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

#include "VrLog.h"

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

        // 隐藏标题栏
        // setWindowFlags(Qt::FramelessWindowHint);

        // 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;
        }

        // 初始化旋转顺序下拉框
        InitEulerOrderComboBox();

        // 初始化姿态输出顺序下拉框
        InitPoseOutputOrderComboBox();

        // 初始化方向向量反向下拉框
        InitDirVectorInvertComboBox();

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

    } 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
        LoadWorkpieceHoleParamToUI(algoParams.workpieceHoleParam);
        LoadLineSegParamToUI(algoParams.lineSegParam);
        LoadFilterParamToUI(algoParams.filterParam);
        LoadGrowParamToUI(algoParams.growParam);

        // 加载网络配置（PLC和机械臂服务端）
        LoadPlcRobotServerConfigToUI(configData.plcRobotServerConfig);

        // 加载手眼标定矩阵
        LoadCalibMatrixToUI();

    } 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;
        LoadWorkpieceHoleParamToUI(algoParams.workpieceHoleParam);
        LoadLineSegParamToUI(algoParams.lineSegParam);
        LoadFilterParamToUI(algoParams.filterParam);
        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;
        LoadWorkpieceHoleParamToUI(algoParams.workpieceHoleParam);
        LoadLineSegParamToUI(algoParams.lineSegParam);
        LoadFilterParamToUI(algoParams.filterParam);
        LoadGrowParamToUI(algoParams.growParam);
    }
}

void DialogAlgoarg::LoadWorkpieceHoleParamToUI(const VrWorkpieceHoleParam& param)
{
    if (!ui) return;

    ui->lineEdit_workpieceType->setText(QString::number(param.workpieceType));
    ui->lineEdit_holeDiameter->setText(QString::number(param.holeDiameter));
    ui->lineEdit_holeDist_L->setText(QString::number(param.holeDist_L));
    ui->lineEdit_holeDist_W->setText(QString::number(param.holeDist_W));
}

void DialogAlgoarg::LoadLineSegParamToUI(const VrLineSegParam& param)
{
    if (!ui) return;

    ui->lineEdit_distScale->setText(QString::number(param.distScale));
    ui->lineEdit_segGapTh_y->setText(QString::number(param.segGapTh_y));
    ui->lineEdit_segGapTh_z->setText(QString::number(param.segGapTh_z));
}

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::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 (!SaveWorkpieceHoleParamFromUI(algoParams.workpieceHoleParam)) {
            StyledMessageBox::warning(this, "错误", "工件孔参数输入有误，请检查！");
            return false;
        }

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

        // 保存网络配置（PLC和机械臂服务端）
        if (!SavePlcRobotServerConfigFromUI(systemConfig.configResult.plcRobotServerConfig)) {
            StyledMessageBox::warning(this, "错误", "网络配置输入有误，请检查！");
            return false;
        }

        // 保存手眼标定矩阵到配置
        if (!SaveCalibMatrixToConfig(systemConfig.configResult.handEyeCalibMatrix)) {
            StyledMessageBox::warning(this, "错误", "手眼标定矩阵输入有误，请检查！");
            return false;
        }

        // 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::SaveWorkpieceHoleParamFromUI(VrWorkpieceHoleParam& param)
{
    bool ok = true;

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

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

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

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

    return true;
}

bool DialogAlgoarg::SaveLineSegParamFromUI(VrLineSegParam& param)
{
    bool ok = true;

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

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

    param.segGapTh_z = ui->lineEdit_segGapTh_z->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::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()
{
    reject();
}

void DialogAlgoarg::on_btn_loadCalibMatrix_clicked()
{
    QString filePath = QFileDialog::getOpenFileName(
        this,
        "选择手眼标定文件",
        QString(),
        "INI文件 (*.ini);;所有文件 (*.*)"
    );

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

    LoadCalibMatrixFromFile(filePath);
    StyledMessageBox::information(this, "提示", "已从文件导入标定矩阵");
}

