#include "HandEyeCalibWidget.h"
#include "ui_HandEyeCalibWidget.h"

#include <QFileDialog>
#include <QFont>
#include <QList>
#include <QSettings>
#include <QVariant>
#include <cstring>

HandEyeCalibWidget::HandEyeCalibWidget(QWidget *parent)
    : QWidget(parent)
    , ui(new Ui::HandEyeCalibWidget)
    , m_comboCamera(nullptr)
    , m_labelStatus(nullptr)
    , m_btnLoad(nullptr)
    , m_btnSave(nullptr)
    , m_matrixEditable(false)
{
    memset(m_matrixEdits, 0, sizeof(m_matrixEdits));
    setupUI();
}

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

void HandEyeCalibWidget::setCameraList(const QVector<HandEyeCalibCameraInfo>& cameras)
{
    m_comboCamera->blockSignals(true);
    m_comboCamera->clear();

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

    m_comboCamera->blockSignals(false);

    if (cameras.isEmpty()) {
        onCameraSelectionChanged(-1);
    } else {
        m_comboCamera->setCurrentIndex(0);
        onCameraSelectionChanged(0);
    }
}

void HandEyeCalibWidget::setCalibData(int cameraIndex, const double matrix[16], bool isCalibrated)
{
    HandEyeCalibData& data = ensureCalibData(cameraIndex);
    memcpy(data.matrix, matrix, sizeof(double) * 16);
    data.isCalibrated = isCalibrated;

    if (currentCameraIndex() == cameraIndex) {
        if (isCalibrated) {
            displayMatrix(matrix);
            updateCalibStatus(true);
        } else {
            displayIdentityMatrix();
            updateCalibStatus(false);
        }
    }
}

void HandEyeCalibWidget::setExtrinsicData(int cameraIndex, int eulerOrder,
                                          double rotX, double rotY, double rotZ)
{
    HandEyeCalibData& data = ensureCalibData(cameraIndex);
    data.eulerOrder = eulerOrder;
    data.rotX = rotX;
    data.rotY = rotY;
    data.rotZ = rotZ;
}

void HandEyeCalibWidget::setExtrinsicData(int cameraIndex, int eulerOrder,
                                          double rotX, double rotY, double rotZ,
                                          double approachOffset)
{
    HandEyeCalibData& data = ensureCalibData(cameraIndex);
    data.eulerOrder = eulerOrder;
    data.rotX = rotX;
    data.rotY = rotY;
    data.rotZ = rotZ;
    data.approachOffset = approachOffset;
}

void HandEyeCalibWidget::setExtrinsicData(int cameraIndex, int eulerOrder,
                                          double rotX, double rotY, double rotZ,
                                          double approachOffset,
                                          double offsetX, double offsetY, double offsetZ)
{
    HandEyeCalibData& data = ensureCalibData(cameraIndex);
    data.eulerOrder = eulerOrder;
    data.rotX = rotX;
    data.rotY = rotY;
    data.rotZ = rotZ;
    data.approachOffset = approachOffset;
    data.offsetX = offsetX;
    data.offsetY = offsetY;
    data.offsetZ = offsetZ;
}

bool HandEyeCalibWidget::getCalibData(int cameraIndex, double outMatrix[16], bool& outIsCalibrated) const
{
    if (m_matrixEditable && currentCameraIndex() == cameraIndex) {
        double uiMatrix[16];
        if (readMatrixFromUI(uiMatrix)) {
            memcpy(outMatrix, uiMatrix, sizeof(double) * 16);
            outIsCalibrated = true;
            return true;
        }
    }

    const HandEyeCalibData* data = findCalibData(cameraIndex);
    if (!data) {
        return false;
    }

    memcpy(outMatrix, data->matrix, sizeof(double) * 16);
    outIsCalibrated = data->isCalibrated;
    return true;
}

bool HandEyeCalibWidget::getExtrinsicData(int cameraIndex, int& outEulerOrder,
                                          double& outRotX, double& outRotY, double& outRotZ) const
{
    const HandEyeCalibData* data = findCalibData(cameraIndex);
    if (!data) {
        return false;
    }

    outEulerOrder = data->eulerOrder;
    outRotX = data->rotX;
    outRotY = data->rotY;
    outRotZ = data->rotZ;
    return true;
}

bool HandEyeCalibWidget::getExtrinsicData(int cameraIndex, int& outEulerOrder,
                                          double& outRotX, double& outRotY, double& outRotZ,
                                          double& outApproachOffset) const
{
    if (!getExtrinsicData(cameraIndex, outEulerOrder, outRotX, outRotY, outRotZ)) {
        return false;
    }

    const HandEyeCalibData* data = findCalibData(cameraIndex);
    outApproachOffset = data ? data->approachOffset : 0.0;
    return true;
}

bool HandEyeCalibWidget::getExtrinsicData(int cameraIndex, int& outEulerOrder,
                                          double& outRotX, double& outRotY, double& outRotZ,
                                          double& outApproachOffset,
                                          double& outOffsetX, double& outOffsetY, double& outOffsetZ) const
{
    if (!getExtrinsicData(cameraIndex, outEulerOrder, outRotX, outRotY, outRotZ, outApproachOffset)) {
        return false;
    }

    const HandEyeCalibData* data = findCalibData(cameraIndex);
    if (data) {
        outOffsetX = data->offsetX;
        outOffsetY = data->offsetY;
        outOffsetZ = data->offsetZ;
    } else {
        outOffsetX = outOffsetY = outOffsetZ = 0.0;
    }
    return true;
}

