#include "VrConfig.h"
#include <iostream>
#include <vector>
#include <string>

#include "VrLog.h"
#include "ConfigXmlUtils.h"

using namespace tinyxml2;

CVrConfig::CVrConfig() : m_pNotify(nullptr)
{
}

CVrConfig::~CVrConfig()
{
    // 析构函数
}

int CVrConfig::LoadConfig(const std::string& filePath, ConfigResult& configResult)
{
    // 使用tinyxml2库加载XML文件
    XMLDocument doc;
    XMLError err = doc.LoadFile(filePath.c_str());
    if (err != XML_SUCCESS)
    {
        LOG_ERR("open config file failed: %s\n", filePath.c_str());
        return LOAD_CONFIG_FILE_NOT_FOUND;
    }

    // 获取根元素
    XMLElement* root = doc.RootElement();
    if (!root || std::string(root->Name()) != "HoleDetectionConfig")
    {
        std::cerr << "config file format error: root element is not HoleDetectionConfig" << std::endl;
        return LOAD_CONFIG_INVALID_FORMAT;
    }

    // 解析摄像头列表
    ConfigXmlUtils::LoadCameraList(root, configResult.cameraList);

    // 解析设备列表
    XMLElement* devicesElement = root->FirstChildElement("Devices");
    if (devicesElement)
    {
        XMLElement* deviceElement = devicesElement->FirstChildElement("Device");
        while (deviceElement)
        {
            DeviceInfo device;
            if (deviceElement->Attribute("name"))
                device.name = deviceElement->Attribute("name");

            if (deviceElement->Attribute("ip"))
                device.ip = deviceElement->Attribute("ip");

            configResult.deviceList.push_back(device);
            deviceElement = deviceElement->NextSiblingElement("Device");
        }
    }

    // 解析算法参数
    XMLElement* algoParamsElement = root->FirstChildElement("AlgorithmParams");
    if (algoParamsElement)
    {
        // 解析孔洞检测参数（14个）
        XMLElement* detectionParamElement = algoParamsElement->FirstChildElement("DetectionParam");
        if (detectionParamElement)
        {
            if (detectionParamElement->Attribute("neighborCount"))
                configResult.algorithmParams.detectionParam.neighborCount = detectionParamElement->IntAttribute("neighborCount");
            if (detectionParamElement->Attribute("angleThresholdPos"))
                configResult.algorithmParams.detectionParam.angleThresholdPos = detectionParamElement->DoubleAttribute("angleThresholdPos");
            if (detectionParamElement->Attribute("angleThresholdNeg"))
                configResult.algorithmParams.detectionParam.angleThresholdNeg = detectionParamElement->DoubleAttribute("angleThresholdNeg");
            if (detectionParamElement->Attribute("minPitDepth"))
                configResult.algorithmParams.detectionParam.minPitDepth = detectionParamElement->DoubleAttribute("minPitDepth");
            if (detectionParamElement->Attribute("minRadius"))
                configResult.algorithmParams.detectionParam.minRadius = detectionParamElement->DoubleAttribute("minRadius");
            if (detectionParamElement->Attribute("maxRadius"))
                configResult.algorithmParams.detectionParam.maxRadius = detectionParamElement->DoubleAttribute("maxRadius");
            if (detectionParamElement->Attribute("expansionSize1"))
                configResult.algorithmParams.detectionParam.expansionSize1 = detectionParamElement->IntAttribute("expansionSize1");
            if (detectionParamElement->Attribute("expansionSize2"))
                configResult.algorithmParams.detectionParam.expansionSize2 = detectionParamElement->IntAttribute("expansionSize2");
            if (detectionParamElement->Attribute("minVTransitionPoints"))
                configResult.algorithmParams.detectionParam.minVTransitionPoints = detectionParamElement->IntAttribute("minVTransitionPoints");
        }

