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

#include "VrLog.h"

using namespace tinyxml2;

CVrConfig::CVrConfig() : m_pNotify(nullptr)
{
    // 构造函数
}

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("Failed to open config file: %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()) != "ScrewPositionConfig")
    {
        LOG_ERR("Config file format error: root element is not ScrewPositionConfig\n");
        return LOAD_CONFIG_INVALID_FORMAT;
    }

    // 1. 解析相机设备列表
    XMLElement* camerasElement = root->FirstChildElement("Cameras");
    if (camerasElement)
    {
        configResult.cameraList.clear();
        XMLElement* cameraElement = camerasElement->FirstChildElement("Camera");
        while (cameraElement)
        {
            DeviceInfo camera;
            if (cameraElement->Attribute("name"))
                camera.name = cameraElement->Attribute("name");
            if (cameraElement->Attribute("ip"))
                camera.ip = cameraElement->Attribute("ip");
            cameraElement->QueryIntAttribute("index", &camera.index);

            configResult.cameraList.push_back(camera);
            LOG_INFO("Camera: name=%s, ip=%s, index=%d\n",
                     camera.name.c_str(), camera.ip.c_str(), camera.index);

            cameraElement = cameraElement->NextSiblingElement("Camera");
        }
    }

    // 2. 解析算法参数
    XMLElement* algoElement = root->FirstChildElement("AlgorithmParams");
    if (algoElement)
    {
        // 2.1 解析螺杆检测参数 (ScrewParam)
        XMLElement* screwElement = algoElement->FirstChildElement("ScrewParam");
        if (screwElement)
        {
            screwElement->QueryDoubleAttribute("rodDiameter", &configResult.algorithmParams.screwParam.rodDiameter);
            screwElement->QueryBoolAttribute("isHorizonScan", &configResult.algorithmParams.screwParam.isHorizonScan);

            LOG_INFO("ScrewParam: rodDiameter=%.1f, isHorizonScan=%d\n",
                     configResult.algorithmParams.screwParam.rodDiameter,
                     configResult.algorithmParams.screwParam.isHorizonScan);
        }

        // 2.2 解析离群点滤波参数 (FilterParam)
        XMLElement* filterElement = algoElement->FirstChildElement("FilterParam");
        if (filterElement)
        {
            filterElement->QueryDoubleAttribute("continuityTh", &configResult.algorithmParams.filterParam.continuityTh);
            filterElement->QueryDoubleAttribute("outlierTh", &configResult.algorithmParams.filterParam.outlierTh);

            LOG_INFO("FilterParam: continuityTh=%.1f, outlierTh=%.1f\n",
                     configResult.algorithmParams.filterParam.continuityTh,
                     configResult.algorithmParams.filterParam.outlierTh);
        }

        // 2.3 解析角点检测参数 (CornerParam)
        XMLElement* cornerElement = algoElement->FirstChildElement("CornerParam");
        if (cornerElement)
        {
            cornerElement->QueryDoubleAttribute("minEndingGap", &configResult.algorithmParams.cornerParam.minEndingGap);
            cornerElement->QueryDoubleAttribute("minEndingGap_z", &configResult.algorithmParams.cornerParam.minEndingGap_z);
            cornerElement->QueryDoubleAttribute("scale", &configResult.algorithmParams.cornerParam.scale);
            cornerElement->QueryDoubleAttribute("cornerTh", &configResult.algorithmParams.cornerParam.cornerTh);
            cornerElement->QueryDoubleAttribute("jumpCornerTh_1", &configResult.algorithmParams.cornerParam.jumpCornerTh_1);
            cornerElement->QueryDoubleAttribute("jumpCornerTh_2", &configResult.algorithmParams.cornerParam.jumpCornerTh_2);

            LOG_INFO("CornerParam: minEndingGap=%.1f, cornerTh=%.1f\n",
                     configResult.algorithmParams.cornerParam.minEndingGap,
                     configResult.algorithmParams.cornerParam.cornerTh);
        }

