#include "NetworkConfigWidget.h"
#include "ui_NetworkConfigWidget.h"

#include <QFont>
#include <QList>

NetworkConfigWidget::NetworkConfigWidget(bool showPlcConfig, bool showTcpConfig, QWidget* parent)
    : QWidget(parent)
    , ui(new Ui::NetworkConfigWidget)
{
    setupUI(showPlcConfig, showTcpConfig);
}

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

void NetworkConfigWidget::setupUI(bool showPlcConfig, bool showTcpConfig)
{
    ui->setupUi(this);

    QFont font;
    font.setPointSize(16);

    setStyleSheet(
        "QLabel { color: rgb(221, 225, 233); background-color: transparent; }"
        "QLineEdit, QComboBox { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
        "border: 1px solid rgb(70, 72, 78); padding: 4px; }"
        "QComboBox QAbstractItemView { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
        "selection-background-color: rgb(70, 100, 150); }"
        "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; }");

    const QList<QWidget*> widgets = findChildren<QWidget*>();
    for (QWidget* widget : widgets) {
        widget->setFont(font);
    }

    m_comboEulerOrder = ui->comboEulerOrder;
    m_comboOutputEulerOrder = ui->comboOutputEulerOrder;
    m_comboPoseOutputOrder = ui->comboPoseOutputOrder;
    m_comboByteOrder = ui->comboByteOrder;

    m_labelEulerOrder = ui->labelEulerOrder;
    m_labelOutputEulerOrder = ui->labelOutputEulerOrder;
    m_labelPoseOutputOrder = ui->labelPoseOutputOrder;

    m_groupPlc = ui->groupPlc;
    m_editPlcIp = ui->editPlcIp;
    m_editPlcPort = ui->editPlcPort;
    m_editAddrPhotoRequest = ui->editAddrPhotoRequest;
    m_editAddrDataComplete = ui->editAddrDataComplete;
    m_editAddrCoordDataStart = ui->editAddrCoordDataStart;

    m_groupTcp = ui->groupTcp;
    m_editTcpPort = ui->editTcpPort;

    initEulerOrderComboBox();
    initOutputEulerOrderComboBox();
    initPoseOutputOrderComboBox();
    initByteOrderComboBox();

    m_groupPlc->setVisible(showPlcConfig);
    m_groupTcp->setVisible(showTcpConfig);
}

void NetworkConfigWidget::initEulerOrderComboBox()
{
    m_comboEulerOrder->addItem(QStringLiteral("RZ-RY-RX (外旋ZYX)"), EULER_ORDER_ZYX);
    m_comboEulerOrder->addItem(QStringLiteral("RX-RY-RZ (外旋XYZ)"), EULER_ORDER_XYZ);
    m_comboEulerOrder->addItem(QStringLiteral("RZ-RX-RY (外旋ZXY)"), EULER_ORDER_ZXY);
    m_comboEulerOrder->addItem(QStringLiteral("RY-RX-RZ (外旋YXZ)"), EULER_ORDER_YXZ);
    m_comboEulerOrder->addItem(QStringLiteral("RY-RZ-RX (外旋YZX)"), EULER_ORDER_YZX);
    m_comboEulerOrder->addItem(QStringLiteral("RX-RZ-RY (外旋XZY)"), EULER_ORDER_XZY);
    m_comboEulerOrder->setCurrentIndex(0);
}

void NetworkConfigWidget::initOutputEulerOrderComboBox()
{
    m_comboOutputEulerOrder->addItem(QStringLiteral("RZ-RY-RX (外旋ZYX)"), EULER_ORDER_ZYX);
    m_comboOutputEulerOrder->addItem(QStringLiteral("RX-RY-RZ (外旋XYZ)"), EULER_ORDER_XYZ);
    m_comboOutputEulerOrder->addItem(QStringLiteral("RZ-RX-RY (外旋ZXY)"), EULER_ORDER_ZXY);
    m_comboOutputEulerOrder->addItem(QStringLiteral("RY-RX-RZ (外旋YXZ)"), EULER_ORDER_YXZ);
    m_comboOutputEulerOrder->addItem(QStringLiteral("RY-RZ-RX (外旋YZX)"), EULER_ORDER_YZX);
    m_comboOutputEulerOrder->addItem(QStringLiteral("RX-RZ-RY (外旋XZY)"), EULER_ORDER_XZY);
    m_comboOutputEulerOrder->setCurrentIndex(0);
}

void NetworkConfigWidget::initPoseOutputOrderComboBox()
{
    m_comboPoseOutputOrder->addItem(QStringLiteral("RX-RY-RZ"), NET_POSE_OUTPUT_RX_RY_RZ);
    m_comboPoseOutputOrder->addItem(QStringLiteral("RX-RZ-RY"), NET_POSE_OUTPUT_RX_RZ_RY);
    m_comboPoseOutputOrder->addItem(QStringLiteral("RY-RX-RZ"), NET_POSE_OUTPUT_RY_RX_RZ);
    m_comboPoseOutputOrder->addItem(QStringLiteral("RY-RZ-RX"), NET_POSE_OUTPUT_RY_RZ_RX);
    m_comboPoseOutputOrder->addItem(QStringLiteral("RZ-RX-RY"), NET_POSE_OUTPUT_RZ_RX_RY);
    m_comboPoseOutputOrder->addItem(QStringLiteral("RZ-RY-RX"), NET_POSE_OUTPUT_RZ_RY_RX);
    m_comboPoseOutputOrder->setCurrentIndex(0);
}

