#include "dialogalgoarg.h"
#include "ui_dialogalgoarg.h"
#include <QMessageBox>
#include <QPushButton>
#include <QFileDialog>
#include <QComboBox>
#include <QtCore/QCoreApplication>
#include <QtCore/QFileInfo>
#include <QtCore/QDir>
#include <QtCore/QStandardPaths>
#include <QtCore/QFile>
#include <cstring>
#include "PathManager.h"
#include "StyledMessageBox.h"
#include "HandEyeCalibWidget.h"

#include "VrLog.h"

DialogAlgoarg::DialogAlgoarg(ConfigManager* configManager, QWidget *parent)
    : QDialog(parent)
    , ui(new Ui::DialogAlgoarg)
    , m_pConfigManager(configManager)
    , m_handEyeCalibWidget(nullptr)
{
    try {
        ui->setupUi(this);

        // 获取配置文件路径
        m_configFilePath = PathManager::GetInstance().GetConfigFilePath();

        // 检查配置文件路径是否有效
        if (m_configFilePath.isEmpty()) {
            StyledMessageBox::critical(this, "错误", "无法获取配置文件路径！");
            return;
        }

        // 从配置文件加载数据到界面
        LoadConfigToUI();

        // 初始化手眼标定 tab
        InitHandEyeCalibTab();

    } catch (const std::exception& e) {
        StyledMessageBox::critical(this, "初始化错误", QString("对话框初始化失败: %1").arg(e.what()));
    } catch (...) {
        StyledMessageBox::critical(this, "初始化错误", "对话框初始化失败！（未知错误）");
    }
}

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

void DialogAlgoarg::LoadConfigToUI()
{
    if (!m_pConfigManager) {
        StyledMessageBox::critical(this, "错误", "配置对象未初始化！");
        return;
    }

    try {
        // 从ConfigManager获取配置数据
        ConfigResult configData = m_pConfigManager->GetConfigResult();

        // 检查配置文件路径是否有效
        if (m_configFilePath.isEmpty()) {
            LOG_WARNING("Config file path is empty\n");
        }

        // 加载算法参数到UI
        const VrAlgorithmParams& algoParams = configData.algorithmParams;

        // 加载各个参数组
        LoadWorkpieceParamToUI(algoParams.workpieceParam);
        LoadFilterParamToUI(algoParams.filterParam);
        LoadCornerParamToUI(algoParams.cornerParam);
        LoadGrowParamToUI(algoParams.growParam);

    } catch (const std::exception& e) {
        LOG_ERROR("Exception in LoadConfigToUI: %s\n", e.what());
        StyledMessageBox::warning(this, "警告",
            QString("加载配置时发生异常: %1\n将使用默认参数显示").arg(e.what()));

        // 发生异常时使用默认参数
        ConfigResult configData;
        const VrAlgorithmParams& algoParams = configData.algorithmParams;
        LoadWorkpieceParamToUI(algoParams.workpieceParam);
        LoadFilterParamToUI(algoParams.filterParam);
        LoadCornerParamToUI(algoParams.cornerParam);
        LoadGrowParamToUI(algoParams.growParam);
    } catch (...) {
        LOG_ERROR("Unknown exception in LoadConfigToUI\n");
        StyledMessageBox::warning(this, "警告", "加载配置文件失败（未知错误），将使用默认参数显示");

        // 发生未知异常时使用默认参数
        ConfigResult configData;
        const VrAlgorithmParams& algoParams = configData.algorithmParams;
        LoadWorkpieceParamToUI(algoParams.workpieceParam);
        LoadFilterParamToUI(algoParams.filterParam);
        LoadCornerParamToUI(algoParams.cornerParam);
        LoadGrowParamToUI(algoParams.growParam);
    }
}

void DialogAlgoarg::LoadWorkpieceParamToUI(const VrWorkpieceParam& param)
{
    if (!ui) return;

    ui->lineEdit_lineLen->setText(QString::number(param.lineLen));
    ui->lineEdit_dirAngleScale->setText(QString::number(param.dirAngleScale));
    ui->lineEdit_lineDeviation->setText(QString::number(param.lineDeviation));
    ui->lineEdit_minCutAngleTh->setText(QString::number(param.minCutAngleTh));
}

void DialogAlgoarg::LoadFilterParamToUI(const VrOutlierFilterParam& param)
{
    if (!ui) return;

    ui->lineEdit_continuityTh->setText(QString::number(param.continuityTh));
    ui->lineEdit_outlierTh->setText(QString::number(param.outlierTh));
}

void DialogAlgoarg::LoadCornerParamToUI(const VrCornerParam& param)
{
    if (!ui) return;

