#include "CalibViewMainWindow.h"
#include "CalibDataWidget.h"
#include "CalibResultWidget.h"

#include <QMenuBar>
#include <QToolBar>
#include <QAction>
#include <QSplitter>
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QMessageBox>
#include <QFileDialog>
#include <QFile>
#include <QTextStream>
#include <QJsonDocument>
#include <QJsonObject>
#include <QJsonArray>

CalibViewMainWindow::CalibViewMainWindow(QWidget* parent)
    : QMainWindow(parent)
    , m_calib(nullptr)
    , m_tabWidget(nullptr)
    , m_dataWidget(nullptr)
    , m_resultWidget(nullptr)
    , m_hasResult(false)
{
    // 创建标定实例
    m_calib = CreateHandEyeCalibInstance();

    setupUI();
    createMenuBar();
    createToolBar();

    setWindowTitle("CalibView - 手眼标定测试工具");
    resize(1200, 800);

    updateStatusBar("就绪");
}

CalibViewMainWindow::~CalibViewMainWindow()
{
    if (m_calib) {
        DestroyHandEyeCalibInstance(m_calib);
        m_calib = nullptr;
    }
}

void CalibViewMainWindow::setupUI()
{
    // 创建中央控件
    QWidget* centralWidget = new QWidget(this);
    QHBoxLayout* mainLayout = new QHBoxLayout(centralWidget);

    // 创建分割器
    QSplitter* splitter = new QSplitter(Qt::Horizontal, this);

    // 左侧：数据输入
    m_dataWidget = new CalibDataWidget(this);
    splitter->addWidget(m_dataWidget);

    // 右侧：结果显示
    m_resultWidget = new CalibResultWidget(this);
    splitter->addWidget(m_resultWidget);

    // 设置分割比例
    splitter->setStretchFactor(0, 1);
    splitter->setStretchFactor(1, 1);

    mainLayout->addWidget(splitter);
    setCentralWidget(centralWidget);

    // 创建状态栏
    statusBar()->showMessage("就绪");
}

void CalibViewMainWindow::createMenuBar()
{
    // 文件菜单
    QMenu* fileMenu = menuBar()->addMenu("文件(&F)");

    QAction* actLoadTest = fileMenu->addAction("加载测试数据(&T)");
    connect(actLoadTest, &QAction::triggered, this, &CalibViewMainWindow::onLoadTestData);

    fileMenu->addSeparator();

    QAction* actSave = fileMenu->addAction("保存结果(&S)");
    actSave->setShortcut(QKeySequence::Save);
    connect(actSave, &QAction::triggered, this, &CalibViewMainWindow::onSaveResult);

    QAction* actLoad = fileMenu->addAction("加载结果(&L)");
    actLoad->setShortcut(QKeySequence::Open);
    connect(actLoad, &QAction::triggered, this, &CalibViewMainWindow::onLoadResult);

    fileMenu->addSeparator();

    QAction* actExit = fileMenu->addAction("退出(&X)");
    actExit->setShortcut(QKeySequence::Quit);
    connect(actExit, &QAction::triggered, this, &QMainWindow::close);

    // 标定菜单
    QMenu* calibMenu = menuBar()->addMenu("标定(&C)");

    QAction* actEyeToHand = calibMenu->addAction("Eye-To-Hand 标定(&E)");
    connect(actEyeToHand, &QAction::triggered, this, &CalibViewMainWindow::onEyeToHandCalib);

    QAction* actEyeInHand = calibMenu->addAction("Eye-In-Hand 标定(&I)");
    connect(actEyeInHand, &QAction::triggered, this, &CalibViewMainWindow::onEyeInHandCalib);

    calibMenu->addSeparator();

    QAction* actTransform = calibMenu->addAction("坐标变换测试(&T)");
    connect(actTransform, &QAction::triggered, this, &CalibViewMainWindow::onTransformTest);

