#ifndef TOOLEXTRINSICWIDGET_H
#define TOOLEXTRINSICWIDGET_H

#include <QWidget>
#include <QComboBox>
#include <QGroupBox>
#include <QLabel>
#include <QLineEdit>
#include <QString>
#include <QVector>

namespace Ui {
class ToolExtrinsicWidget;
}

struct ToolExtrinsicCameraInfo
{
    int cameraIndex = 0;
    QString displayName;
};

struct ToolExtrinsicData
{
    int cameraIndex = 0;
    int eulerOrder = 11;
    double rotX = 0.0;
    double rotY = 0.0;
    double rotZ = 0.0;
    double axialAngleMin = -180.0;
    double axialAngleMax = 180.0;
    double offsetX = 0.0;
    double offsetY = 0.0;
    double offsetZ = 0.0;
};

/**
 * @brief 工具外参编辑控件（从 HandEyeCalibWidget 中抽取 m_groupExtrinsic）
 *
 * QWidget + .ui，可嵌入任意 tab/layout。
 * 包含：欧拉角顺序 + 姿态调整 + 目标点偏移。
 */
class ToolExtrinsicWidget : public QWidget
{
    Q_OBJECT

public:
    explicit ToolExtrinsicWidget(QWidget *parent = nullptr);
    ~ToolExtrinsicWidget();

    void setCameraList(const QVector<ToolExtrinsicCameraInfo>& cameras);

    void setData(int eulerOrder,
                 double rotX, double rotY, double rotZ,
                 double offsetX, double offsetY, double offsetZ);

    void setData(int eulerOrder,
                 double rotX, double rotY, double rotZ,
                 double offsetX, double offsetY, double offsetZ,
                 double axialAngleMin, double axialAngleMax);

    void getData(int& eulerOrder,
                 double& rotX, double& rotY, double& rotZ,
                 double& offsetX, double& offsetY, double& offsetZ) const;

    void getData(int& eulerOrder,
                 double& rotX, double& rotY, double& rotZ,
                 double& offsetX, double& offsetY, double& offsetZ,
                 double& axialAngleMin, double& axialAngleMax) const;

    void setData(int cameraIndex,
                 int eulerOrder,
                 double rotX, double rotY, double rotZ,
                 double offsetX, double offsetY, double offsetZ);

    void setData(int cameraIndex,
                 int eulerOrder,
                 double rotX, double rotY, double rotZ,
                 double offsetX, double offsetY, double offsetZ,
                 double axialAngleMin, double axialAngleMax);

    bool getData(int cameraIndex,
                 int& eulerOrder,
                 double& rotX, double& rotY, double& rotZ,
                 double& offsetX, double& offsetY, double& offsetZ) const;

    bool getData(int cameraIndex,
                 int& eulerOrder,
                 double& rotX, double& rotY, double& rotZ,
                 double& offsetX, double& offsetY, double& offsetZ,
                 double& axialAngleMin, double& axialAngleMax) const;

    int currentCameraIndex() const;
    void setTargetOffsetVisible(bool visible);
    void setAxialAngleRangeVisible(bool visible);

private slots:
    void onCameraSelectionChanged(int index);

private:
    void setupUI();
    void initEulerOrderComboBox();
    void loadDataToUi(const ToolExtrinsicData& data);
    void saveCurrentUiToCache();
    ToolExtrinsicData* findData(int cameraIndex);
    const ToolExtrinsicData* findData(int cameraIndex) const;
    ToolExtrinsicData& ensureData(int cameraIndex);

    Ui::ToolExtrinsicWidget* ui = nullptr;

    QGroupBox*   m_groupExtrinsic;
    QComboBox*   m_comboCamera;
    QComboBox*   m_comboEulerOrder;
    QLineEdit*   m_editRotX;
    QLineEdit*   m_editRotY;
    QLineEdit*   m_editRotZ;
    QLabel*      m_labelAxialAngleRange;
    QWidget*     m_widgetAxialAngleRangeRow;
    QLineEdit*   m_editAxialAngleMin;
    QLineEdit*   m_editAxialAngleMax;
    QLabel*      m_labelTargetOffset;
    QWidget*     m_widgetTargetOffsetRow;
    QLineEdit*   m_editOffsetX;
    QLineEdit*   m_editOffsetY;
    QLineEdit*   m_editOffsetZ;
    QVector<ToolExtrinsicData> m_dataCache;
    int         m_currentCameraIndex;
};

#endif // TOOLEXTRINSICWIDGET_H