    ui->lineEdit_cornerTh->setText(QString::number(param.cornerTh));
    ui->lineEdit_scale->setText(QString::number(param.scale));
    ui->lineEdit_minEndingGap->setText(QString::number(param.minEndingGap));
    ui->lineEdit_minEndingGap_z->setText(QString::number(param.minEndingGap_z));
    ui->lineEdit_jumpCornerTh_1->setText(QString::number(param.jumpCornerTh_1));
    ui->lineEdit_jumpCornerTh_2->setText(QString::number(param.jumpCornerTh_2));
}

void DialogAlgoarg::LoadGrowParamToUI(const VrTreeGrowParam& param)
{
    if (!ui) return;

    ui->lineEdit_maxLineSkipNum->setText(QString::number(param.maxLineSkipNum));
    ui->lineEdit_yDeviation_max->setText(QString::number(param.yDeviation_max));
    ui->lineEdit_maxSkipDistance->setText(QString::number(param.maxSkipDistance));
    ui->lineEdit_zDeviation_max->setText(QString::number(param.zDeviation_max));
    ui->lineEdit_minLTypeTreeLen->setText(QString::number(param.minLTypeTreeLen));
    ui->lineEdit_minVTypeTreeLen->setText(QString::number(param.minVTypeTreeLen));
}

bool DialogAlgoarg::SaveConfigFromUI()
{
    if (!m_pConfigManager) {
        return false;
    }

    try {
        // 获取当前配置
        SystemConfig systemConfig = m_pConfigManager->GetConfig();
        VrAlgorithmParams& algoParams = systemConfig.configResult.algorithmParams;

        // 保存各个参数组
        if (!SaveWorkpieceParamFromUI(algoParams.workpieceParam)) {
            StyledMessageBox::warning(this, "错误", "工件参数输入有误，请检查！");
            return false;
        }

        if (!SaveFilterParamFromUI(algoParams.filterParam)) {
            StyledMessageBox::warning(this, "错误", "滤波参数输入有误，请检查！");
            return false;
        }

        if (!SaveCornerParamFromUI(algoParams.cornerParam)) {
            StyledMessageBox::warning(this, "错误", "拐角参数输入有误，请检查！");
            return false;
        }

        if (!SaveGrowParamFromUI(algoParams.growParam)) {
            StyledMessageBox::warning(this, "错误", "生长参数输入有误，请检查！");
            return false;
        }

        // 保存手眼标定参数（从临时缓存更新到配置）
        algoParams.handEyeCalibParam = m_handEyeCalibParams;

        // 更新并保存配置到文件
        if (!m_pConfigManager->UpdateFullConfig(systemConfig)) {
            return false;
        }

        return m_pConfigManager->SaveConfigToFile(m_configFilePath.toStdString());

    } catch (const std::exception& e) {
        return false;
    }
}

bool DialogAlgoarg::SaveWorkpieceParamFromUI(VrWorkpieceParam& param)
{
    bool ok = true;

    param.lineLen = ui->lineEdit_lineLen->text().toDouble(&ok);
    if (!ok) return false;

    param.dirAngleScale = ui->lineEdit_dirAngleScale->text().toDouble(&ok);
    if (!ok) return false;

    param.lineDeviation = ui->lineEdit_lineDeviation->text().toDouble(&ok);
    if (!ok) return false;

    param.minCutAngleTh = ui->lineEdit_minCutAngleTh->text().toDouble(&ok);
    if (!ok) return false;

    return true;
}

bool DialogAlgoarg::SaveFilterParamFromUI(VrOutlierFilterParam& param)
{
    bool ok = true;

    param.continuityTh = ui->lineEdit_continuityTh->text().toDouble(&ok);
    if (!ok) return false;

    param.outlierTh = ui->lineEdit_outlierTh->text().toDouble(&ok);
    if (!ok) return false;

    return true;
}

bool DialogAlgoarg::SaveCornerParamFromUI(VrCornerParam& param)
{
    bool ok = true;

    param.cornerTh = ui->lineEdit_cornerTh->text().toDouble(&ok);
    if (!ok) return false;

    param.scale = ui->lineEdit_scale->text().toDouble(&ok);
    if (!ok) return false;

    param.minEndingGap = ui->lineEdit_minEndingGap->text().toDouble(&ok);
    if (!ok) return false;

    param.minEndingGap_z = ui->lineEdit_minEndingGap_z->text().toDouble(&ok);
    if (!ok) return false;

    param.jumpCornerTh_1 = ui->lineEdit_jumpCornerTh_1->text().toDouble(&ok);
    if (!ok) return false;

    param.jumpCornerTh_2 = ui->lineEdit_jumpCornerTh_2->text().toDouble(&ok);
    if (!ok) return false;

    return true;
}

bool DialogAlgoarg::SaveGrowParamFromUI(VrTreeGrowParam& param)
{
    bool ok = true;

    param.maxLineSkipNum = ui->lineEdit_maxLineSkipNum->text().toInt(&ok);
    if (!ok) return false;

