#include "DetectPresenter.h"
#include "rodAndBarDetection_Export.h"
#include "AlgoParamConverter.h"
#include "IHandEyeCalib.h"
#include <fstream>
#include <memory>
#include <QColor>

namespace
{

HECEulerOrder ToHandEyeEulerOrder(int eulerOrder)
{
    switch (eulerOrder) {
    case 10: return HECEulerOrder::XYZ;
    case 11: return HECEulerOrder::ZYX;
    case 12: return HECEulerOrder::ZXY;
    case 13: return HECEulerOrder::YXZ;
    case 14: return HECEulerOrder::YZX;
    case 15: return HECEulerOrder::XZY;
    default:
        LOG_WARNING("Unsupported euler order %d, fallback to 11(sZYX)\n", eulerOrder);
        return HECEulerOrder::ZYX;
    }
}

} // namespace

DetectPresenter::DetectPresenter(/* args */)
{
    LOG_DEBUG("DetectPresenter Init algo ver: %s\n", wd_rodAndBarDetectionVersion());
}

DetectPresenter::~DetectPresenter()
{
}

QString DetectPresenter::GetAlgoVersion()
{
    return QString(wd_rodAndBarDetectionVersion());
}

int DetectPresenter::DetectRod(
    int cameraIndex,
    std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
    const VrAlgorithmParams& algorithmParams,
    const VrDebugParam& debugParam,
    LaserDataLoader& dataLoader,
    const double clibMatrix[16],
    int eulerOrder,
    int dirVectorInvert,
    int longAxisDir,
    DetectionResult& detectionResult)
{
    if (laserLines.empty()) {
        LOG_WARNING("No laser lines data available\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    // 获取当前相机的校准参数
    VrCameraPlaneCalibParam cameraCalibParamValue;
    const VrCameraPlaneCalibParam* cameraCalibParam = nullptr;
    if (algorithmParams.planeCalibParam.GetCameraCalibParam(cameraIndex, cameraCalibParamValue)) {
        cameraCalibParam = &cameraCalibParamValue;
    }

    // debug保存点云已由 BasePresenter::DetectTask() 统一处理，此处不再重复保存
    std::string timeStamp = CVrDateUtils::GetNowTime();

    int nRet = SUCCESS;

    // 转换为算法需要的XYZ格式
    std::vector<std::vector<SVzNL3DPosition>> xyzData;
    int convertResult = dataLoader.ConvertToSVzNL3DPosition(laserLines, xyzData);
    if (convertResult != SUCCESS || xyzData.empty()) {
        LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    // 使用 AlgoParamConverter 进行参数转换
    SSX_rodParam rodParam = AlgoParamConverter::ToAlgoParam(algorithmParams.rodParam);
    SSG_cornerParam cornerParam = AlgoParamConverter::ToAlgoParam(algorithmParams.cornerParam);
    SSG_treeGrowParam growParam = AlgoParamConverter::ToAlgoParam(algorithmParams.growParam);
    SSG_outlierFilterParam filterParam = AlgoParamConverter::ToAlgoParam(algorithmParams.filterParam);

    // 构建平面标定参数
    SSG_planeCalibPara poseCalibPara = AlgoParamConverter::ToAlgoPlaneCalibParam(cameraCalibParam);

    if(debugParam.enableDebug && debugParam.printDetailLog)
    {
        AlgoParamConverter::LogAlgoParams("[Algo Thread]", rodParam, cornerParam, filterParam, growParam, clibMatrix);
    }

    int errCode = 0;
    CVrTimeUtils oTimeUtils;

    LOG_DEBUG("before sx_rodPositioning \n");

    // 调用棒材定位算法
    std::vector<SSX_rodPositionInfo> rodInfo;
    sx_rodPositioning(
        xyzData,
        poseCalibPara,
        cornerParam,
        filterParam,
        growParam,
        rodParam,
        rodInfo,
        &errCode);

    LOG_DEBUG("after sx_rodPositioning \n");

    LOG_INFO("sx_rodPositioning: detected %zu rods, err=%d runtime=%.3fms\n", rodInfo.size(), errCode, oTimeUtils.GetElapsedTimeInMilliSec());
    ERR_CODE_RETURN(errCode);
    std::unique_ptr<IHandEyeCalib, decltype(&DestroyHandEyeCalibInstance)> handEyeCalib(
                                                CreateHandEyeCalibInstance(),
                                                DestroyHandEyeCalibInstance);
    if (!handEyeCalib) {
        LOG_ERROR("Failed to create HandEyeCalib instance\n");
        return ERR_CODE(DEV_NOT_FIND);
    }

    const HECCalibResult calibResult = HECCalibResult::fromHomogeneousArray(clibMatrix);
    const HECEulerOrder hecEulerOrder = ToHandEyeEulerOrder(eulerOrder);

    // 使用 PointCloudCanvas 生成点云图像（灰色底图 + 棒材中心/方向线标记）
    {
        PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);

        for (size_t i = 0; i < rodInfo.size(); i++) {
            const auto& rod = rodInfo[i];