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

void HandEyeCalibWidget::setDefaultFilePath(const QString& path)
{
    m_defaultFilePath = path;
}

void HandEyeCalibWidget::setMatrixEditable(bool editable)
{
    m_matrixEditable = editable;
    for (int r = 0; r < 4; ++r) {
        for (int c = 0; c < 4; ++c) {
            if (m_matrixEdits[r][c]) {
                m_matrixEdits[r][c]->setReadOnly(!editable);
            }
        }
    }
}

void HandEyeCalibWidget::setExtrinsicControlsVisible(bool visible)
{
    Q_UNUSED(visible);
}

void HandEyeCalibWidget::setApproachOffsetVisible(bool visible)
{
    Q_UNUSED(visible);
}

void HandEyeCalibWidget::setTargetOffsetVisible(bool visible)
{
    Q_UNUSED(visible);
}

void HandEyeCalibWidget::onCameraSelectionChanged(int index)
{
    if (index < 0 || !m_comboCamera || m_comboCamera->count() == 0) {
        m_btnLoad->setEnabled(false);
        m_btnSave->setEnabled(false);
        displayIdentityMatrix();
        updateCalibStatus(false);
        return;
    }

    m_btnLoad->setEnabled(true);
    m_btnSave->setEnabled(true);

    int camIdx = m_comboCamera->itemData(index).toInt();
    const HandEyeCalibData* data = findCalibData(camIdx);
    if (data && data->isCalibrated) {
        displayMatrix(data->matrix);
        updateCalibStatus(true);
    } else {
        displayIdentityMatrix();
        updateCalibStatus(false);
    }

}

void HandEyeCalibWidget::onLoadCalibMatrixClicked()
{
    int camIdx = currentCameraIndex();
    if (camIdx < 0) {
        return;
    }

    QString fileName = QFileDialog::getOpenFileName(this,
        QStringLiteral("选择手眼标定矩阵文件"),
        m_defaultFilePath,
        QStringLiteral("INI Files (*.ini);;All Files (*)"));

    if (fileName.isEmpty()) {
        return;
    }

    QSettings settings(fileName, QSettings::IniFormat);
    settings.setIniCodec("UTF-8");
    settings.beginGroup("CalibMatrixInfo_0");

    double matrix[16];
    for (int i = 0; i < 16; ++i) {
        int row = i / 4;
        int col = i % 4;
        double defaultVal = (row == col) ? 1.0 : 0.0;
        matrix[i] = settings.value(QString("dCalibMatrix_%1").arg(i), defaultVal).toDouble();
    }
    settings.endGroup();

    setCalibData(camIdx, matrix, true);
    emit calibMatrixLoaded(camIdx, matrix);
}

void HandEyeCalibWidget::onSaveCalibMatrixClicked()
{
    int camIdx = currentCameraIndex();
    if (camIdx < 0) {
        return;
    }

    if (m_matrixEditable) {
        double uiMatrix[16];
        if (readMatrixFromUI(uiMatrix)) {
            setCalibData(camIdx, uiMatrix, true);
        }
    }

    const HandEyeCalibData* data = findCalibData(camIdx);
    if (data && data->isCalibrated) {
        emit saveCalibRequested(camIdx, data->matrix);
    }
}

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

    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); }"
        "QPushButton { color: rgb(221, 225, 233); border: none; border-radius: 4px; padding: 8px 16px; }"
        "QPushButton#btnLoad { background-color: rgb(60, 120, 180); }"
        "QPushButton#btnLoad:hover { background-color: rgb(80, 140, 200); }"
        "QPushButton#btnLoad:pressed { background-color: rgb(40, 100, 160); }"
        "QPushButton#btnSave { background-color: rgb(60, 150, 80); }"
        "QPushButton#btnSave:hover { background-color: rgb(80, 170, 100); }"
        "QPushButton#btnSave:pressed { background-color: rgb(40, 130, 60); }"
        "QPushButton:disabled { background-color: rgb(80, 80, 80); color: rgb(120, 120, 120); }"
        "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; }");

    QFont controlFont;
    controlFont.setPointSize(16);
    const QList<QWidget*> widgets = findChildren<QWidget*>();
    for (QWidget* widget : widgets) {
        widget->setFont(controlFont);
    }

