.minQualityScore = filterParamElement->DoubleAttribute("minQualityScore");
            if (filterParamElement->Attribute("maxPlaneResidual"))
                configResult.algorithmParams.filterParam.maxPlaneResidual = filterParamElement->DoubleAttribute("maxPlaneResidual");
            if (filterParamElement->Attribute("maxAngularGap"))
                configResult.algorithmParams.filterParam.maxAngularGap = filterParamElement->DoubleAttribute("maxAngularGap");
            if (filterParamElement->Attribute("minInlierRatio"))
                configResult.algorithmParams.filterParam.minInlierRatio = filterParamElement->DoubleAttribute("minInlierRatio");
            if (filterParamElement->Attribute("minHoleDepth"))
                configResult.algorithmParams.filterParam.minHoleDepth = filterParamElement->DoubleAttribute("minHoleDepth");
        }

        // 排序模式 sortMode 属于应用层选项，但仍跟随算法参数一起持久化。
        XMLElement* sortModeElement = algoParamsElement->FirstChildElement("SortMode");
        if (sortModeElement && sortModeElement->Attribute("value"))
            configResult.algorithmParams.sortMode = sortModeElement->IntAttribute("value");

        // 平面标定参数继续复用通用读写逻辑。
        ConfigXmlUtils::LoadPlaneCalibParams(algoParamsElement, configResult.algorithmParams.planeCalibParam);
    }

    ConfigXmlUtils::LoadDebugParam(root, configResult.debugParam);
    ConfigXmlUtils::LoadSerialConfig(root, configResult.serialConfig);
    ConfigXmlUtils::LoadHandEyeCalibMatrixs(root, configResult.handEyeCalibMatrixList);

    // TCP 服务配置由当前应用消费，用于姿态输出与网络通讯。
    XMLElement* tcpServerConfigElement = root->FirstChildElement("TcpServerConfig");
    if (tcpServerConfigElement)
    {
        if (tcpServerConfigElement->Attribute("tcpServerPort"))
            configResult.plcRobotServerConfig.tcpServerPort = tcpServerConfigElement->IntAttribute("tcpServerPort");
        else
            configResult.plcRobotServerConfig.tcpServerPort = 7800;

        if (tcpServerConfigElement->Attribute("poseOutputOrder"))
            configResult.plcRobotServerConfig.poseOutputOrder = tcpServerConfigElement->IntAttribute("poseOutputOrder");
        else
            configResult.plcRobotServerConfig.poseOutputOrder = POSE_ORDER_RPY;

        if (tcpServerConfigElement->Attribute("dirVectorInvert"))
            configResult.plcRobotServerConfig.dirVectorInvert = tcpServerConfigElement->IntAttribute("dirVectorInvert");
        else
            configResult.plcRobotServerConfig.dirVectorInvert = DIR_INVERT_YZ;
    }

    return LOAD_CONFIG_SUCCESS;
}

bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResult)
{
    // 保存时按当前应用的 XML 结构完整重建配置文档。
    XMLDocument doc;

    XMLDeclaration* declaration = doc.NewDeclaration("xml version=\"1.0\" encoding=\"UTF-8\"");
    doc.InsertFirstChild(declaration);

    XMLElement* root = doc.NewElement("HoleDetectionConfig");
    doc.InsertEndChild(root);

    ConfigXmlUtils::SaveCameraList(doc, root, configResult.cameraList);

    XMLElement* devicesElement = doc.NewElement("Devices");
    root->InsertEndChild(devicesElement);

    for (const auto& device : configResult.deviceList)
    {
        XMLElement* deviceElement = doc.NewElement("Device");
        deviceElement->SetAttribute("name", device.name.c_str());
        deviceElement->SetAttribute("ip", device.ip.c_str());
        devicesElement->InsertEndChild(deviceElement);
    }

    XMLElement* algoParamsElement = doc.NewElement("AlgorithmParams");
    root->InsertEndChild(algoParamsElement);

    // 先写 RANSAC，再写 Detection / Filter，顺序与 LoadConfig 保持一致。
    XMLElement* ransacParamElement = doc.NewElement("RansacParam");
    ransacParamElement->SetAttribute("distanceThreshold", configResult.algorithmParams.ransacParam.distanceThreshold);
    ransacParamElement->SetAttribute("maxIterations", configResult.algorithmParams.ransacParam.maxIterations);
    ransacParamElement->SetAttribute("minPlanePoints", configResult.algorithmParams.ransacParam.minPlanePoints);
    ransacParamElement->SetAttribute("maxPlanes", configResult.algorithmParams.ransacParam.maxPlanes);
    ransacParamElement->SetAttribute("growthZThreshold", configResult.algorithmParams.ransacParam.growthZThreshold);
    ransacParamElement->SetAttribute("minPlaneRatio", configResult.algorithmParams.ransacParam.minPlaneRatio);
    ransacParamElement->SetAttribute("maxNormalAngleDeg", configResult.algorithmParams.ransacParam.maxNormalAngleDeg);
    algoParamsElement->InsertEndChild(ransacParamElement);