        // 2.4 解析树生长参数 (GrowParam)
        XMLElement* growElement = algoElement->FirstChildElement("GrowParam");
        if (growElement)
        {
            growElement->QueryDoubleAttribute("yDeviation_max", &configResult.algorithmParams.growParam.yDeviation_max);
            growElement->QueryDoubleAttribute("zDeviation_max", &configResult.algorithmParams.growParam.zDeviation_max);
            growElement->QueryIntAttribute("maxLineSkipNum", &configResult.algorithmParams.growParam.maxLineSkipNum);
            growElement->QueryDoubleAttribute("maxSkipDistance", &configResult.algorithmParams.growParam.maxSkipDistance);
            growElement->QueryDoubleAttribute("minLTypeTreeLen", &configResult.algorithmParams.growParam.minLTypeTreeLen);
            growElement->QueryDoubleAttribute("minVTypeTreeLen", &configResult.algorithmParams.growParam.minVTypeTreeLen);

            LOG_INFO("GrowParam: yDeviation_max=%.1f, zDeviation_max=%.1f\n",
                     configResult.algorithmParams.growParam.yDeviation_max,
                     configResult.algorithmParams.growParam.zDeviation_max);
        }

        // 2.5 解析平面标定参数 (PlaneCalibParams)
        XMLElement* calibElement = algoElement->FirstChildElement("PlaneCalibParams");
        if (calibElement)
        {
            XMLElement* cameraCalibElement = calibElement->FirstChildElement("CameraCalibParam");
            while (cameraCalibElement)
            {
                VrCameraPlaneCalibParam cameraParam;
                cameraCalibElement->QueryIntAttribute("cameraIndex", &cameraParam.cameraIndex);
                if (cameraCalibElement->Attribute("cameraName"))
                    cameraParam.cameraName = cameraCalibElement->Attribute("cameraName");
                cameraCalibElement->QueryBoolAttribute("isCalibrated", &cameraParam.isCalibrated);
                cameraCalibElement->QueryDoubleAttribute("planeHeight", &cameraParam.planeHeight);

                // 解析校准矩阵（展开的属性格式）
                cameraCalibElement->QueryDoubleAttribute("planeCalib_00", &cameraParam.planeCalib[0]);
                cameraCalibElement->QueryDoubleAttribute("planeCalib_01", &cameraParam.planeCalib[1]);
                cameraCalibElement->QueryDoubleAttribute("planeCalib_02", &cameraParam.planeCalib[2]);
                cameraCalibElement->QueryDoubleAttribute("planeCalib_10", &cameraParam.planeCalib[3]);
                cameraCalibElement->QueryDoubleAttribute("planeCalib_11", &cameraParam.planeCalib[4]);
                cameraCalibElement->QueryDoubleAttribute("planeCalib_12", &cameraParam.planeCalib[5]);
                cameraCalibElement->QueryDoubleAttribute("planeCalib_20", &cameraParam.planeCalib[6]);
                cameraCalibElement->QueryDoubleAttribute("planeCalib_21", &cameraParam.planeCalib[7]);
                cameraCalibElement->QueryDoubleAttribute("planeCalib_22", &cameraParam.planeCalib[8]);

                // 解析逆矩阵（展开的属性格式）
                cameraCalibElement->QueryDoubleAttribute("invRMatrix_00", &cameraParam.invRMatrix[0]);
                cameraCalibElement->QueryDoubleAttribute("invRMatrix_01", &cameraParam.invRMatrix[1]);
                cameraCalibElement->QueryDoubleAttribute("invRMatrix_02", &cameraParam.invRMatrix[2]);
                cameraCalibElement->QueryDoubleAttribute("invRMatrix_10", &cameraParam.invRMatrix[3]);
                cameraCalibElement->QueryDoubleAttribute("invRMatrix_11", &cameraParam.invRMatrix[4]);
                cameraCalibElement->QueryDoubleAttribute("invRMatrix_12", &cameraParam.invRMatrix[5]);
                cameraCalibElement->QueryDoubleAttribute("invRMatrix_20", &cameraParam.invRMatrix[6]);
                cameraCalibElement->QueryDoubleAttribute("invRMatrix_21", &cameraParam.invRMatrix[7]);
                cameraCalibElement->QueryDoubleAttribute("invRMatrix_22", &cameraParam.invRMatrix[8]);