    QFont matrixFont;
    matrixFont.setPointSize(16);

    m_comboCamera = ui->comboCamera;
    m_labelStatus = ui->labelStatus;
    m_btnLoad = ui->btnLoad;
    m_btnSave = ui->btnSave;

    m_matrixEdits[0][0] = ui->editMatrix00;
    m_matrixEdits[0][1] = ui->editMatrix01;
    m_matrixEdits[0][2] = ui->editMatrix02;
    m_matrixEdits[0][3] = ui->editMatrix03;
    m_matrixEdits[1][0] = ui->editMatrix10;
    m_matrixEdits[1][1] = ui->editMatrix11;
    m_matrixEdits[1][2] = ui->editMatrix12;
    m_matrixEdits[1][3] = ui->editMatrix13;
    m_matrixEdits[2][0] = ui->editMatrix20;
    m_matrixEdits[2][1] = ui->editMatrix21;
    m_matrixEdits[2][2] = ui->editMatrix22;
    m_matrixEdits[2][3] = ui->editMatrix23;
    m_matrixEdits[3][0] = ui->editMatrix30;
    m_matrixEdits[3][1] = ui->editMatrix31;
    m_matrixEdits[3][2] = ui->editMatrix32;
    m_matrixEdits[3][3] = ui->editMatrix33;

    for (int r = 0; r < 4; ++r) {
        for (int c = 0; c < 4; ++c) {
            m_matrixEdits[r][c]->setFont(matrixFont);
            m_matrixEdits[r][c]->setReadOnly(true);
        }
    }

    QFont btnFont;
    btnFont.setPointSize(16);
    btnFont.setBold(true);
    m_btnLoad->setFont(btnFont);
    m_btnSave->setFont(btnFont);
    m_btnLoad->setEnabled(false);
    m_btnSave->setEnabled(false);

    updateCalibStatus(false);
    displayIdentityMatrix();

    connect(m_comboCamera, static_cast<void(QComboBox::*)(int)>(&QComboBox::currentIndexChanged),
            this, &HandEyeCalibWidget::onCameraSelectionChanged);
    connect(m_btnLoad, &QPushButton::clicked,
            this, &HandEyeCalibWidget::onLoadCalibMatrixClicked);
    connect(m_btnSave, &QPushButton::clicked,
            this, &HandEyeCalibWidget::onSaveCalibMatrixClicked);
}

void HandEyeCalibWidget::displayMatrix(const double* matrix)
{
    if (!matrix) return;

    for (int r = 0; r < 4; ++r) {
        for (int c = 0; c < 4; ++c) {
            m_matrixEdits[r][c]->setText(QString::number(matrix[r * 4 + c], 'f', 6));
        }
    }
}

void HandEyeCalibWidget::clearMatrix()
{
    for (int r = 0; r < 4; ++r) {
        for (int c = 0; c < 4; ++c) {
            m_matrixEdits[r][c]->clear();
        }
    }
}

void HandEyeCalibWidget::displayIdentityMatrix()
{
    static const double identity[16] = {
        1.0, 0.0, 0.0, 0.0,
        0.0, 1.0, 0.0, 0.0,
        0.0, 0.0, 1.0, 0.0,
        0.0, 0.0, 0.0, 1.0
    };
    displayMatrix(identity);
}

void HandEyeCalibWidget::updateCalibStatus(bool isCalibrated)
{
    if (isCalibrated) {
        m_labelStatus->setText(QStringLiteral("标定状态: 已标定"));
        m_labelStatus->setStyleSheet("color: rgb(100, 200, 100); padding: 4px 0;");
    } else {
        m_labelStatus->setText(QStringLiteral("标定状态: 未标定"));
        m_labelStatus->setStyleSheet("color: rgb(180, 180, 180); padding: 4px 0;");
    }
}

bool HandEyeCalibWidget::readMatrixFromUI(double outMatrix[16]) const
{
    for (int r = 0; r < 4; ++r) {
        for (int c = 0; c < 4; ++c) {
            if (!m_matrixEdits[r][c]) return false;
            QString text = m_matrixEdits[r][c]->text().trimmed();
            if (text.isEmpty()) return false;
            bool ok = false;
            outMatrix[r * 4 + c] = text.toDouble(&ok);
            if (!ok) return false;
        }
    }
    return true;
}

HandEyeCalibData* HandEyeCalibWidget::findCalibData(int cameraIndex)
{
    for (int i = 0; i < m_calibDataCache.size(); ++i) {
        if (m_calibDataCache[i].cameraIndex == cameraIndex) {
            return &m_calibDataCache[i];
        }
    }
    return nullptr;
}

const HandEyeCalibData* HandEyeCalibWidget::findCalibData(int cameraIndex) const
{
    for (int i = 0; i < m_calibDataCache.size(); ++i) {
        if (m_calibDataCache[i].cameraIndex == cameraIndex) {
            return &m_calibDataCache[i];
        }
    }
    return nullptr;
}

HandEyeCalibData& HandEyeCalibWidget::ensureCalibData(int cameraIndex)
{
    HandEyeCalibData* existing = findCalibData(cameraIndex);
    if (existing) {
        return *existing;
    }

    HandEyeCalibData newData;
    newData.cameraIndex = cameraIndex;
    m_calibDataCache.append(newData);
    return m_calibDataCache.last();
}