    QAction* actEuler = calibMenu->addAction("欧拉角转换测试(&U)");
    connect(actEuler, &QAction::triggered, this, &CalibViewMainWindow::onEulerTest);

    calibMenu->addSeparator();

    QAction* actClear = calibMenu->addAction("清除所有(&C)");
    connect(actClear, &QAction::triggered, this, &CalibViewMainWindow::onClearAll);

    // 帮助菜单
    QMenu* helpMenu = menuBar()->addMenu("帮助(&H)");

    QAction* actAbout = helpMenu->addAction("关于(&A)");
    connect(actAbout, &QAction::triggered, this, [this]() {
        QMessageBox::about(this, "关于 CalibView",
            "CalibView - 手眼标定测试工具\n\n"
            "用于测试 HandEyeCalib 模块的各项功能：\n"
            "- Eye-To-Hand 标定\n"
            "- Eye-In-Hand 标定\n"
            "- 坐标变换\n"
            "- 欧拉角转换\n\n"
            "基于 Eigen 库实现的 SVD 分解算法");
    });
}

void CalibViewMainWindow::createToolBar()
{
    QToolBar* toolBar = addToolBar("工具栏");
    toolBar->setMovable(false);

    QAction* actLoadTest = toolBar->addAction("测试数据");
    connect(actLoadTest, &QAction::triggered, this, &CalibViewMainWindow::onLoadTestData);

    toolBar->addSeparator();

    QAction* actEyeToHand = toolBar->addAction("Eye-To-Hand");
    connect(actEyeToHand, &QAction::triggered, this, &CalibViewMainWindow::onEyeToHandCalib);

    QAction* actEyeInHand = toolBar->addAction("Eye-In-Hand");
    connect(actEyeInHand, &QAction::triggered, this, &CalibViewMainWindow::onEyeInHandCalib);

    toolBar->addSeparator();

    QAction* actTransform = toolBar->addAction("变换测试");
    connect(actTransform, &QAction::triggered, this, &CalibViewMainWindow::onTransformTest);

    QAction* actEuler = toolBar->addAction("欧拉角测试");
    connect(actEuler, &QAction::triggered, this, &CalibViewMainWindow::onEulerTest);

    toolBar->addSeparator();

    QAction* actClear = toolBar->addAction("清除");
    connect(actClear, &QAction::triggered, this, &CalibViewMainWindow::onClearAll);
}

void CalibViewMainWindow::updateStatusBar(const QString& message)
{
    statusBar()->showMessage(message);
}

void CalibViewMainWindow::onEyeToHandCalib()
{
    if (!m_calib) {
        QMessageBox::critical(this, "错误", "标定实例未初始化");
        return;
    }

    std::vector<HECPoint3D> eyePoints;
    std::vector<HECPoint3D> robotPoints;
    m_dataWidget->getEyeToHandData(eyePoints, robotPoints);

    if (eyePoints.size() < 3) {
        QMessageBox::warning(this, "警告", "至少需要3组对应点进行标定");
        return;
    }

    m_resultWidget->appendLog("开始 Eye-To-Hand 标定...");
    m_resultWidget->appendLog(QString("输入点数: %1").arg(eyePoints.size()));

    int ret = m_calib->CalculateRT(eyePoints, robotPoints, m_currentResult);

    if (ret == 0) {
        m_hasResult = true;
        m_resultWidget->showCalibResult(m_currentResult);
        m_resultWidget->appendLog(QString("标定成功，误差: %1 mm")
            .arg(m_currentResult.error, 0, 'f', 4));
        updateStatusBar("Eye-To-Hand 标定完成");
        emit calibrationCompleted(m_currentResult);
    } else {
        m_resultWidget->appendLog(QString("标定失败，错误码: %1").arg(ret));
        QMessageBox::critical(this, "错误", QString("标定失败，错误码: %1").arg(ret));
    }
}

void CalibViewMainWindow::onEyeInHandCalib()
{
    if (!m_calib) {
        QMessageBox::critical(this, "错误", "标定实例未初始化");
        return;
    }