                configResult.algorithmParams.planeCalibParam.SetCameraCalibParam(cameraParam);
                LOG_INFO("PlaneCalibParam: camera %d, isCalibrated=%d, planeHeight=%.3f\n",
                         cameraParam.cameraIndex, cameraParam.isCalibrated, cameraParam.planeHeight);

                cameraCalibElement = cameraCalibElement->NextSiblingElement("CameraCalibParam");
            }
        }
    }

    // 3. 解析调试参数
    XMLElement* debugElement = root->FirstChildElement("DebugParam");
    if (debugElement)
    {
        debugElement->QueryBoolAttribute("enableDebug", &configResult.debugParam.enableDebug);
        debugElement->QueryBoolAttribute("saveDebugImage", &configResult.debugParam.saveDebugImage);
        debugElement->QueryBoolAttribute("savePointCloud", &configResult.debugParam.savePointCloud);
        debugElement->QueryBoolAttribute("printDetailLog", &configResult.debugParam.printDetailLog);

        if (debugElement->Attribute("debugOutputPath"))
            configResult.debugParam.debugOutputPath = debugElement->Attribute("debugOutputPath");

        LOG_INFO("Debug config: enableDebug=%d, saveDebugImage=%d, savePointCloud=%d, debugOutputPath=%s\n",
                 configResult.debugParam.enableDebug,
                 configResult.debugParam.saveDebugImage,
                 configResult.debugParam.savePointCloud,
                 configResult.debugParam.debugOutputPath.c_str());
    }

    // 4. 解析串口配置
    XMLElement* serialElement = root->FirstChildElement("SerialConfig");
    if (serialElement)
    {
        if (serialElement->Attribute("portName"))
            configResult.serialConfig.portName = serialElement->Attribute("portName");

        serialElement->QueryIntAttribute("baudRate", &configResult.serialConfig.baudRate);
        serialElement->QueryIntAttribute("dataBits", &configResult.serialConfig.dataBits);
        serialElement->QueryIntAttribute("stopBits", &configResult.serialConfig.stopBits);
        serialElement->QueryIntAttribute("parity", &configResult.serialConfig.parity);
        serialElement->QueryIntAttribute("flowControl", &configResult.serialConfig.flowControl);
        serialElement->QueryBoolAttribute("enabled", &configResult.serialConfig.enabled);

        LOG_INFO("Serial config: port=%s, baudRate=%d, enabled=%d\n",
                 configResult.serialConfig.portName.c_str(),
                 configResult.serialConfig.baudRate,
                 configResult.serialConfig.enabled);
    }

    // 5. 解析TCP端口
    XMLElement* tcpElement = root->FirstChildElement("TCP");
    if (tcpElement)
    {
        int port = 5020;
        tcpElement->QueryIntAttribute("port", &port);
        configResult.tcpPort = static_cast<uint16_t>(port);
        LOG_INFO("TCP port: %d\n", configResult.tcpPort);
    }

    LOG_INFO("Config loaded successfully from: %s\n", filePath.c_str());
    return LOAD_CONFIG_SUCCESS;
}

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

    // 创建 XML 声明
    XMLDeclaration* declaration = doc.NewDeclaration();
    doc.InsertFirstChild(declaration);

