#include "mainwindow.h"
#include "ui_mainwindow.h"
#include <QMessageBox>
#include <QDateTime>
#include <QBuffer>
#include <QPainter>
#include <QPushButton>
#include <QTextEdit>
#include <QVBoxLayout>
#include <QGroupBox>
#include <QFileDialog>
#include <QFile>
#include <QTextStream>

MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , ui(new Ui::MainWindow)
    , m_continuousImageTimer(new QTimer(this))
    , m_isContinuousImageRunning(false)
    , m_continuousDetectionTimer(new QTimer(this))
    , m_isContinuousDetectionRunning(false)
{
    ui->setupUi(this);

    // 创建接收器实例
    IBinocularMarkReceiver* pReceiver = nullptr;
    if (IBinocularMarkReceiver::CreateInstance(&pReceiver) == 0 && pReceiver) {
        m_receiver.reset(pReceiver);
    }

    // 连接信号槽
    connect(ui->btn_connect, &QPushButton::clicked, this, &MainWindow::onConnectClicked);
    connect(ui->btn_startWork, &QPushButton::clicked, this, &MainWindow::onStartWorkClicked);
    connect(ui->btn_singleImage, &QPushButton::clicked, this, &MainWindow::onSingleImageClicked);
    connect(ui->btn_singleDetection, &QPushButton::clicked, this, &MainWindow::onSingleDetectionClicked);
    connect(ui->btn_setExposureTime, &QPushButton::clicked, this, &MainWindow::onSetExposureTimeClicked);
    connect(ui->btn_setGain, &QPushButton::clicked, this, &MainWindow::onSetGainClicked);
    connect(ui->btn_continuousImage, &QPushButton::clicked, this, &MainWindow::onContinuousImageClicked);
    connect(ui->btn_startContinuousImageStream, &QPushButton::clicked, this, &MainWindow::onContinuousImageStreamClicked);
    connect(ui->btn_loadCalibrationFile, &QPushButton::clicked, this, &MainWindow::onLoadCalibrationFileClicked);
    connect(ui->btn_getCalibration, &QPushButton::clicked, this, &MainWindow::onGetCalibrationClicked);
    connect(ui->btn_setCalibration, &QPushButton::clicked, this, &MainWindow::onSetCalibrationClicked);

    // 连接定时器
    connect(m_continuousImageTimer, &QTimer::timeout, this, &MainWindow::onContinuousImageTimeout);
    connect(m_continuousDetectionTimer, &QTimer::timeout, this, &MainWindow::onContinuousDetectionTimeout);

    // 设置三个分组框的拉伸因子
    ui->horizontalLayout_bottom->setStretch(0, 2);  // groupBox_result
    ui->horizontalLayout_bottom->setStretch(1, 1);  // groupBox_control
    ui->horizontalLayout_bottom->setStretch(2, 1);  // groupBox_params

    // 设置事件回调
    if (m_receiver) {
        m_receiver->SetEventCallback([this](ReceiverEventType eventType, const std::string& errorMsg) {
            QMetaObject::invokeMethod(this, [this, eventType, errorMsg]() {
                QString msg;
                switch (eventType) {
                case ReceiverEventType::CONNECTED:
                    msg = "已连接";
                    updateConnectionState(true);
                    break;
                case ReceiverEventType::DISCONNECTED:
                    msg = "已断开";
                    updateConnectionState(false);
                    break;
                case ReceiverEventType::CONNECTION_ERROR:
                    msg = QString("连接错误: %1").arg(QString::fromStdString(errorMsg));
                    updateConnectionState(false);
                    break;
                case ReceiverEventType::HEARTBEAT_TIMEOUT:
                    msg = "心跳超时";
                    updateConnectionState(false);
                    break;
                default:
                    msg = "未知事件";
                    break;
                }
                appendResult(msg);
                ui->statusbar->showMessage(msg);
            });
        });

        // 设置持续检测结果回调
        m_receiver->SetMarkResultCallback([this](const std::vector<VrMark3D>& marks, int64_t timestamp, int errorCode) {
            QMetaObject::invokeMethod(this, [this, marks, timestamp, errorCode]() {
                QString result = QString("[%1] 持续检测结果 (错误码: %2):\n")
                    .arg(QDateTime::fromMSecsSinceEpoch(timestamp).toString("hh:mm:ss.zzz"))
                    .arg(errorCode);

                if (errorCode == 0 && !marks.empty()) {
                    for (const auto& mark : marks) {
                        result += QString("  Mark ID=%1: (%2, %3, %4)\n")
                            .arg(mark.markID)
                            .arg(mark.x, 0, 'f', 2)
                            .arg(mark.y, 0, 'f', 2)
                            .arg(mark.z, 0, 'f', 2);
                    }
                } else {
                    result += "  无检测结果\n";
                }
                appendResult(result);
            });
        });

