#ifndef IVRCONFIG_H
#define IVRCONFIG_H

#include <string>
#include <vector>
#include <utility>
#include <algorithm>

// 包含公共配置结构体
#include "VrCommonConfig.h"

/**
 * @brief 项目类型枚举
 */
enum class ProjectType
{
    GrabBag = 0,        // 抓包
    DirectBag = 1,       // 带方向的编织袋
};

/**
 * @brief 项目类型字符串转换函数
 */
inline std::string ProjectTypeToString(ProjectType type)
{
    switch (type) {
        case ProjectType::GrabBag:
            return "GrabBag";
        case ProjectType::DirectBag:
            return "DirectBag";
        default:
            return "Unknown";
    }
}

/**
 * @brief 字符串转项目类型函数
 */
inline ProjectType StringToProjectType(const std::string& str)
{
    if (str == "GrabBag" || str == "0") {
        return ProjectType::GrabBag;
    } else if (str == "DirectBag" || str == "1") {
        return ProjectType::DirectBag;
    } else {
        return ProjectType::GrabBag; // 默认返回抓包
    }
}

/**
 * @brief TCP服务器配置信息
 */
struct TcpServerConfig
{
    std::string ipAddress = "127.0.0.1";  // 服务器IP地址
    int port = 6800;                      // 服务器端口
};

/**
 * @brief 编织袋参数
 */
struct VrBagParam
{
    double bagL = 650.0;
    double bagW = 450.0;
    double bagH = 160.0;
};

/**
 * @brief 垛参数
 */
struct VrPileParam
{
    double pileL = 1300.0;
    double pileW = 900.0;
    double pileH = 800.0;
};

/**
 * @brief 离群点滤波参数
 */
struct VrOutlierFilterParam
{
    double continuityTh = 20.0;
    int outlierTh = 5;
};

/**
 * @brief 角点参数
 */
struct VrCornerParam
{
    double minEndingGap = 20.0;
    double minEndingGap_z = 40.0;
    double scale = 50.0;
    double cornerTh = 45.0;
    double jumpCornerTh_1 = 60.0;
    double jumpCornerTh_2 = 15.0;
};

/**
 * @brief 斜率参数
 */
struct VrSlopeParam
{
    double LSlopeZWin = 10.0;
    double validSlopeH = 10.0;
    double minLJumpH = 20.0;
    double minEndingGap = 20.0;
};

/**
 * @brief V特征参数
 */
struct VrVFeatureParam
{
    double valleyMinH = 10.0;
    double valleyMaxW = 80.0;
};

/**
 * @brief 树生长参数
 */
struct VrTreeGrowParam
{
    double yDeviation_max = 20.0;
    double zDeviation_max = 80.0;
    int maxLineSkipNum = 5;
    double maxSkipDistance = 20.0;
    double minLTypeTreeLen = 50.0;
    double minVTypeTreeLen = 50.0;
};

/**
 * @brief HSV颜色比较参数
 */
struct VrHsvCmpParam
{
    double hueTh = 15.0;
    double saturateTh = 120.0;
    double FBVldPtRatioTh = 0.075;
    bool frontVldPtGreater = true;
    bool front_upVldPtGreater = false;
    bool back_upVldPtGreater = true;
};

/**
 * @brief RGB颜色模式
 */
struct VrRgbColorPattern
{
    int r = 36;
    int g = 165;
    int b = 208;
};

/**
 * @brief 颜色模板参数
 */
#define RGN_HIST_SIZE 16
struct VrColorTemplateParam
{
    double frontColorTemplate[RGN_HIST_SIZE] = {0.0};  // 正面颜色模板
    double backColorTemplate[RGN_HIST_SIZE] = {0.0};   // 反面颜色模板
};

/**
 * @brief 单个相机的手眼标定参数（4x4变换矩阵）
 */
struct VrHandEyeCalibParam
{
    int cameraIndex = 1;                        // 相机索引（1-based）
    std::string cameraName = "";                // 相机名称
    double transformMatrix[16] = {              // 4x4变换矩阵（默认单位矩阵）
        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
    };
    bool isCalibrated = false;                  // 是否已经校准
};

/**
 * @brief 手眼标定参数集合（支持多相机）
 */
struct VrHandEyeCalibParams
{
    std::vector<VrHandEyeCalibParam> cameraHandEyeParams;

    VrHandEyeCalibParam* GetCameraHandEyeParam(int cameraIndex);
    const VrHandEyeCalibParam* GetCameraHandEyeParam(int cameraIndex) const;
    void SetCameraHandEyeParam(const VrHandEyeCalibParam& param);
    void RemoveCameraHandEyeParam(int cameraIndex);
};

/**
 * @brief 相机参数（用于工作点和包裹类型）
 */
struct VrCameraParams
{
    int cameraIndex = 1;            // 相机索引
    double exposure = 100.0;        // 曝光时间 (微秒)
    double gain = 1.0;              // 增益值
    double frameRate = 500.0;       // 帧率
    double swingSpeed = 30.0;       // 摆动速度
    double swingStartAngle = 0.0;   // 开始角度
    double swingStopAngle = 76.0;   // 结束角度
};