void NetworkConfigWidget::initByteOrderComboBox()
{
    m_comboByteOrder->addItem(QStringLiteral("大端序(ABCD)"), NET_BYTE_ORDER_BIG);
    m_comboByteOrder->addItem(QStringLiteral("小端序(DCBA)"), NET_BYTE_ORDER_LITTLE);
    m_comboByteOrder->setCurrentIndex(0);
}

void NetworkConfigWidget::setConfig(const NetworkConfigData& config)
{
    m_configCache = config;

    int idx = m_comboEulerOrder->findData(config.eulerOrder);
    if (idx >= 0) {
        m_comboEulerOrder->setCurrentIndex(idx);
    }

    idx = m_comboOutputEulerOrder->findData(config.outputEulerOrder);
    if (idx >= 0) {
        m_comboOutputEulerOrder->setCurrentIndex(idx);
    }

    idx = m_comboPoseOutputOrder->findData(config.poseOutputOrder);
    if (idx >= 0) {
        m_comboPoseOutputOrder->setCurrentIndex(idx);
    }

    idx = m_comboByteOrder->findData(config.byteOrder);
    if (idx >= 0) {
        m_comboByteOrder->setCurrentIndex(idx);
    }

    if (m_editPlcIp) {
        m_editPlcIp->setText(config.plcServerIp);
    }
    if (m_editPlcPort) {
        m_editPlcPort->setText(QString::number(config.plcServerPort));
    }
    if (m_editAddrPhotoRequest) {
        m_editAddrPhotoRequest->setText(QString::number(config.addrPhotoRequest));
    }
    if (m_editAddrDataComplete) {
        m_editAddrDataComplete->setText(QString::number(config.addrDataComplete));
    }
    if (m_editAddrCoordDataStart) {
        m_editAddrCoordDataStart->setText(QString::number(config.addrCoordDataStart));
    }
    if (m_editTcpPort) {
        m_editTcpPort->setText(QString::number(config.tcpServerPort));
    }
}

NetworkConfigData NetworkConfigWidget::getConfig() const
{
    NetworkConfigData config = m_configCache;
    config.eulerOrder = m_comboEulerOrder->currentData().toInt();
    config.outputEulerOrder = m_comboOutputEulerOrder->currentData().toInt();
    config.poseOutputOrder = m_comboPoseOutputOrder->currentData().toInt();
    config.byteOrder = m_comboByteOrder->currentData().toInt();

    if (m_editPlcIp) {
        config.plcServerIp = m_editPlcIp->text().trimmed();
    }
    if (m_editPlcPort) {
        config.plcServerPort = m_editPlcPort->text().toInt();
    }
    if (m_editAddrPhotoRequest) {
        config.addrPhotoRequest = m_editAddrPhotoRequest->text().toInt();
    }
    if (m_editAddrDataComplete) {
        config.addrDataComplete = m_editAddrDataComplete->text().toInt();
    }
    if (m_editAddrCoordDataStart) {
        config.addrCoordDataStart = m_editAddrCoordDataStart->text().toInt();
    }
    if (m_editTcpPort) {
        config.tcpServerPort = m_editTcpPort->text().toInt();
    }

    return config;
}

int NetworkConfigWidget::eulerOrder() const
{
    return m_comboEulerOrder->currentData().toInt();
}

int NetworkConfigWidget::outputEulerOrder() const
{
    return m_comboOutputEulerOrder->currentData().toInt();
}

int NetworkConfigWidget::poseOutputOrder() const
{
    return m_comboPoseOutputOrder->currentData().toInt();
}

int NetworkConfigWidget::dirVectorInvert() const
{
    return m_configCache.dirVectorInvert;
}

int NetworkConfigWidget::byteOrder() const
{
    return m_comboByteOrder->currentData().toInt();
}

int NetworkConfigWidget::longAxisDir() const
{
    return m_configCache.longAxisDir;
}

void NetworkConfigWidget::setExtrinsicControlsVisible(bool visible)
{
    auto applyVisibility = [visible](QWidget* w) {
        if (w) w->setVisible(visible);
    };

    applyVisibility(m_labelEulerOrder);
    applyVisibility(m_comboEulerOrder);
    applyVisibility(m_labelOutputEulerOrder);
    applyVisibility(m_comboOutputEulerOrder);
    applyVisibility(m_labelPoseOutputOrder);
    applyVisibility(m_comboPoseOutputOrder);
}

void NetworkConfigWidget::setPoseOutputOrderVisible(bool visible)
{
    if (m_labelPoseOutputOrder) {
        m_labelPoseOutputOrder->setVisible(visible);
    }
    if (m_comboPoseOutputOrder) {
        m_comboPoseOutputOrder->setVisible(visible);
    }
}