        // 设置图像回调
        m_receiver->SetImageCallback([this](const std::string& leftImageBase64, const std::string& rightImageBase64, int64_t timestamp) {
            QMetaObject::invokeMethod(this, [this, leftImageBase64, rightImageBase64]() {
                displayImage(ui->label_left, leftImageBase64);
                displayImage(ui->label_right, rightImageBase64);
            });
        });
    }
}

MainWindow::~MainWindow()
{
    if (m_receiver && m_receiver->IsConnected()) {
        m_receiver->StopWork();
        m_receiver->Disconnect();
    }
    delete ui;
}

void MainWindow::onConnectClicked()
{
    if (!m_receiver) {
        QMessageBox::warning(this, "错误", "接收器未初始化");
        return;
    }

    if (m_receiver->IsConnected()) {
        m_receiver->Disconnect();
        ui->btn_connect->setText("连接");
        updateConnectionState(false);
    } else {
        QString ip = ui->lineEdit_ip->text();
        uint16_t port = ui->lineEdit_port->text().toUShort();

        int ret = m_receiver->Connect(ip.toStdString(), port);
        if (ret == 0) {
            ui->btn_connect->setText("断开");
            updateConnectionState(true);
            appendResult(QString("正在连接 %1:%2...").arg(ip).arg(port));

            auto leftInfo = m_receiver->GetCameraInfo(SVrCameraEnum::LEFT);
            auto rightInfo = m_receiver->GetCameraInfo(SVrCameraEnum::RIGHT);
            m_leftCameraSN = QString::fromStdString(leftInfo.serialNumber);
            m_rightCameraSN = QString::fromStdString(rightInfo.serialNumber);
            if (m_leftCameraSN.isEmpty()) m_leftCameraSN = "0";
            if (m_rightCameraSN.isEmpty()) m_rightCameraSN = "1";
        } else {
            QMessageBox::warning(this, "错误", QString("连接失败，错误码: %1").arg(ret));
        }
    }
}

void MainWindow::onStartWorkClicked()
{
    if (!m_receiver || !m_receiver->IsConnected()) return;

    if (ui->btn_startWork->text() == "开始持续检测") {
        int ret = m_receiver->StartWork();
        if (ret == 0) {
            appendResult("开始持续检测");
            ui->btn_startWork->setText("停止持续检测");
        } else {
            QMessageBox::warning(this, "错误", QString("启动失败，错误码: %1").arg(ret));
        }
    } else {
        int ret = m_receiver->StopWork();
        if (ret == 0) {
            appendResult("停止持续检测");
            ui->btn_startWork->setText("开始持续检测");
        } else {
            QMessageBox::warning(this, "错误", QString("停止失败，错误码: %1").arg(ret));
        }
    }
}

void MainWindow::onSingleImageClicked()
{
    if (!m_receiver || !m_receiver->IsConnected()) return;

    appendResult("请求单次取图...");
    auto imageData = m_receiver->RequestSingleImage(5000);

    if (imageData.timestamp > 0) {
        displayImage(ui->label_left, imageData.leftImageBase64);
        displayImage(ui->label_right, imageData.rightImageBase64);
        appendResult(QString("取图成功 [%1]")
            .arg(QDateTime::fromMSecsSinceEpoch(imageData.timestamp).toString("hh:mm:ss.zzz")));
    } else {
        appendResult("取图失败或超时");
    }
}

void MainWindow::onSingleDetectionClicked()
{
    if (!m_receiver || !m_receiver->IsConnected()) return;

    appendResult("请求单次检测...");
    auto result = m_receiver->RequestSingleDetection(5000);

    if (result.timestamp > 0) {
        displayImage(ui->label_left, result.leftImageBase64);
        displayImage(ui->label_right, result.rightImageBase64);

