#include "VrWheelMeasureConfig.h"
#include "IVrWheelMeasureConfig.h"
#include <algorithm>
#include <sstream>
#include "VrLog.h"
#include <QFile>
#include <QTextStream>
#include <QString>
#include <QTextCodec>
#include <QXmlStreamReader>
#include <QXmlStreamWriter>

VrWheelMeasureConfig::VrWheelMeasureConfig()
    : m_notify(nullptr)
{
}

VrWheelMeasureConfig::~VrWheelMeasureConfig()
{
}

// 静态工厂方法
bool IVrWheelMeasureConfig::CreateInstance(IVrWheelMeasureConfig** ppVrConfig)
{
    if (!ppVrConfig) {
        return false;
    }

    *ppVrConfig = new VrWheelMeasureConfig();
    return true;
}

WheelMeasureConfigResult VrWheelMeasureConfig::LoadConfig(const std::string& filePath)
{
    WheelMeasureConfigResult result;

    // 使用QString处理可能包含中文的路径
    QString qFilePath = QString::fromStdString(filePath);
    QFile file(qFilePath);

    // 检查文件是否存在并可读
    if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
        LOG_DEBUG("Failed to open file: %s\n", filePath.c_str());
        return result;
    }

    // 使用QXmlStreamReader解析XML内容
    QXmlStreamReader xml(&file);

    // 读取到根元素
    if (xml.readNextStartElement()) {
        if (xml.name() != "WheelMeasureConfig") {
            xml.raiseError(QObject::tr("Not a WheelMeasureConfig file"));
        }
    } else {
        xml.raiseError(QObject::tr("Failed to read root element"));
    }

    // 解析XML内容
    while (!xml.atEnd() && !xml.hasError()) {
        xml.readNext();

        // 解析相机配置
        if (xml.isStartElement() && xml.name() == "Cameras") {
            while (xml.readNextStartElement()) {
                if (xml.name() == "Camera") {
                    WheelCameraParam camera;
                    camera.cameraIndex = xml.attributes().value("index").toInt();
                    camera.name = xml.attributes().value("name").toString().toStdString();
                    camera.cameraIP = xml.attributes().value("ip").toString().toStdString();
                    camera.enabled = xml.attributes().value("enabled").toInt() != 0;
                    result.cameras.push_back(camera);
                    xml.skipCurrentElement();
                }
            }
        }

        // 解析相机调平参数
        else if (xml.isStartElement() && xml.name() == "PlaneCalibParams") {
            while (xml.readNextStartElement()) {
                if (xml.name() == "CameraCalib") {
                    WheelCameraPlaneCalibParam calibParam;
                    calibParam.cameraIndex = xml.attributes().value("index").toInt();
                    calibParam.cameraName = xml.attributes().value("name").toString().toStdString();
                    calibParam.planeHeight = xml.attributes().value("planeHeight").toDouble();
                    calibParam.isCalibrated = xml.attributes().value("isCalibrated").toInt() != 0;

                    // 读取planeCalib矩阵
                    QString planeCalibStr = xml.attributes().value("planeCalib").toString();
                    QStringList planeCalibList = planeCalibStr.split(",");
                    for (int i = 0; i < 9 && i < planeCalibList.size(); ++i) {
                        calibParam.planeCalib[i] = planeCalibList[i].toDouble();
                    }

                    // 读取invRMatrix矩阵
                    QString invRMatrixStr = xml.attributes().value("invRMatrix").toString();
                    QStringList invRMatrixList = invRMatrixStr.split(",");
                    for (int i = 0; i < 9 && i < invRMatrixList.size(); ++i) {
                        calibParam.invRMatrix[i] = invRMatrixList[i].toDouble();
                    }

                    result.planeCalibParams.push_back(calibParam);
                    xml.skipCurrentElement();
                }
            }
        }

        // 解析算法参数
        else if (xml.isStartElement() && xml.name() == "AlgorithmParams") {
            while (xml.readNextStartElement()) {
                // 角点参数
                if (xml.name() == "CornerParam") {
                    result.algorithmParams.cornerParam.minEndingGap =
                        xml.attributes().value("minEndingGap").toDouble();
                    result.algorithmParams.cornerParam.minEndingGap_z =
                        xml.attributes().value("minEndingGap_z").toDouble();
                    result.algorithmParams.cornerParam.scale =
                        xml.attributes().value("scale").toDouble();
                    result.algorithmParams.cornerParam.cornerTh =
                        xml.attributes().value("cornerTh").toDouble();
                    result.algorithmParams.cornerParam.jumpCornerTh_1 =
                        xml.attributes().value("jumpCornerTh_1").toDouble();
                    result.algorithmParams.cornerParam.jumpCornerTh_2 =
                        xml.attributes().value("jumpCornerTh_2").toDouble();