QLineEdit* DialogAlgoarg::GetCalibLineEdit(int row, int col)
{
    // 通过名称查找对应的QLineEdit
    QString name = QString("lineEdit_calib_%1_%2").arg(row).arg(col);
    return findChild<QLineEdit*>(name);
}

void DialogAlgoarg::LoadCalibMatrixToUI()
{
    if (!m_pConfigManager) return;

    ConfigResult configData = m_pConfigManager->GetConfigResult();

    for (int i = 0; i < 16; i++) {
        QLineEdit* edit = GetCalibLineEdit(i / 4, i % 4);
        if (edit) {
            edit->setText(QString::number(configData.handEyeCalibMatrix.matrix[i], 'f', 6));
        }
    }

    // 加载旋转顺序
    int eulerOrder = configData.handEyeCalibMatrix.eulerOrder;
    int index = ui->comboBox_eulerOrder->findData(eulerOrder);
    if (index >= 0) {
        ui->comboBox_eulerOrder->setCurrentIndex(index);
    }
}

void DialogAlgoarg::LoadCalibMatrixFromFile(const QString& filePath)
{
    QSettings settings(filePath, QSettings::IniFormat);
    settings.beginGroup("CalibMatrixInfo_0");

    for (int i = 0; i < 16; i++) {
        int row = i / 4;
        int col = i % 4;
        QString key = QString("dCalibMatrix_%1").arg(i);
        double val = settings.value(key, (row == col) ? 1.0 : 0.0).toDouble();

        QLineEdit* edit = GetCalibLineEdit(row, col);
        if (edit) {
            edit->setText(QString::number(val, 'f', 6));
        }
    }

    settings.endGroup();
}

bool DialogAlgoarg::SaveCalibMatrixToConfig(VrHandEyeCalibMatrix& calibMatrix)
{
    for (int i = 0; i < 16; i++) {
        QLineEdit* edit = GetCalibLineEdit(i / 4, i % 4);
        if (!edit) return false;

        bool ok = false;
        calibMatrix.matrix[i] = edit->text().toDouble(&ok);
        if (!ok) return false;
    }
    // 保存旋转顺序
    calibMatrix.eulerOrder = ui->comboBox_eulerOrder->currentData().toInt();
    return true;
}

void DialogAlgoarg::InitEulerOrderComboBox()
{
    // 添加外旋旋转顺序选项（工业机械臂常用）
    ui->comboBox_eulerOrder->addItem("RZ-RY-RX (外旋ZYX)", 11);  // ABB、KUKA、发那科等常用
    ui->comboBox_eulerOrder->addItem("RX-RY-RZ (外旋XYZ)", 10);
    ui->comboBox_eulerOrder->addItem("RZ-RX-RY (外旋ZXY)", 12);
    ui->comboBox_eulerOrder->addItem("RY-RX-RZ (外旋YXZ)", 13);
    ui->comboBox_eulerOrder->addItem("RY-RZ-RX (外旋YZX)", 14);
    ui->comboBox_eulerOrder->addItem("RX-RZ-RY (外旋XZY)", 15);

    // 默认选择外旋 ZYX
    ui->comboBox_eulerOrder->setCurrentIndex(0);
}

void DialogAlgoarg::InitPoseOutputOrderComboBox()
{
    // 添加姿态输出顺序选项
    ui->comboBox_poseOutputOrder->addItem("RPY (Roll, Pitch, Yaw)", POSE_ORDER_RPY);  // 默认
    ui->comboBox_poseOutputOrder->addItem("RYP (Roll, Yaw, Pitch)", POSE_ORDER_RYP);
    ui->comboBox_poseOutputOrder->addItem("PRY (Pitch, Roll, Yaw)", POSE_ORDER_PRY);
    ui->comboBox_poseOutputOrder->addItem("PYR (Pitch, Yaw, Roll)", POSE_ORDER_PYR);
    ui->comboBox_poseOutputOrder->addItem("YRP (Yaw, Roll, Pitch)", POSE_ORDER_YRP);
    ui->comboBox_poseOutputOrder->addItem("YPR (Yaw, Pitch, Roll)", POSE_ORDER_YPR);