        QString msg = QString("检测完成 [%1] (错误码: %2):\n")
            .arg(QDateTime::fromMSecsSinceEpoch(result.timestamp).toString("hh:mm:ss.zzz"))
            .arg(result.errorCode);

        if (result.errorCode == 0 && !result.marks.empty()) {
            for (const auto& mark : result.marks) {
                msg += QString("  Mark ID=%1: (%2, %3, %4)\n")
                    .arg(mark.markID)
                    .arg(mark.x, 0, 'f', 2)
                    .arg(mark.y, 0, 'f', 2)
                    .arg(mark.z, 0, 'f', 2);
            }
        } else {
            msg += "  无检测结果\n";
        }
        appendResult(msg);
    } else {
        appendResult("检测失败或超时");
    }
}

void MainWindow::onSetExposureTimeClicked()
{
    if (!m_receiver || !m_receiver->IsConnected()) return;

    double exposureTime = ui->lineEdit_exposure->text().toDouble();

    if (exposureTime <= 0) {
        appendResult("错误：曝光时间必须大于0");
        return;
    }

    int ret = m_receiver->SetExposureTime(SVrCameraEnum::BOTH, exposureTime);
    if (ret == 0) {
        appendResult(QString("设置曝光时间成功：%.2f").arg(exposureTime));
    } else {
        appendResult(QString("设置曝光时间失败，错误码: %1").arg(ret));
    }
}

void MainWindow::onSetGainClicked()
{
    if (!m_receiver || !m_receiver->IsConnected()) return;

    double gain = ui->lineEdit_gain->text().toDouble();

    if (gain <= 0) {
        appendResult("错误：增益必须大于0");
        return;
    }

    int ret = m_receiver->SetGain(SVrCameraEnum::BOTH, gain);
    if (ret == 0) {
        appendResult(QString("设置增益成功：%.2f").arg(gain));
    } else {
        appendResult(QString("设置增益失败，错误码: %1").arg(ret));
    }
}

void MainWindow::displayImage(QLabel* label, const std::string& base64Data)
{
    if (base64Data.empty()) return;

    QByteArray imageData = QByteArray::fromBase64(QByteArray::fromStdString(base64Data));
    QImage image;
    if (image.loadFromData(imageData)) {
        QPixmap pixmap = QPixmap::fromImage(image);
        if (label == ui->label_left) {
            m_leftPixmap = pixmap;
        } else if (label == ui->label_right) {
            m_rightPixmap = pixmap;
        }

        QPixmap scaledPixmap = pixmap.scaled(label->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
        QPainter painter(&scaledPixmap);
        painter.setPen(Qt::yellow);
        painter.setFont(QFont("Arial", 12, QFont::Bold));
        QString sn = (label == ui->label_left) ? m_leftCameraSN : m_rightCameraSN;
        if (!sn.isEmpty()) {
            painter.drawText(10, 20, "SN: " + sn);
        }
        label->setPixmap(scaledPixmap);
    }
}

void MainWindow::updateImageDisplay()
{
    if (!m_leftPixmap.isNull()) {
        QPixmap scaledPixmap = m_leftPixmap.scaled(ui->label_left->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
        QPainter painter(&scaledPixmap);
        painter.setPen(Qt::yellow);
        painter.setFont(QFont("Arial", 12, QFont::Bold));
        if (!m_leftCameraSN.isEmpty()) {
            painter.drawText(10, 20, "SN: " + m_leftCameraSN);
        }
        ui->label_left->setPixmap(scaledPixmap);
    }
    if (!m_rightPixmap.isNull()) {
        QPixmap scaledPixmap = m_rightPixmap.scaled(ui->label_right->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
        QPainter painter(&scaledPixmap);
        painter.setPen(Qt::yellow);
        painter.setFont(QFont("Arial", 12, QFont::Bold));
        if (!m_rightCameraSN.isEmpty()) {
            painter.drawText(10, 20, "SN: " + m_rightCameraSN);
        }
        ui->label_right->setPixmap(scaledPixmap);
    }
}

void MainWindow::resizeEvent(QResizeEvent* event)
{
    QMainWindow::resizeEvent(event);
    updateImageDisplay();
}

void MainWindow::appendResult(const QString& text)
{
    ui->textEdit_result->append(text);
}

void MainWindow::updateConnectionState(bool connected)
{
    ui->btn_startWork->setEnabled(connected);
    ui->btn_singleImage->setEnabled(connected);
    ui->btn_singleDetection->setEnabled(connected);
    ui->btn_continuousImage->setEnabled(connected);
    ui->btn_startContinuousImageStream->setEnabled(connected);
    ui->btn_setExposureTime->setEnabled(connected);
    ui->btn_setGain->setEnabled(connected);
    ui->btn_getCalibration->setEnabled(connected);
    ui->btn_setCalibration->setEnabled(connected);
    ui->lineEdit_ip->setEnabled(!connected);
    ui->lineEdit_port->setEnabled(!connected);

    if (connected) {
        ui->btn_startWork->setText("开始持续检测");
        ui->btn_startContinuousImageStream->setText("开始持续图像流");
    }
}

