#ifndef NETWORKCONFIGWIDGET_H
#define NETWORKCONFIGWIDGET_H

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

namespace Ui {
class NetworkConfigWidget;
}

struct NetworkConfigData
{
    int eulerOrder = 11;
    int outputEulerOrder = 10;  // 输出欧拉角解码约定（仅影响旋转矩阵 → 欧拉角的展示/下发，不影响坐标转换）
    int poseOutputOrder = 0;    // 机器人姿态输入/输出顺序
    int dirVectorInvert = 0;    // 兼容旧接口，界面不再提供配置
    int byteOrder = 0;
    int longAxisDir = 0;        // 兼容旧接口，界面不再提供配置

    QString plcServerIp = "192.168.0.88";
    int plcServerPort = 502;
    int addrPhotoRequest = 1001;
    int addrDataComplete = 1003;
    int addrCoordDataStart = 2002;

    int tcpServerPort = 5020;
};

enum NetworkEulerOrder
{
    EULER_ORDER_XYZ = 10,
    EULER_ORDER_ZYX = 11,
    EULER_ORDER_ZXY = 12,
    EULER_ORDER_YXZ = 13,
    EULER_ORDER_YZX = 14,
    EULER_ORDER_XZY = 15
};

enum NetworkPoseOutputOrder
{
    NET_POSE_OUTPUT_RX_RY_RZ = 0,
    NET_POSE_OUTPUT_RX_RZ_RY = 1,
    NET_POSE_OUTPUT_RY_RX_RZ = 2,
    NET_POSE_OUTPUT_RY_RZ_RX = 3,
    NET_POSE_OUTPUT_RZ_RX_RY = 4,
    NET_POSE_OUTPUT_RZ_RY_RX = 5
};

enum NetworkDirVectorInvert
{
    NET_DIR_INVERT_NONE = 0,
    NET_DIR_INVERT_XY   = 1,
    NET_DIR_INVERT_XZ   = 2,
    NET_DIR_INVERT_YZ   = 3
};

enum NetworkByteOrder
{
    NET_BYTE_ORDER_BIG    = 0,
    NET_BYTE_ORDER_LITTLE = 1
};

class NetworkConfigWidget : public QWidget
{
    Q_OBJECT

public:
    explicit NetworkConfigWidget(bool showPlcConfig = true,
                                 bool showTcpConfig = false,
                                 QWidget* parent = nullptr);
    ~NetworkConfigWidget();

    void setConfig(const NetworkConfigData& config);
    NetworkConfigData getConfig() const;

    int eulerOrder() const;
    int outputEulerOrder() const;
    int poseOutputOrder() const;
    int dirVectorInvert() const;
    int byteOrder() const;
    int longAxisDir() const;

    /**
     * @brief 隐藏由工具参数页负责的参数（欧拉角顺序 / 输出欧拉角 / 姿态输入输出顺序）
     *
     * 方向向量调整与长边对应轴已不再提供界面配置，接口保留默认值以兼容旧调用。
     */
    void setExtrinsicControlsVisible(bool visible);

    /**
     * @brief 单独显示/隐藏姿态输入输出顺序。
     */
    void setPoseOutputOrderVisible(bool visible);

private:
    void setupUI(bool showPlcConfig, bool showTcpConfig);
    void initEulerOrderComboBox();
    void initOutputEulerOrderComboBox();
    void initPoseOutputOrderComboBox();
    void initByteOrderComboBox();

private:
    Ui::NetworkConfigWidget* ui = nullptr;

    QComboBox* m_comboEulerOrder = nullptr;
    QComboBox* m_comboOutputEulerOrder = nullptr;
    QComboBox* m_comboPoseOutputOrder = nullptr;
    QComboBox* m_comboByteOrder = nullptr;

    QLabel* m_labelEulerOrder = nullptr;
    QLabel* m_labelOutputEulerOrder = nullptr;
    QLabel* m_labelPoseOutputOrder = nullptr;

    NetworkConfigData m_configCache;

    QGroupBox* m_groupPlc = nullptr;
    QLineEdit* m_editPlcIp = nullptr;
    QLineEdit* m_editPlcPort = nullptr;
    QLineEdit* m_editAddrPhotoRequest = nullptr;
    QLineEdit* m_editAddrDataComplete = nullptr;
    QLineEdit* m_editAddrCoordDataStart = nullptr;

    QGroupBox* m_groupTcp = nullptr;
    QLineEdit* m_editTcpPort = nullptr;
};

#endif // NETWORKCONFIGWIDGET_H