    param.yDeviation_max = ui->lineEdit_yDeviation_max->text().toDouble(&ok);
    if (!ok) return false;

    param.maxSkipDistance = ui->lineEdit_maxSkipDistance->text().toDouble(&ok);
    if (!ok) return false;

    param.zDeviation_max = ui->lineEdit_zDeviation_max->text().toDouble(&ok);
    if (!ok) return false;

    param.minLTypeTreeLen = ui->lineEdit_minLTypeTreeLen->text().toDouble(&ok);
    if (!ok) return false;

    param.minVTypeTreeLen = ui->lineEdit_minVTypeTreeLen->text().toDouble(&ok);
    if (!ok) return false;

    return true;
}

void DialogAlgoarg::on_btn_camer_ok_clicked()
{
    if (SaveConfigFromUI()) {
        StyledMessageBox::information(this, "成功", "配置保存成功！");
        accept();
    } else {
        StyledMessageBox::warning(this, "失败", "配置保存失败，请检查文件权限或参数输入！");
    }
}

void DialogAlgoarg::on_btn_camer_cancel_clicked()
{
    // 直接关闭窗口，不保存任何更改
    reject();
}

// ========== 手眼标定相关实现 ==========

void DialogAlgoarg::InitHandEyeCalibTab()
{
    if (!ui || !m_pConfigManager) return;

    // 创建共享控件并嵌入 tab 的 layout
    m_handEyeCalibWidget = new HandEyeCalibWidget(this);
    ui->verticalLayout_handeyecalib->addWidget(m_handEyeCalibWidget);

    // 设置默认文件路径
    m_handEyeCalibWidget->setDefaultFilePath(
        PathManager::GetInstance().GetAppConfigDirectory());

    // 从配置中获取相机列表填充控件
    ConfigResult configData = m_pConfigManager->GetConfigResult();

    QVector<HandEyeCalibCameraInfo> cameraList;
    for (size_t i = 0; i < configData.cameraList.size(); ++i) {
        const DeviceInfo& camera = configData.cameraList[i];
        HandEyeCalibCameraInfo info;
        info.cameraIndex = static_cast<int>(i + 1);  // 1-based
        info.displayName = QString::fromStdString(camera.name);
        cameraList.append(info);
    }
    m_handEyeCalibWidget->setCameraList(cameraList);

    // 加载已有的手眼标定数据到缓存和控件
    m_handEyeCalibParams = configData.algorithmParams.handEyeCalibParam;
    for (const VrHandEyeCalibParam& param : m_handEyeCalibParams.cameraHandEyeParams) {
        m_handEyeCalibWidget->setCalibData(
            param.cameraIndex, param.transformMatrix, param.isCalibrated);
    }

    // 连接信号
    connect(m_handEyeCalibWidget, &HandEyeCalibWidget::calibMatrixLoaded,
            this, &DialogAlgoarg::onCalibMatrixLoaded);
    connect(m_handEyeCalibWidget, &HandEyeCalibWidget::saveCalibRequested,
            this, &DialogAlgoarg::onSaveCalibRequested);
}

void DialogAlgoarg::onCalibMatrixLoaded(int cameraIndex, const double* matrix)
{
    // 更新临时缓存
    VrHandEyeCalibParam param;
    param.cameraIndex = cameraIndex;
    param.isCalibrated = true;
    memcpy(param.transformMatrix, matrix, sizeof(double) * 16);

    m_handEyeCalibParams.SetCameraHandEyeParam(param);

    StyledMessageBox::information(this, "成功", "标定矩阵加载成功！");
}

void DialogAlgoarg::onSaveCalibRequested(int cameraIndex, const double* matrix)
{
    const VrHandEyeCalibParam* param = m_handEyeCalibParams.GetCameraHandEyeParam(cameraIndex);
    if (!param || !param->isCalibrated) {
        StyledMessageBox::warning(this, "提示", "当前相机尚未加载标定矩阵！请先加载标定矩阵文件。");
        return;
    }

    // 将手眼标定数据保存到配置
    try {
        SystemConfig systemConfig = m_pConfigManager->GetConfig();
        systemConfig.configResult.algorithmParams.handEyeCalibParam = m_handEyeCalibParams;

        if (m_pConfigManager->UpdateFullConfig(systemConfig) &&
            m_pConfigManager->SaveConfigToFile(m_configFilePath.toStdString())) {
            StyledMessageBox::information(this, "成功", "手眼标定参数已保存到配置文件！");
        } else {
            StyledMessageBox::warning(this, "失败", "保存手眼标定参数失败！");
        }
    } catch (const std::exception& e) {
        StyledMessageBox::warning(this, "错误",
            QString("保存手眼标定参数异常: %1").arg(e.what()));
    }
}