void MainWindow::onContinuousImageClicked()
{
    if (!m_receiver || !m_receiver->IsConnected()) return;

    if (m_isContinuousImageRunning) {
        m_continuousImageTimer->stop();
        m_isContinuousImageRunning = false;
        ui->btn_continuousImage->setText("连续取图");
        appendResult("停止连续取图");
    } else {
        m_continuousImageTimer->start(100);
        m_isContinuousImageRunning = true;
        ui->btn_continuousImage->setText("停止连续取图");
        appendResult("开始连续取图");
    }
}

void MainWindow::onContinuousImageTimeout()
{
    if (!m_receiver || !m_receiver->IsConnected()) return;

    auto imageData = m_receiver->RequestSingleImage(5000);

    if (imageData.timestamp > 0) {
        displayImage(ui->label_left, imageData.leftImageBase64);
        displayImage(ui->label_right, imageData.rightImageBase64);
    }
}

void MainWindow::onContinuousDetectionClicked()
{
    if (!m_receiver || !m_receiver->IsConnected()) return;

    if (m_isContinuousDetectionRunning) {
        m_continuousDetectionTimer->stop();
        m_isContinuousDetectionRunning = false;
        appendResult("停止连续单次检测");
    } else {
        m_continuousDetectionTimer->start(100);
        m_isContinuousDetectionRunning = true;
        appendResult("开始连续单次检测");
    }
}

void MainWindow::onContinuousDetectionTimeout()
{
    if (!m_receiver || !m_receiver->IsConnected()) return;

    auto result = m_receiver->RequestSingleDetection(5000);

    if (result.timestamp > 0) {
        displayImage(ui->label_left, result.leftImageBase64);
        displayImage(ui->label_right, result.rightImageBase64);
    }
}

void MainWindow::onContinuousImageStreamClicked()
{
    if (!m_receiver || !m_receiver->IsConnected()) return;

    if (ui->btn_startContinuousImageStream->text() == "开始持续图像流") {
        int ret = m_receiver->StartCapture();
        if (ret == 0) {
            appendResult("开始持续图像流");
            ui->btn_startContinuousImageStream->setText("停止持续图像流");
        } else {
            QMessageBox::warning(this, "错误", QString("启动失败，错误码: %1").arg(ret));
        }
    } else {
        int ret = m_receiver->StopCapture();
        if (ret == 0) {
            appendResult("停止持续图像流");
            ui->btn_startContinuousImageStream->setText("开始持续图像流");
        } else {
            QMessageBox::warning(this, "错误", QString("停止失败，错误码: %1").arg(ret));
        }
    }
}

void MainWindow::onLoadCalibrationFileClicked()
{
    QString fileName = QFileDialog::getOpenFileName(this, "选择标定文件", "", "XML文件 (*.xml);;所有文件 (*)");

    if (fileName.isEmpty()) {
        return;
    }

    QFile file(fileName);
    if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
        QMessageBox::warning(this, "错误", "无法打开文件");
        return;
    }

    QTextStream in(&file);
    QString content = in.readAll();
    file.close();

    ui->textEdit_calibration->setPlainText(content);
    appendResult(QString("已加载标定文件: %1").arg(fileName));
}

void MainWindow::onGetCalibrationClicked()
{
    if (!m_receiver || !m_receiver->IsConnected()) return;

    appendResult("请求获取标定矩阵...");
    std::string calibXml = m_receiver->GetCalibrationMatrix(5000);

    if (!calibXml.empty()) {
        ui->textEdit_calibration->setPlainText(QString::fromStdString(calibXml));
        appendResult("获取标定矩阵成功");
    } else {
        appendResult("获取标定矩阵失败或超时");
        QMessageBox::warning(this, "错误", "获取标定矩阵失败");
    }
}

void MainWindow::onSetCalibrationClicked()
{
    if (!m_receiver || !m_receiver->IsConnected()) return;

    QString calibXml = ui->textEdit_calibration->toPlainText();
    if (calibXml.isEmpty()) {
        QMessageBox::warning(this, "错误", "标定矩阵内容为空");
        return;
    }

    appendResult("设置标定矩阵...");
    int ret = m_receiver->SetCalibrationMatrix(calibXml.toStdString());

    if (ret == 0) {
        appendResult("设置标定矩阵成功");
        QMessageBox::information(this, "成功", "标定矩阵已设置");
    } else {
        appendResult(QString("设置标定矩阵失败，错误码: %1").arg(ret));
        QMessageBox::warning(this, "错误", QString("设置标定矩阵失败，错误码: %1").arg(ret));
    }
}