    std::vector<HECEyeInHandData> calibData;
    m_dataWidget->getEyeInHandData(calibData);

    if (calibData.size() < 3) {
        QMessageBox::warning(this, "警告", "至少需要3组数据进行标定");
        return;
    }

    m_resultWidget->appendLog("开始 Eye-In-Hand 标定...");
    m_resultWidget->appendLog(QString("输入数据组数: %1").arg(calibData.size()));

    int ret = m_calib->CalculateEyeInHand(calibData, m_currentResult);

    if (ret == 0) {
        m_hasResult = true;
        m_resultWidget->showCalibResult(m_currentResult);
        m_resultWidget->appendLog(QString("标定成功，误差: %1 mm")
            .arg(m_currentResult.error, 0, 'f', 4));
        updateStatusBar("Eye-In-Hand 标定完成");
        emit calibrationCompleted(m_currentResult);
    } else {
        m_resultWidget->appendLog(QString("标定失败，错误码: %1").arg(ret));
        QMessageBox::critical(this, "错误", QString("标定失败，错误码: %1").arg(ret));
    }
}

void CalibViewMainWindow::onTransformTest()
{
    if (!m_calib) {
        QMessageBox::critical(this, "错误", "标定实例未初始化");
        return;
    }

    if (!m_hasResult) {
        QMessageBox::warning(this, "警告", "请先执行标定或加载标定结果");
        return;
    }

    HECPoint3D srcPoint = m_dataWidget->getTransformPoint();
    HECPoint3D dstPoint;

    m_calib->TransformPoint(m_currentResult.R, m_currentResult.T, srcPoint, dstPoint);

    m_resultWidget->showTransformResult(srcPoint, dstPoint);
    m_resultWidget->appendLog(QString("坐标变换: (%1, %2, %3) -> (%4, %5, %6)")
        .arg(srcPoint.x, 0, 'f', 3)
        .arg(srcPoint.y, 0, 'f', 3)
        .arg(srcPoint.z, 0, 'f', 3)
        .arg(dstPoint.x, 0, 'f', 3)
        .arg(dstPoint.y, 0, 'f', 3)
        .arg(dstPoint.z, 0, 'f', 3));

    updateStatusBar("坐标变换完成");
}

void CalibViewMainWindow::onEulerTest()
{
    if (!m_calib) {
        QMessageBox::critical(this, "错误", "标定实例未初始化");
        return;
    }

    HECEulerAngles inputAngles = m_dataWidget->getEulerAngles();
    HECEulerOrder order = m_dataWidget->getEulerOrder();

    // 欧拉角 -> 旋转矩阵
    HECRotationMatrix R;
    m_calib->EulerToRotationMatrix(inputAngles, order, R);

    // 旋转矩阵 -> 欧拉角
    HECEulerAngles outputAngles;
    m_calib->RotationMatrixToEuler(R, order, outputAngles);

    m_resultWidget->showEulerResult(inputAngles, R, outputAngles, order);

    double inRoll, inPitch, inYaw;
    inputAngles.toDegrees(inRoll, inPitch, inYaw);
    double outRoll, outPitch, outYaw;
    outputAngles.toDegrees(outRoll, outPitch, outYaw);

    m_resultWidget->appendLog(QString("欧拉角转换测试:"));
    m_resultWidget->appendLog(QString("  输入: Roll=%1°, Pitch=%2°, Yaw=%3°")
        .arg(inRoll, 0, 'f', 2).arg(inPitch, 0, 'f', 2).arg(inYaw, 0, 'f', 2));
    m_resultWidget->appendLog(QString("  输出: Roll=%1°, Pitch=%2°, Yaw=%3°")
        .arg(outRoll, 0, 'f', 2).arg(outPitch, 0, 'f', 2).arg(outYaw, 0, 'f', 2));

    updateStatusBar("欧拉角转换完成");
}

void CalibViewMainWindow::onClearAll()
{
    m_dataWidget->clearAll();
    m_resultWidget->clearAll();
    m_hasResult = false;
    updateStatusBar("已清除所有数据");
}

void CalibViewMainWindow::onLoadTestData()
{
    m_dataWidget->loadTestData();
    m_resultWidget->appendLog("已加载测试数据");
    updateStatusBar("已加载测试数据");
}

void CalibViewMainWindow::onSaveResult()
{
    if (!m_hasResult) {
        QMessageBox::warning(this, "警告", "没有可保存的标定结果");
        return;
    }