                    // 设置默认值
                    if (result.algorithmParams.cornerParam.minEndingGap == 0.0) {
                        result.algorithmParams.cornerParam.minEndingGap = 3.0;
                    }
                    if (result.algorithmParams.cornerParam.minEndingGap_z == 0.0) {
                        result.algorithmParams.cornerParam.minEndingGap_z = 5.0;
                    }
                    if (result.algorithmParams.cornerParam.scale == 0.0) {
                        result.algorithmParams.cornerParam.scale = 10.0;
                    }
                    if (result.algorithmParams.cornerParam.cornerTh == 0.0) {
                        result.algorithmParams.cornerParam.cornerTh = 130.0;
                    }
                    if (result.algorithmParams.cornerParam.jumpCornerTh_1 == 0.0) {
                        result.algorithmParams.cornerParam.jumpCornerTh_1 = 5.0;
                    }
                    if (result.algorithmParams.cornerParam.jumpCornerTh_2 == 0.0) {
                        result.algorithmParams.cornerParam.jumpCornerTh_2 = 2.0;
                    }

                    xml.skipCurrentElement();
                }
                // 线段参数
                else if (xml.name() == "LineSegParam") {
                    result.algorithmParams.lineSegParam.segGapTh_y =
                        xml.attributes().value("segGapTh_y").toDouble();
                    result.algorithmParams.lineSegParam.segGapTh_z =
                        xml.attributes().value("segGapTh_z").toDouble();
                    result.algorithmParams.lineSegParam.maxDist =
                        xml.attributes().value("maxDist").toDouble();

                    // 设置默认值
                    if (result.algorithmParams.lineSegParam.segGapTh_y == 0.0) {
                        result.algorithmParams.lineSegParam.segGapTh_y = 5.0;
                    }
                    if (result.algorithmParams.lineSegParam.segGapTh_z == 0.0) {
                        result.algorithmParams.lineSegParam.segGapTh_z = 10.0;
                    }
                    if (result.algorithmParams.lineSegParam.maxDist == 0.0) {
                        result.algorithmParams.lineSegParam.maxDist = 50.0;
                    }

                    xml.skipCurrentElement();
                }
                // 离群点过滤参数
                else if (xml.name() == "OutlierFilterParam") {
                    result.algorithmParams.filterParam.continuityTh =
                        xml.attributes().value("continuityTh").toDouble();
                    result.algorithmParams.filterParam.outlierTh =
                        xml.attributes().value("outlierTh").toDouble();

                    // 设置默认值
                    if (result.algorithmParams.filterParam.continuityTh == 0.0) {
                        result.algorithmParams.filterParam.continuityTh = 5.0;
                    }
                    if (result.algorithmParams.filterParam.outlierTh == 0.0) {
                        result.algorithmParams.filterParam.outlierTh = 3.0;
                    }

                    xml.skipCurrentElement();
                }
                // 树生长参数
                else if (xml.name() == "TreeGrowParam") {
                    result.algorithmParams.growParam.yDeviation_max =
                        xml.attributes().value("yDeviation_max").toDouble();
                    result.algorithmParams.growParam.zDeviation_max =
                        xml.attributes().value("zDeviation_max").toDouble();
                    result.algorithmParams.growParam.maxLineSkipNum =
                        xml.attributes().value("maxLineSkipNum").toInt();
                    result.algorithmParams.growParam.maxSkipDistance =
                        xml.attributes().value("maxSkipDistance").toDouble();
                    result.algorithmParams.growParam.minLTypeTreeLen =
                        xml.attributes().value("minLTypeTreeLen").toDouble();
                    result.algorithmParams.growParam.minVTypeTreeLen =
                        xml.attributes().value("minVTypeTreeLen").toDouble();

                    // 设置默认值
                    if (result.algorithmParams.growParam.yDeviation_max == 0.0) {
                        result.algorithmParams.growParam.yDeviation_max = 20.0;
                    }
                    if (result.algorithmParams.growParam.zDeviation_max == 0.0) {
                        result.algorithmParams.growParam.zDeviation_max = 30.0;
                    }
                    if (result.algorithmParams.growParam.maxLineSkipNum == 0) {
                        result.algorithmParams.growParam.maxLineSkipNum = 5;
                    }
                    if (result.algorithmParams.growParam.minLTypeTreeLen == 0.0) {
                        result.algorithmParams.growParam.minLTypeTreeLen = 10.0;
                    }
                    if (result.algorithmParams.growParam.minVTypeTreeLen == 0.0) {
                        result.algorithmParams.growParam.minVTypeTreeLen = 10.0;
                    }

                    xml.skipCurrentElement();
                }
                else {
                    xml.skipCurrentElement();
                }
            }
        }