    // 默认选择 RPY
    ui->comboBox_poseOutputOrder->setCurrentIndex(0);
}

void DialogAlgoarg::InitDirVectorInvertComboBox()
{
    // 添加方向向量反向选项
    ui->comboBox_dirVectorInvert->addItem("不反向", DIR_INVERT_NONE);
    ui->comboBox_dirVectorInvert->addItem("XY反向", DIR_INVERT_XY);
    ui->comboBox_dirVectorInvert->addItem("XZ反向", DIR_INVERT_XZ);
    ui->comboBox_dirVectorInvert->addItem("YZ反向（默认）", DIR_INVERT_YZ);

    // 默认选择 YZ反向（兼容原有行为）
    ui->comboBox_dirVectorInvert->setCurrentIndex(3);
}

void DialogAlgoarg::LoadPlcRobotServerConfigToUI(const VrPlcRobotServerConfig& config)
{
    if (!ui) return;

    // 加载PLC服务端配置
    ui->lineEdit_plcServerIp->setText(QString::fromStdString(config.plcServerIp));
    ui->lineEdit_plcServerPort->setText(QString::number(config.plcServerPort));

    // 加载PLC寄存器地址配置
    ui->lineEdit_addrPhotoRequest->setText(QString::number(config.registerConfig.addrPhotoRequest));
    ui->lineEdit_addrDataComplete->setText(QString::number(config.registerConfig.addrDataComplete));
    ui->lineEdit_addrCoordDataStart->setText(QString::number(config.registerConfig.addrCoordDataStart));

    // 加载姿态输出顺序
    int poseOrderIndex = ui->comboBox_poseOutputOrder->findData(config.poseOutputOrder);
    if (poseOrderIndex >= 0) {
        ui->comboBox_poseOutputOrder->setCurrentIndex(poseOrderIndex);
    }

    // 加载方向向量反向配置
    int dirInvertIndex = ui->comboBox_dirVectorInvert->findData(config.dirVectorInvert);
    if (dirInvertIndex >= 0) {
        ui->comboBox_dirVectorInvert->setCurrentIndex(dirInvertIndex);
    }
}

bool DialogAlgoarg::SavePlcRobotServerConfigFromUI(VrPlcRobotServerConfig& config)
{
    if (!ui) return false;

    // 获取PLC服务端IP
    QString plcIp = ui->lineEdit_plcServerIp->text().trimmed();
    if (plcIp.isEmpty()) {
        return false;
    }
    config.plcServerIp = plcIp.toStdString();

    // 获取PLC服务端端口
    bool ok = false;
    config.plcServerPort = ui->lineEdit_plcServerPort->text().toInt(&ok);
    if (!ok || config.plcServerPort <= 0 || config.plcServerPort > 65535) {
        return false;
    }

    // 获取PLC寄存器地址配置
    config.registerConfig.addrPhotoRequest = ui->lineEdit_addrPhotoRequest->text().toInt(&ok);
    if (!ok || config.registerConfig.addrPhotoRequest < 0) {
        return false;
    }

    config.registerConfig.addrDataComplete = ui->lineEdit_addrDataComplete->text().toInt(&ok);
    if (!ok || config.registerConfig.addrDataComplete < 0) {
        return false;
    }

    config.registerConfig.addrCoordDataStart = ui->lineEdit_addrCoordDataStart->text().toInt(&ok);
    if (!ok || config.registerConfig.addrCoordDataStart < 0) {
        return false;
    }

    // 获取姿态输出顺序
    config.poseOutputOrder = ui->comboBox_poseOutputOrder->currentData().toInt();

    // 获取方向向量反向配置
    config.dirVectorInvert = ui->comboBox_dirVectorInvert->currentData().toInt();

    return true;
}