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

    // 1. 保存相机设备列表
    if (!configResult.cameraList.empty())
    {
        XMLElement* camerasElement = doc.NewElement("Cameras");
        for (const auto& camera : configResult.cameraList)
        {
            XMLElement* cameraElement = doc.NewElement("Camera");
            cameraElement->SetAttribute("name", camera.name.c_str());
            cameraElement->SetAttribute("ip", camera.ip.c_str());
            cameraElement->SetAttribute("index", camera.index);
            camerasElement->InsertEndChild(cameraElement);
        }
        root->InsertEndChild(camerasElement);
    }

    // 2. 保存算法参数
    XMLElement* algoElement = doc.NewElement("AlgorithmParams");

    // 2.1 保存螺杆检测参数
    XMLElement* screwElement = doc.NewElement("ScrewParam");
    screwElement->SetAttribute("rodDiameter", configResult.algorithmParams.screwParam.rodDiameter);
    screwElement->SetAttribute("isHorizonScan", configResult.algorithmParams.screwParam.isHorizonScan);
    algoElement->InsertEndChild(screwElement);

    // 2.2 保存离群点滤波参数
    XMLElement* filterElement = doc.NewElement("FilterParam");
    filterElement->SetAttribute("continuityTh", configResult.algorithmParams.filterParam.continuityTh);
    filterElement->SetAttribute("outlierTh", configResult.algorithmParams.filterParam.outlierTh);
    algoElement->InsertEndChild(filterElement);

    // 2.3 保存角点检测参数
    XMLElement* cornerElement = doc.NewElement("CornerParam");
    cornerElement->SetAttribute("cornerTh", configResult.algorithmParams.cornerParam.cornerTh);
    cornerElement->SetAttribute("scale", configResult.algorithmParams.cornerParam.scale);
    cornerElement->SetAttribute("minEndingGap", configResult.algorithmParams.cornerParam.minEndingGap);
    cornerElement->SetAttribute("minEndingGap_z", configResult.algorithmParams.cornerParam.minEndingGap_z);
    cornerElement->SetAttribute("jumpCornerTh_1", configResult.algorithmParams.cornerParam.jumpCornerTh_1);
    cornerElement->SetAttribute("jumpCornerTh_2", configResult.algorithmParams.cornerParam.jumpCornerTh_2);
    algoElement->InsertEndChild(cornerElement);

    // 2.4 保存树生长参数
    XMLElement* growElement = doc.NewElement("GrowParam");
    growElement->SetAttribute("maxLineSkipNum", configResult.algorithmParams.growParam.maxLineSkipNum);
    growElement->SetAttribute("yDeviation_max", configResult.algorithmParams.growParam.yDeviation_max);
    growElement->SetAttribute("maxSkipDistance", configResult.algorithmParams.growParam.maxSkipDistance);
    growElement->SetAttribute("zDeviation_max", configResult.algorithmParams.growParam.zDeviation_max);
    growElement->SetAttribute("minLTypeTreeLen", configResult.algorithmParams.growParam.minLTypeTreeLen);
    growElement->SetAttribute("minVTypeTreeLen", configResult.algorithmParams.growParam.minVTypeTreeLen);
    algoElement->InsertEndChild(growElement);

    // 2.5 保存平面标定参数
    if (!configResult.algorithmParams.planeCalibParam.cameraCalibParams.empty())
    {
        XMLElement* calibElement = doc.NewElement("PlaneCalibParams");
        for (const auto& cameraParam : configResult.algorithmParams.planeCalibParam.cameraCalibParams)
        {
            XMLElement* cameraCalibElement = doc.NewElement("CameraCalibParam");
            cameraCalibElement->SetAttribute("cameraIndex", cameraParam.cameraIndex);
            cameraCalibElement->SetAttribute("cameraName", cameraParam.cameraName.c_str());
            cameraCalibElement->SetAttribute("isCalibrated", cameraParam.isCalibrated);
            cameraCalibElement->SetAttribute("planeHeight", cameraParam.planeHeight);