        // 解析孔洞过滤参数
        XMLElement* filterParamElement = algoParamsElement->FirstChildElement("FilterParam");
        if (filterParamElement)
        {
            if (filterParamElement->Attribute("maxEccentricity"))
                configResult.algorithmParams.filterParam.maxEccentricity = filterParamElement->DoubleAttribute("maxEccentricity");
            if (filterParamElement->Attribute("minAngularCoverage"))
                configResult.algorithmParams.filterParam.minAngularCoverage = filterParamElement->DoubleAttribute("minAngularCoverage");
            if (filterParamElement->Attribute("maxRadiusFitRatio"))
                configResult.algorithmParams.filterParam.maxRadiusFitRatio = filterParamElement->DoubleAttribute("maxRadiusFitRatio");
            if (filterParamElement->Attribute("minQualityScore"))
                configResult.algorithmParams.filterParam.minQualityScore = filterParamElement->DoubleAttribute("minQualityScore");
            if (filterParamElement->Attribute("maxPlaneResidual"))
                configResult.algorithmParams.filterParam.maxPlaneResidual = filterParamElement->DoubleAttribute("maxPlaneResidual");
            if (filterParamElement->Attribute("maxAngularGap"))
                configResult.algorithmParams.filterParam.maxAngularGap = filterParamElement->DoubleAttribute("maxAngularGap");
            if (filterParamElement->Attribute("minInlierRatio"))
                configResult.algorithmParams.filterParam.minInlierRatio = filterParamElement->DoubleAttribute("minInlierRatio");
        }

        // 解析排序模式
        XMLElement* sortModeElement = algoParamsElement->FirstChildElement("SortMode");
        if (sortModeElement)
        {
            if (sortModeElement->Attribute("value"))
                configResult.algorithmParams.sortMode = sortModeElement->IntAttribute("value");
        }

        // 解析多相机平面校准参数
        ConfigXmlUtils::LoadPlaneCalibParams(algoParamsElement, configResult.algorithmParams.planeCalibParam);
    }

    // 解析调试参数
    ConfigXmlUtils::LoadDebugParam(root, configResult.debugParam);

    // 解析串口配置
    ConfigXmlUtils::LoadSerialConfig(root, configResult.serialConfig);

    // 解析手眼标定矩阵列表（支持多相机）
    ConfigXmlUtils::LoadHandEyeCalibMatrixs(root, configResult.handEyeCalibMatrixList);

    // 解析TCP服务端配置
    XMLElement* tcpServerConfigElement = root->FirstChildElement("TcpServerConfig");
    if (tcpServerConfigElement)
    {
        // 解析TCP协议端口
        if (tcpServerConfigElement->Attribute("tcpServerPort"))
            configResult.plcRobotServerConfig.tcpServerPort = tcpServerConfigElement->IntAttribute("tcpServerPort");
        else
            configResult.plcRobotServerConfig.tcpServerPort = 7800;  // 默认7800

        // 解析姿态输出顺序配置
        if (tcpServerConfigElement->Attribute("poseOutputOrder"))
            configResult.plcRobotServerConfig.poseOutputOrder = tcpServerConfigElement->IntAttribute("poseOutputOrder");
        else
            configResult.plcRobotServerConfig.poseOutputOrder = POSE_ORDER_RPY;  // 默认RPY

        // 解析方向向量反向配置
        if (tcpServerConfigElement->Attribute("dirVectorInvert"))
            configResult.plcRobotServerConfig.dirVectorInvert = tcpServerConfigElement->IntAttribute("dirVectorInvert");
        else
            configResult.plcRobotServerConfig.dirVectorInvert = DIR_INVERT_YZ;  // 默认YZ反向
    }

    return LOAD_CONFIG_SUCCESS;
}

bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResult)
{
    // 创建XML文档
    XMLDocument doc;

    // 添加声明
    XMLDeclaration* declaration = doc.NewDeclaration("xml version=\"1.0\" encoding=\"UTF-8\"");
    doc.InsertFirstChild(declaration);

    // 创建根元素
    XMLElement* root = doc.NewElement("HoleDetectionConfig");
    doc.InsertEndChild(root);

    // 添加摄像头列表
    ConfigXmlUtils::SaveCameraList(doc, root, configResult.cameraList);

    // 添加设备列表
    XMLElement* devicesElement = doc.NewElement("Devices");
    root->InsertEndChild(devicesElement);

    for (const auto& device : configResult.deviceList)
    {
        XMLElement* deviceElement = doc.NewElement("Device");
        deviceElement->SetAttribute("name", device.name.c_str());
        deviceElement->SetAttribute("ip", device.ip.c_str());
        devicesElement->InsertEndChild(deviceElement);
    }

    // 添加算法参数
    XMLElement* algoParamsElement = doc.NewElement("AlgorithmParams");
    root->InsertEndChild(algoParamsElement);

