#ifndef IVRCONFIG_H
#define IVRCONFIG_H

#include <cstdint>
#include <iostream>
#include <string>
#include <vector>

#include <QString>

#include "VrCommonConfig.h"
#include "VrHandEyeCalibConfig.h"

struct VrScrewParam
{
    double rodDiameter = 10.0;
    bool isHorizonScan = true;
};

struct VrCornerParam
{
    double minEndingGap = 20.0;
    double minEndingGap_z = 5.0;
    double scale = 2.5;
    double cornerTh = 30.0;
    double jumpCornerTh_1 = 15.0;
    double jumpCornerTh_2 = 60.0;
};

struct VrOutlierFilterParam
{
    double continuityTh = 20.0;
    double outlierTh = 5.0;
};

struct VrTreeGrowParam
{
    double yDeviation_max = 5.0;
    double zDeviation_max = 50.0;
    int maxLineSkipNum = 10;
    double maxSkipDistance = 30.0;
    double minLTypeTreeLen = 50.0;
    double minVTypeTreeLen = 50.0;
};

struct VrAlgorithmParams
{
    VrScrewParam screwParam;
    VrCornerParam cornerParam;
    VrOutlierFilterParam filterParam;
    VrTreeGrowParam growParam;
    // 多相机平面校准：在 ScrewPosition 中作为「相机级」共享配置，
    // 不随检测对象切换，因此不属于 VrDetectionConfigSet。
    VrPlaneCalibParam planeCalibParam;
};

// 检测对象类型：螺杆 / 工具盘
enum DetectionType {
    DETECTION_TYPE_SCREW = 1,
    DETECTION_TYPE_TOOL_DISK = 2
};

/**
 * @brief 单个 (相机, 检测对象) 组合的完整配置
 *
 * 每台相机对每种检测对象都有独立的手眼矩阵与算法参数。
 * 双相机 × 两种对象 = 4 个 set。
 *
 * 注意：handEyeMatrix.cameraIndex 应与外层 cameraIndex 保持一致；
 * algorithmParams.planeCalibParam 在本结构中不使用——平面校准是相机级共享配置，
 * 统一存放在 ConfigResult::algorithmParams.planeCalibParam 中。
 */
struct VrDetectionConfigSet
{
    int cameraIndex = 1;
    DetectionType detectionType = DETECTION_TYPE_SCREW;
    VrHandEyeCalibMatrix handEyeMatrix;
    VrAlgorithmParams algorithmParams;
};

struct ConfigResult
{
    std::vector<DeviceInfo> cameraList;
    VrDebugParam debugParam;
    SerialConfig serialConfig;
    uint16_t tcpPort = 7800;
    int poseOutputOrder = 0;
    int byteOrder = 0;

    // 共享算法参数：仅 planeCalibParam 字段在此结构中被使用，
    // 其余 (screw/corner/filter/grow) 字段保留以兼容 BaseConfigManager 头文件中的
    // GetAlgorithmParams()/UpdateAlgorithmParams() 接口，对 ScrewPosition 实际无效。
    VrAlgorithmParams algorithmParams;

    // 4 套 (相机, 对象) 配置——本应用检测时使用的真实数据源
    std::vector<VrDetectionConfigSet> detectionConfigList;

    // —— 辅助查询 ——
    const VrDetectionConfigSet* FindDetectionConfig(int cameraIndex, DetectionType type) const
    {
        for (const auto& item : detectionConfigList) {
            if (item.cameraIndex == cameraIndex && item.detectionType == type) {
                return &item;
            }
        }
        return nullptr;
    }

    VrDetectionConfigSet* FindDetectionConfig(int cameraIndex, DetectionType type)
    {
        for (auto& item : detectionConfigList) {
            if (item.cameraIndex == cameraIndex && item.detectionType == type) {
                return &item;
            }
        }
        return nullptr;
    }

    // 确保存在某 (camera, type) 槽位，不存在则插入默认值
    VrDetectionConfigSet& EnsureDetectionConfig(int cameraIndex, DetectionType type)
    {
        if (auto* p = FindDetectionConfig(cameraIndex, type)) {
            return *p;
        }
        VrDetectionConfigSet item;
        item.cameraIndex = cameraIndex;
        item.detectionType = type;
        item.handEyeMatrix.cameraIndex = cameraIndex;
        detectionConfigList.push_back(item);
        return detectionConfigList.back();
    }

    ConfigResult& operator=(const ConfigResult& other)
    {
        if (this != &other) {
            cameraList = other.cameraList;
            debugParam = other.debugParam;
            serialConfig = other.serialConfig;
            tcpPort = other.tcpPort;
            poseOutputOrder = other.poseOutputOrder;
            byteOrder = other.byteOrder;
            algorithmParams = other.algorithmParams;
            detectionConfigList = other.detectionConfigList;
        }
        return *this;
    }

    ConfigResult(const ConfigResult& other)
        : cameraList(other.cameraList)
        , debugParam(other.debugParam)
        , serialConfig(other.serialConfig)
        , tcpPort(other.tcpPort)
        , poseOutputOrder(other.poseOutputOrder)
        , byteOrder(other.byteOrder)
        , algorithmParams(other.algorithmParams)
        , detectionConfigList(other.detectionConfigList)
    {
    }

    ConfigResult() = default;
};

enum LoadConfigErrorCode
{
    LOAD_CONFIG_SUCCESS = 0,
    LOAD_CONFIG_FILE_NOT_FOUND = -1,
    LOAD_CONFIG_PARSE_ERROR = -2,
    LOAD_CONFIG_INVALID_FORMAT = -3,
    LOAD_CONFIG_UNKNOWN_ERROR = -99
};

class IVrConfig
{
public:
    virtual ~IVrConfig() {}

    static bool CreateInstance(IVrConfig** ppVrConfig);

    virtual int LoadConfig(const std::string& filePath, ConfigResult& configResult) = 0;
    virtual bool SaveConfig(const std::string& filePath, ConfigResult& configResult) = 0;
    virtual void SetConfigChangeNotify(IVrConfigChangeNotify* notify) = 0;
};

struct ScrewDetectOutput {
    double x = 0.0;
    double y = 0.0;
    double z = 0.0;
    double roll = 0.0;
    double pitch = 0.0;
    double yaw = 0.0;
};

struct ToolDiskDetectOutput {
    double x = 0.0;
    double y = 0.0;
    double z = 0.0;
    double roll = 0.0;
    double pitch = 0.0;
    double yaw = 0.0;
};

struct ProtocolDetectionOutput {
    DetectionType type = DETECTION_TYPE_SCREW;
    bool success = true;
    int errorCode = 0;
    QString message;
    int cameraIndex = 0;
    qint64 timestamp = 0;
    std::vector<ScrewDetectOutput> screwOutputs;
    std::vector<ToolDiskDetectOutput> toolDiskOutputs;
};

#endif // IVRCONFIG_H