        // 解析调试参数
        else if (xml.isStartElement() && xml.name() == "DebugParam") {
            result.debugParam.enableDebug = xml.attributes().value("enableDebug").toInt();
            result.debugParam.saveDebugImage = xml.attributes().value("saveDebugImage").toInt();
            result.debugParam.printDetailLog = xml.attributes().value("printDetailLog").toInt();
            result.debugParam.debugOutputPath = xml.attributes().value("debugOutputPath").toString().toStdString();
            xml.skipCurrentElement();
        }

        // 解析服务端配置
        else if (xml.isStartElement() && xml.name() == "LocalServerConfig") {
            while (xml.readNextStartElement()) {
                if (xml.name() == "ServerPort") {
                    result.serverPort = xml.attributes().value("port").toInt();
                    xml.skipCurrentElement();
                } else if (xml.name() == "TcpPort") {
                    result.tcpPort = xml.attributes().value("port").toInt();
                    if (result.tcpPort == 0) {
                        result.tcpPort = 5800;  // 默认值
                    }
                    xml.skipCurrentElement();
                } else {
                    xml.skipCurrentElement();
                }
            }
        }

        // 解析服务器列表
        else if (xml.isStartElement() && xml.name() == "Servers") {
            while (xml.readNextStartElement()) {
                if (xml.name() == "Server") {
                    WheelServerInfo server;
                    server.name = xml.attributes().value("name").toString().toStdString();
                    server.ip = xml.attributes().value("ip").toString().toStdString();
                    server.port = xml.attributes().value("port").toInt();
                    if (server.port == 0) {
                        server.port = 5800;  // 默认端口
                    }
                    result.servers.push_back(server);
                    xml.skipCurrentElement();
                } else {
                    xml.skipCurrentElement();
                }
            }
        }
    }

    file.close();

    // 检查解析错误
    if (xml.hasError()) {
        LOG_ERROR("XML parsing error: %s\n", xml.errorString().toStdString().c_str());
        return WheelMeasureConfigResult(); // 返回空结果
    }

    return result;
}

bool VrWheelMeasureConfig::SaveConfig(const std::string& filePath, WheelMeasureConfigResult& configResult)
{
    // 使用QString处理可能包含中文的路径
    QString qFilePath = QString::fromStdString(filePath);
    QFile file(qFilePath);

    // 打开文件进行写入
    if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
        LOG_DEBUG("Failed to open file for writing: %s\n", filePath.c_str());
        return false;
    }

    // 使用QXmlStreamWriter写入XML内容
    QXmlStreamWriter xml(&file);
    xml.setAutoFormatting(true);
    xml.setCodec("UTF-8");
    xml.writeStartDocument();
    xml.writeStartElement("WheelMeasureConfig");

    // 保存相机配置
    xml.writeStartElement("Cameras");
    for (const auto& camera : configResult.cameras) {
        xml.writeStartElement("Camera");
        xml.writeAttribute("index", QString::number(camera.cameraIndex));
        xml.writeAttribute("name", QString::fromStdString(camera.name));
        xml.writeAttribute("ip", QString::fromStdString(camera.cameraIP));
        xml.writeAttribute("enabled", QString::number(camera.enabled ? 1 : 0));
        xml.writeEndElement(); // Camera
    }
    xml.writeEndElement(); // Cameras

    // 保存相机调平参数
    xml.writeStartElement("PlaneCalibParams");
    for (const auto& calibParam : configResult.planeCalibParams) {
        xml.writeStartElement("CameraCalib");
        xml.writeAttribute("index", QString::number(calibParam.cameraIndex));
        xml.writeAttribute("name", QString::fromStdString(calibParam.cameraName));
        xml.writeAttribute("planeHeight", QString::number(calibParam.planeHeight, 'f', 6));
        xml.writeAttribute("isCalibrated", QString::number(calibParam.isCalibrated ? 1 : 0));

        // 保存planeCalib矩阵
        QStringList planeCalibList;
        for (int i = 0; i < 9; ++i) {
            planeCalibList.append(QString::number(calibParam.planeCalib[i], 'f', 8));
        }
        xml.writeAttribute("planeCalib", planeCalibList.join(","));

        // 保存invRMatrix矩阵
        QStringList invRMatrixList;
        for (int i = 0; i < 9; ++i) {
            invRMatrixList.append(QString::number(calibParam.invRMatrix[i], 'f', 8));
        }
        xml.writeAttribute("invRMatrix", invRMatrixList.join(","));

        xml.writeEndElement(); // CameraCalib
    }
    xml.writeEndElement(); // PlaneCalibParams