    // 检测参数 DetectionParam 需要覆盖算法库当前全部检测字段。
    XMLElement* detectionParamElement = doc.NewElement("DetectionParam");
    detectionParamElement->SetAttribute("angleThresholdPos", configResult.algorithmParams.detectionParam.angleThresholdPos);
    detectionParamElement->SetAttribute("angleThresholdNeg", configResult.algorithmParams.detectionParam.angleThresholdNeg);
    detectionParamElement->SetAttribute("angleSearchDistance", configResult.algorithmParams.detectionParam.angleSearchDistance);
    detectionParamElement->SetAttribute("minPitDepth", configResult.algorithmParams.detectionParam.minPitDepth);
    detectionParamElement->SetAttribute("minRadius", configResult.algorithmParams.detectionParam.minRadius);
    detectionParamElement->SetAttribute("maxRadius", configResult.algorithmParams.detectionParam.maxRadius);
    detectionParamElement->SetAttribute("expansionSize1", configResult.algorithmParams.detectionParam.expansionSize1);
    detectionParamElement->SetAttribute("expansionSize2", configResult.algorithmParams.detectionParam.expansionSize2);
    detectionParamElement->SetAttribute("minVTransitionPoints", configResult.algorithmParams.detectionParam.minVTransitionPoints);
    detectionParamElement->SetAttribute("jumpThresholdResidual", configResult.algorithmParams.detectionParam.jumpThresholdResidual);
    detectionParamElement->SetAttribute("gapJumpThresholdResidual", configResult.algorithmParams.detectionParam.gapJumpThresholdResidual);
    detectionParamElement->SetAttribute("maxGapPointsInLine", configResult.algorithmParams.detectionParam.maxGapPointsInLine);
    detectionParamElement->SetAttribute("minFeatureSpan", configResult.algorithmParams.detectionParam.minFeatureSpan);
    detectionParamElement->SetAttribute("residualSmoothWindow", configResult.algorithmParams.detectionParam.residualSmoothWindow);
    detectionParamElement->SetAttribute("slopeAngleThreshold", configResult.algorithmParams.detectionParam.slopeAngleThreshold);
    detectionParamElement->SetAttribute("edgeBoundaryFilterDist", configResult.algorithmParams.detectionParam.edgeBoundaryFilterDist);
    algoParamsElement->InsertEndChild(detectionParamElement);

    // 过滤参数 FilterParam 需要覆盖算法库当前全部过滤字段。
    XMLElement* filterParamElement = doc.NewElement("FilterParam");
    filterParamElement->SetAttribute("maxEccentricity", configResult.algorithmParams.filterParam.maxEccentricity);
    filterParamElement->SetAttribute("minAngularCoverage", configResult.algorithmParams.filterParam.minAngularCoverage);
    filterParamElement->SetAttribute("maxRadiusFitRatio", configResult.algorithmParams.filterParam.maxRadiusFitRatio);
    filterParamElement->SetAttribute("minQualityScore", configResult.algorithmParams.filterParam.minQualityScore);
    filterParamElement->SetAttribute("maxPlaneResidual", configResult.algorithmParams.filterParam.maxPlaneResidual);
    filterParamElement->SetAttribute("maxAngularGap", configResult.algorithmParams.filterParam.maxAngularGap);
    filterParamElement->SetAttribute("minInlierRatio", configResult.algorithmParams.filterParam.minInlierRatio);
    filterParamElement->SetAttribute("minHoleDepth", configResult.algorithmParams.filterParam.minHoleDepth);
    algoParamsElement->InsertEndChild(filterParamElement);

    // 排序模式 sortMode 仍由应用层维护，因此单独保存。
    XMLElement* sortModeElement = doc.NewElement("SortMode");
    sortModeElement->SetAttribute("value", configResult.algorithmParams.sortMode);
    algoParamsElement->InsertEndChild(sortModeElement);

    ConfigXmlUtils::SavePlaneCalibParams(doc, algoParamsElement, configResult.algorithmParams.planeCalibParam);
    ConfigXmlUtils::SaveDebugParam(doc, root, configResult.debugParam);
    ConfigXmlUtils::SaveSerialConfig(doc, root, configResult.serialConfig);
    ConfigXmlUtils::SaveHandEyeCalibMatrixs(doc, root, configResult.handEyeCalibMatrixList);

    // 网络输出配置单独放在根节点下，和算法参数解耦。
    XMLElement* tcpServerConfigElement = doc.NewElement("TcpServerConfig");
    tcpServerConfigElement->SetAttribute("tcpServerPort", configResult.plcRobotServerConfig.tcpServerPort);
    tcpServerConfigElement->SetAttribute("poseOutputOrder", configResult.plcRobotServerConfig.poseOutputOrder);
    tcpServerConfigElement->SetAttribute("dirVectorInvert", configResult.plcRobotServerConfig.dirVectorInvert);
    root->InsertEndChild(tcpServerConfigElement);

    XMLError err = doc.SaveFile(filePath.c_str());
    if (err != XML_SUCCESS)
    {
        std::cerr << "无法保存配置文件: " << filePath << std::endl;
        return false;
    }

    // 保存成功后通知上层刷新运行时配置。
    if (m_pNotify)
    {
        m_pNotify->OnConfigChanged(configResult);
    }

    return true;
}

void CVrConfig::SetConfigChangeNotify(IVrConfigChangeNotify* notify)
{
    m_pNotify = notify;
}

bool IVrConfig::CreateInstance(IVrConfig** ppVrConfig)
{
    *ppVrConfig = new CVrConfig();
    return *ppVrConfig != nullptr;
}