    QString fileName = QFileDialog::getSaveFileName(this,
        "保存标定结果", "", "JSON文件 (*.json)");

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

    QJsonObject root;

    // 保存旋转矩阵
    QJsonArray rotArray;
    for (int i = 0; i < 9; ++i) {
        rotArray.append(m_currentResult.R.data[i]);
    }
    root["rotation"] = rotArray;

    // 保存平移向量
    QJsonArray transArray;
    for (int i = 0; i < 3; ++i) {
        transArray.append(m_currentResult.T.data[i]);
    }
    root["translation"] = transArray;

    // 保存质心
    QJsonObject centerEye;
    centerEye["x"] = m_currentResult.centerEye.x;
    centerEye["y"] = m_currentResult.centerEye.y;
    centerEye["z"] = m_currentResult.centerEye.z;
    root["centerEye"] = centerEye;

    QJsonObject centerRobot;
    centerRobot["x"] = m_currentResult.centerRobot.x;
    centerRobot["y"] = m_currentResult.centerRobot.y;
    centerRobot["z"] = m_currentResult.centerRobot.z;
    root["centerRobot"] = centerRobot;

    // 保存误差
    root["error"] = m_currentResult.error;

    QFile file(fileName);
    if (file.open(QIODevice::WriteOnly)) {
        QJsonDocument doc(root);
        file.write(doc.toJson(QJsonDocument::Indented));
        file.close();
        m_resultWidget->appendLog(QString("结果已保存到: %1").arg(fileName));
        updateStatusBar("结果已保存");
    } else {
        QMessageBox::critical(this, "错误", "无法保存文件");
    }
}

void CalibViewMainWindow::onLoadResult()
{
    QString fileName = QFileDialog::getOpenFileName(this,
        "加载标定结果", "", "JSON文件 (*.json)");

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

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

    QByteArray data = file.readAll();
    file.close();

    QJsonDocument doc = QJsonDocument::fromJson(data);
    if (doc.isNull()) {
        QMessageBox::critical(this, "错误", "无效的JSON文件");
        return;
    }

    QJsonObject root = doc.object();

    // 加载旋转矩阵
    QJsonArray rotArray = root["rotation"].toArray();
    if (rotArray.size() == 9) {
        for (int i = 0; i < 9; ++i) {
            m_currentResult.R.data[i] = rotArray[i].toDouble();
        }
    }

    // 加载平移向量
    QJsonArray transArray = root["translation"].toArray();
    if (transArray.size() == 3) {
        for (int i = 0; i < 3; ++i) {
            m_currentResult.T.data[i] = transArray[i].toDouble();
        }
    }

    // 加载质心
    QJsonObject centerEye = root["centerEye"].toObject();
    m_currentResult.centerEye.x = centerEye["x"].toDouble();
    m_currentResult.centerEye.y = centerEye["y"].toDouble();
    m_currentResult.centerEye.z = centerEye["z"].toDouble();

    QJsonObject centerRobot = root["centerRobot"].toObject();
    m_currentResult.centerRobot.x = centerRobot["x"].toDouble();
    m_currentResult.centerRobot.y = centerRobot["y"].toDouble();
    m_currentResult.centerRobot.z = centerRobot["z"].toDouble();

    // 加载误差
    m_currentResult.error = root["error"].toDouble();

    m_hasResult = true;
    m_resultWidget->showCalibResult(m_currentResult);
    m_resultWidget->appendLog(QString("已加载标定结果: %1").arg(fileName));
    updateStatusBar("标定结果已加载");
}