// 前向声明
struct PackageTypeConfig;
struct CameraConfig;
struct WorkPositionConfig;

/**
 * @brief 相机配置（工作点下的相机）
 */
struct CameraConfig
{
    std::string id;
    std::string cameraName;
    int cameraIndex = 1;
    VrCameraPlaneCalibParam planeCalibParam;
    VrHandEyeCalibParam handEyeCalibParam;
    std::vector<PackageTypeConfig> packages;
    std::string defaultPackageId;

    PackageTypeConfig* GetPackage(const std::string& packageId);
    const PackageTypeConfig* GetPackage(const std::string& packageId) const;
    PackageTypeConfig* GetDefaultPackage();
    const PackageTypeConfig* GetDefaultPackage() const;
};

/**
 * @brief 工作点配置
 */
struct WorkPositionConfig
{
    std::string id;
    std::string name;
    std::vector<CameraConfig> cameras;
    std::string defaultCameraId;

    CameraConfig* GetCamera(const std::string& cameraId);
    const CameraConfig* GetCamera(const std::string& cameraId) const;
    CameraConfig* GetCameraByIndex(int cameraIndex);
    const CameraConfig* GetCameraByIndex(int cameraIndex) const;
    CameraConfig* GetDefaultCamera();
    const CameraConfig* GetDefaultCamera() const;
};

/**
 * @brief 包裹类型配置
 */
struct PackageTypeConfig
{
    std::string id;
    std::string name;
    VrBagParam bagParam;
    VrPileParam pileParam;
    std::vector<VrCameraParams> cameraParams;

    VrCameraParams* GetCameraParam(int cameraIndex);
    const VrCameraParams* GetCameraParam(int cameraIndex) const;
    void SetCameraParam(const VrCameraParams& param);
};

// 成员函数声明在 VrConfig.cpp 中实现

/**
 * @brief 算法参数配置结构
 */
struct VrAlgorithmParams
{
    VrBagParam              bagParam;
    VrPileParam             pileParam;
    VrOutlierFilterParam    filterParam;
    VrCornerParam           cornerParam;
    VrSlopeParam            slopeParam;
    VrVFeatureParam         valleyParam;
    VrTreeGrowParam         growParam;
    VrPlaneCalibParam       planeCalibParam;
    VrHsvCmpParam           hsvCmpParam;
    VrRgbColorPattern       rgbColorPattern;
    VrColorTemplateParam    colorTemplateParam;
    int                     supportRotate = 1;
};

/**
 * @brief 配置加载结果
 */
struct ConfigResult
{
    std::vector<DeviceInfo>         cameraList;
    std::vector<DeviceInfo>         deviceList;
    VrAlgorithmParams               algorithmParams;
    VrDebugParam                    debugParam;
    SerialConfig                    serialConfig;
    TcpServerConfig                 tcpServerConfig;
    ProjectType                     projectType = ProjectType::GrabBag;
    std::vector<WorkPositionConfig> workPositions;
    std::string                     defaultWorkPositionId;
    std::string                     defaultCameraId;
    std::string                     defaultPackageId;

    CameraConfig* GetDefaultCamera();
    const CameraConfig* GetDefaultCamera() const;
    PackageTypeConfig* GetDefaultPackage();
    const PackageTypeConfig* GetDefaultPackage() const;
    VrCameraParams GetEffectiveCameraParam(int cameraIndex) const;
    VrBagParam GetEffectiveBagParam() const;
    VrPileParam GetEffectivePileParam() const;
    const VrCameraPlaneCalibParam* GetEffectivePlaneCalibParam(int cameraIndex) const;
    const VrHandEyeCalibParam* GetEffectiveHandEyeCalibParam(int cameraIndex) const;
};

/**
 * @brief VrConfig接口类
 */
class IVrConfig
{
public:
    /**
     * @brief 虚析构函数
     */
    virtual ~IVrConfig() {}

    /**
     * @brief 创建实例
     * @return 实例
     */
    static bool CreateInstance(IVrConfig** ppVrConfig);

    /**
     * @brief 加载配置文件
     * @param filePath 配置文件路径
     * @return 加载的配置结果
     */
    virtual ConfigResult LoadConfig(const std::string& filePath) = 0;

    /**
     * @brief 保存配置文件
     * @param filePath 配置文件路径
     * @param configResult 配置结果
     * @return 是否保存成功
     */
    virtual bool SaveConfig(const std::string& filePath, ConfigResult& configResult) = 0;
    
    /**
     * @brief 设置配置改变通知回调
     * @param notify 通知接口指针
     */
    virtual void SetConfigChangeNotify(IVrConfigChangeNotify* notify) = 0;
};  

#endif // IVRCONFIG_H