    // 添加孔洞检测参数
    XMLElement* detectionParamElement = doc.NewElement("DetectionParam");
    detectionParamElement->SetAttribute("neighborCount", configResult.algorithmParams.detectionParam.neighborCount);
    detectionParamElement->SetAttribute("angleThresholdPos", configResult.algorithmParams.detectionParam.angleThresholdPos);
    detectionParamElement->SetAttribute("angleThresholdNeg", configResult.algorithmParams.detectionParam.angleThresholdNeg);
    detectionParamElement->SetAttribute("minPitDepth", configResult.algorithmParams.detectionParam.minPitDepth);
    detectionParamElement->SetAttribute("minRadius", configResult.algorithmParams.detectionParam.minRadius);
    detectionParamElement->SetAttribute("maxRadius", configResult.algorithmParams.detectionParam.maxRadius);
    detectionParamElement->SetAttribute("expansionSize1", configResult.algorithmParams.detectionParam.expansionSize1);
    detectionParamElement->SetAttribute("expansionSize2", configResult.algorithmParams.detectionParam.expansionSize2);
    detectionParamElement->SetAttribute("minVTransitionPoints", configResult.algorithmParams.detectionParam.minVTransitionPoints);
    algoParamsElement->InsertEndChild(detectionParamElement);

    // 添加孔洞过滤参数
    XMLElement* filterParamElement = doc.NewElement("FilterParam");
    filterParamElement->SetAttribute("maxEccentricity", configResult.algorithmParams.filterParam.maxEccentricity);
    filterParamElement->SetAttribute("minAngularCoverage", configResult.algorithmParams.filterParam.minAngularCoverage);
    filterParamElement->SetAttribute("maxRadiusFitRatio", configResult.algorithmParams.filterParam.maxRadiusFitRatio);
    filterParamElement->SetAttribute("minQualityScore", configResult.algorithmParams.filterParam.minQualityScore);
    filterParamElement->SetAttribute("maxPlaneResidual", configResult.algorithmParams.filterParam.maxPlaneResidual);
    filterParamElement->SetAttribute("maxAngularGap", configResult.algorithmParams.filterParam.maxAngularGap);
    filterParamElement->SetAttribute("minInlierRatio", configResult.algorithmParams.filterParam.minInlierRatio);
    algoParamsElement->InsertEndChild(filterParamElement);

    // 添加排序模式
    XMLElement* sortModeElement = doc.NewElement("SortMode");
    sortModeElement->SetAttribute("value", configResult.algorithmParams.sortMode);
    algoParamsElement->InsertEndChild(sortModeElement);

    // 添加多相机平面校准参数
    ConfigXmlUtils::SavePlaneCalibParams(doc, algoParamsElement, configResult.algorithmParams.planeCalibParam);

    // 添加调试参数
    ConfigXmlUtils::SaveDebugParam(doc, root, configResult.debugParam);

    // 添加串口配置
    ConfigXmlUtils::SaveSerialConfig(doc, root, configResult.serialConfig);

    // 添加手眼标定矩阵列表（支持多相机）
    ConfigXmlUtils::SaveHandEyeCalibMatrixs(doc, root, configResult.handEyeCalibMatrixList);

    // 添加TCP服务端配置
    XMLElement* tcpServerConfigElement = doc.NewElement("TcpServerConfig");
    tcpServerConfigElement->SetAttribute("tcpServerPort", configResult.plcRobotServerConfig.tcpServerPort);
    // 保存姿态输出顺序配置
    tcpServerConfigElement->SetAttribute("poseOutputOrder", configResult.plcRobotServerConfig.poseOutputOrder);
    // 保存方向向量反向配置
    tcpServerConfigElement->SetAttribute("dirVectorInvert", configResult.plcRobotServerConfig.dirVectorInvert);
    root->InsertEndChild(tcpServerConfigElement);

    // 保存到文件
    XMLError err = doc.SaveFile(filePath.c_str());
    if (err != XML_SUCCESS)
    {
        std::cerr << "无法保存配置文件: " << filePath << std::endl;
        return false;
    }

    // 触发配置改变通知
    if (m_pNotify)
    {
        m_pNotify->OnConfigChanged(configResult);
    }

    return true;
}

// 设置配置改变通知回调
void CVrConfig::SetConfigChangeNotify(IVrConfigChangeNotify* notify)
{
    m_pNotify = notify;
}


/**
 * @brief 创建实例
 * @return 实例
 */
bool IVrConfig::CreateInstance(IVrConfig** ppVrConfig)
{
    *ppVrConfig = new CVrConfig();
    return *ppVrConfig != nullptr;
}