            // 保存校准矩阵（展开的属性格式）
            cameraCalibElement->SetAttribute("planeCalib_00", cameraParam.planeCalib[0]);
            cameraCalibElement->SetAttribute("planeCalib_01", cameraParam.planeCalib[1]);
            cameraCalibElement->SetAttribute("planeCalib_02", cameraParam.planeCalib[2]);
            cameraCalibElement->SetAttribute("planeCalib_10", cameraParam.planeCalib[3]);
            cameraCalibElement->SetAttribute("planeCalib_11", cameraParam.planeCalib[4]);
            cameraCalibElement->SetAttribute("planeCalib_12", cameraParam.planeCalib[5]);
            cameraCalibElement->SetAttribute("planeCalib_20", cameraParam.planeCalib[6]);
            cameraCalibElement->SetAttribute("planeCalib_21", cameraParam.planeCalib[7]);
            cameraCalibElement->SetAttribute("planeCalib_22", cameraParam.planeCalib[8]);

            // 保存逆矩阵（展开的属性格式）
            cameraCalibElement->SetAttribute("invRMatrix_00", cameraParam.invRMatrix[0]);
            cameraCalibElement->SetAttribute("invRMatrix_01", cameraParam.invRMatrix[1]);
            cameraCalibElement->SetAttribute("invRMatrix_02", cameraParam.invRMatrix[2]);
            cameraCalibElement->SetAttribute("invRMatrix_10", cameraParam.invRMatrix[3]);
            cameraCalibElement->SetAttribute("invRMatrix_11", cameraParam.invRMatrix[4]);
            cameraCalibElement->SetAttribute("invRMatrix_12", cameraParam.invRMatrix[5]);
            cameraCalibElement->SetAttribute("invRMatrix_20", cameraParam.invRMatrix[6]);
            cameraCalibElement->SetAttribute("invRMatrix_21", cameraParam.invRMatrix[7]);
            cameraCalibElement->SetAttribute("invRMatrix_22", cameraParam.invRMatrix[8]);

            calibElement->InsertEndChild(cameraCalibElement);
        }
        algoElement->InsertEndChild(calibElement);
    }

    root->InsertEndChild(algoElement);

    // 3. 保存调试参数
    XMLElement* debugElement = doc.NewElement("DebugParam");
    debugElement->SetAttribute("enableDebug", configResult.debugParam.enableDebug);
    debugElement->SetAttribute("savePointCloud", configResult.debugParam.savePointCloud);
    debugElement->SetAttribute("saveDebugImage", configResult.debugParam.saveDebugImage);
    debugElement->SetAttribute("printDetailLog", configResult.debugParam.printDetailLog);
    debugElement->SetAttribute("debugOutputPath", configResult.debugParam.debugOutputPath.c_str());
    root->InsertEndChild(debugElement);

    // 4. 保存串口配置
    XMLElement* serialElement = doc.NewElement("SerialConfig");
    serialElement->SetAttribute("portName", configResult.serialConfig.portName.c_str());
    serialElement->SetAttribute("baudRate", configResult.serialConfig.baudRate);
    serialElement->SetAttribute("dataBits", configResult.serialConfig.dataBits);
    serialElement->SetAttribute("stopBits", configResult.serialConfig.stopBits);
    serialElement->SetAttribute("parity", configResult.serialConfig.parity);
    serialElement->SetAttribute("flowControl", configResult.serialConfig.flowControl);
    serialElement->SetAttribute("enabled", configResult.serialConfig.enabled);
    root->InsertEndChild(serialElement);

    // 5. 保存TCP端口
    XMLElement* tcpElement = doc.NewElement("TCP");
    tcpElement->SetAttribute("port", configResult.tcpPort);
    root->InsertEndChild(tcpElement);

    // 保存到文件
    XMLError err = doc.SaveFile(filePath.c_str());
    if (err != XML_SUCCESS)
    {
        LOG_ERR("Failed to save config file: %s\n", filePath.c_str());
        return false;
    }

    LOG_INFO("Config saved successfully to: %s\n", filePath.c_str());
    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;
}