    // 保存算法参数
    xml.writeStartElement("AlgorithmParams");

    // 角点参数
    xml.writeStartElement("CornerParam");
    xml.writeAttribute("minEndingGap", QString::number(configResult.algorithmParams.cornerParam.minEndingGap));
    xml.writeAttribute("minEndingGap_z", QString::number(configResult.algorithmParams.cornerParam.minEndingGap_z));
    xml.writeAttribute("scale", QString::number(configResult.algorithmParams.cornerParam.scale));
    xml.writeAttribute("cornerTh", QString::number(configResult.algorithmParams.cornerParam.cornerTh));
    xml.writeAttribute("jumpCornerTh_1", QString::number(configResult.algorithmParams.cornerParam.jumpCornerTh_1));
    xml.writeAttribute("jumpCornerTh_2", QString::number(configResult.algorithmParams.cornerParam.jumpCornerTh_2));
    xml.writeEndElement(); // CornerParam

    // 线段参数
    xml.writeStartElement("LineSegParam");
    xml.writeAttribute("segGapTh_y", QString::number(configResult.algorithmParams.lineSegParam.segGapTh_y));
    xml.writeAttribute("segGapTh_z", QString::number(configResult.algorithmParams.lineSegParam.segGapTh_z));
    xml.writeAttribute("maxDist", QString::number(configResult.algorithmParams.lineSegParam.maxDist));
    xml.writeEndElement(); // LineSegParam

    // 离群点过滤参数
    xml.writeStartElement("OutlierFilterParam");
    xml.writeAttribute("continuityTh", QString::number(configResult.algorithmParams.filterParam.continuityTh));
    xml.writeAttribute("outlierTh", QString::number(configResult.algorithmParams.filterParam.outlierTh));
    xml.writeEndElement(); // OutlierFilterParam

    // 树生长参数
    xml.writeStartElement("TreeGrowParam");
    xml.writeAttribute("yDeviation_max", QString::number(configResult.algorithmParams.growParam.yDeviation_max));
    xml.writeAttribute("zDeviation_max", QString::number(configResult.algorithmParams.growParam.zDeviation_max));
    xml.writeAttribute("maxLineSkipNum", QString::number(configResult.algorithmParams.growParam.maxLineSkipNum));
    xml.writeAttribute("maxSkipDistance", QString::number(configResult.algorithmParams.growParam.maxSkipDistance));
    xml.writeAttribute("minLTypeTreeLen", QString::number(configResult.algorithmParams.growParam.minLTypeTreeLen));
    xml.writeAttribute("minVTypeTreeLen", QString::number(configResult.algorithmParams.growParam.minVTypeTreeLen));
    xml.writeEndElement(); // TreeGrowParam

    xml.writeEndElement(); // AlgorithmParams

    // 保存调试参数
    xml.writeStartElement("DebugParam");
    xml.writeAttribute("enableDebug", QString::number(configResult.debugParam.enableDebug));
    xml.writeAttribute("saveDebugImage", QString::number(configResult.debugParam.saveDebugImage));
    xml.writeAttribute("printDetailLog", QString::number(configResult.debugParam.printDetailLog));
    xml.writeAttribute("debugOutputPath", QString::fromStdString(configResult.debugParam.debugOutputPath));
    xml.writeEndElement(); // DebugParam

    // 保存服务端配置
    xml.writeStartElement("LocalServerConfig");
    xml.writeStartElement("ServerPort");
    xml.writeAttribute("port", QString::number(configResult.serverPort));
    xml.writeEndElement(); // ServerPort
    xml.writeStartElement("TcpPort");
    xml.writeAttribute("port", QString::number(configResult.tcpPort));
    xml.writeEndElement(); // TcpPort
    xml.writeEndElement(); // LocalServerConfig

    // 保存服务器列表
    xml.writeStartElement("Servers");
    for (const auto& server : configResult.servers) {
        xml.writeStartElement("Server");
        xml.writeAttribute("name", QString::fromStdString(server.name));
        xml.writeAttribute("ip", QString::fromStdString(server.ip));
        xml.writeAttribute("port", QString::number(server.port));
        xml.writeEndElement(); // Server
    }
    xml.writeEndElement(); // Servers

    xml.writeEndElement(); // WheelMeasureConfig
    xml.writeEndDocument();

    file.close();

    // 通知配置改变
    if (m_notify) {
        m_notify->OnConfigChanged(configResult);
    }

    return true;
}

void VrWheelMeasureConfig::SetConfigChangeNotify(IVrWheelMeasureConfigChangeNotify* notify)
{
    m_notify = notify;
}