            // 绘制棒材中心点（红色）
            canvas.drawPoint(rod.center.x, rod.center.y, QColor(255, 0, 0), 6);

            // 绘制轴向方向线（红色）
            double len = 60;
            double ax0 = rod.center.x - len * rod.axialDir.x;
            double ay0 = rod.center.y - len * rod.axialDir.y;
            double ax1 = rod.center.x + len * rod.axialDir.x;
            double ay1 = rod.center.y + len * rod.axialDir.y;
            canvas.drawLine(ax0, ay0, ax1, ay1, QColor(255, 0, 0), 2);

            // 绘制起点到终点线段（绿色）
            canvas.drawLine(rod.startPt.x, rod.startPt.y, rod.endPt.x, rod.endPt.y, QColor(0, 255, 0), 2);

            // 中心点白色编号
            canvas.drawText(rod.center.x, rod.center.y, QString("%1").arg(i + 1), Qt::white, 14);
        }

        detectionResult.image = canvas.image();
    }

    // 转换检测结果为UI显示格式（使用机械臂坐标系数据）
    for (size_t i = 0; i < rodInfo.size(); i++) {
        const auto& rod = rodInfo[i];
        
        LOG_INFO("[Algo Thread] Rod %zu Eye Center: X=%.2f, Y=%.2f, Z=%.2f\n", i, rod.center.x, rod.center.y, rod.center.z);
        LOG_INFO("[Algo Thread] Rod %zu Input X seed: [%.6f, %.6f, %.6f]\n", i, rod.axialDir.x, rod.axialDir.y, rod.axialDir.z);
        LOG_INFO("[Algo Thread] Rod %zu Input Z seed: [%.6f, %.6f, %.6f]\n", i, rod.normalDir.x, rod.normalDir.y, rod.normalDir.z);

        HECPoseResult poseResult;
        bool validPose = handEyeCalib->TransformPose(
            calibResult,
            HECPoint3D(rod.center.x, rod.center.y, rod.center.z),
            HECPoint3D(rod.axialDir.x, rod.axialDir.y, rod.axialDir.z),
            HECPoint3D(rod.normalDir.x, rod.normalDir.y, rod.normalDir.z),
            dirVectorInvert,
            hecEulerOrder,
            longAxisDir == 1 ? HECLongAxisDir::AxisY : HECLongAxisDir::AxisX,
            poseResult);
        if (!validPose) {
            LOG_WARNING("[Algo Thread] Rod %zu has invalid axial/normal direction, use zero pose\n", i);
        }

        double rollDeg = 0.0, pitchDeg = 0.0, yawDeg = 0.0;
        poseResult.angles.toDegrees(rollDeg, pitchDeg, yawDeg);

        // 创建位置数据（使用转换后的机械臂坐标）
        RodPosition pos;
        pos.roll    = rollDeg;
        pos.pitch   = pitchDeg;
        pos.yaw     = yawDeg;
        pos.x       = poseResult.position.x;
        pos.y       = poseResult.position.y;
        pos.z       = poseResult.position.z;

        detectionResult.positions.push_back(pos);

        // 保存棒材信息
        RodInfo info;
        info.centerX = poseResult.position.x;
        info.centerY = poseResult.position.y;
        info.centerZ = poseResult.position.z;
        info.axialDirX = rod.axialDir.x;
        info.axialDirY = rod.axialDir.y;
        info.axialDirZ = rod.axialDir.z;
        info.normalDirX = rod.normalDir.x;
        info.normalDirY = rod.normalDir.y;
        info.normalDirZ = rod.normalDir.z;
        info.startPtX = rod.startPt.x;
        info.startPtY = rod.startPt.y;
        info.startPtZ = rod.startPt.z;
        info.endPtX = rod.endPt.x;
        info.endPtY = rod.endPt.y;
        info.endPtZ = rod.endPt.z;
        detectionResult.rodInfoList.push_back(info);

        // Print key values for coordinate transform debugging
        LOG_INFO("[Algo Thread] Rod %zu Robot Pose: X=%.2f, Y=%.2f, Z=%.2f, Roll=%.6f, Pitch=%.6f, Yaw=%.6f\n", i, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
    }

    if(debugParam.enableDebug && debugParam.saveDebugImage){
        // 获取当前时间戳，格式为YYYYMMDDHHMMSS
        std::string fileName = debugParam.debugOutputPath + "/Image_" + std::to_string(cameraIndex) + "_" + timeStamp + ".png";
        LOG_INFO("[Algo Thread] Debug image saved image : %s\n", fileName.c_str());

        // 保存检测结果图片
        if (!detectionResult.image.isNull()) {
            QString qFileName = QString::fromStdString(fileName);
            detectionResult.image.save(qFileName);
        } else {
            LOG_WARNING("[Algo Thread] No valid image to save for debug\n");
        }
    }

    return nRet;
}