#include "debugmaintain.h"
#include "titlebar.h"
#include "alarmbanner.h"
#include "datacard.h"
#include "ledindicator.h"
#include "paramcontrol.h"
#include "udpcommunication.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QPushButton>
#include <QLabel>
#include "global.h"

DebugMaintainPage::DebugMaintainPage(AppContext* ctx, QWidget* parent)
    : BasePage(ctx, parent)
{
    QVBoxLayout* root = new QVBoxLayout(this);
    root->setContentsMargins(0, 0, 0, 0);
    root->setSpacing(0);

    m_titleBar = new TitleBar(ctx, this);
    m_titleBar->setTitle("洗消调试");
    root->addWidget(m_titleBar);

    // 警告横幅（常显红闪）
    m_warn = new AlarmBanner(this);
    m_warn->showAlarm("警告：该模式下无保护功能，操作请谨慎！");
    root->addWidget(m_warn);

    QHBoxLayout* main = new QHBoxLayout();
    main->setContentsMargins(36, 16, 36, 16);
    main->setSpacing(28);

    // 左球阀控制区
    QWidget* left = new QWidget(this);
    QVBoxLayout* leftLay = new QVBoxLayout(left);
    leftLay->setContentsMargins(0, 0, 0, 0);
    leftLay->setSpacing(16);
    leftLay->addWidget(makeValveGroup(1));
    leftLay->addWidget(makeValveGroup(2));
    leftLay->addStretch(1);
    left->setFixedWidth(300);
    main->addWidget(left);

    // 中央卡片区
    QWidget* center = new QWidget(this);
    QVBoxLayout* centerLay = new QVBoxLayout(center);
    centerLay->setContentsMargins(0, 0, 0, 0);
    centerLay->setSpacing(10);

    QHBoxLayout* miniRow = new QHBoxLayout();
    miniRow->setSpacing(10);
    m_chassisCard = new DataCard("底盘", center);
    m_chassisCard->addField("电量", "85%");
    m_chassisCard->addField("电压", "360V");
    m_armCard = new DataCard("机械臂", center);
    m_armCard->addField("末端位置", "XYZ");
    m_armCard->addField("姿态", "RX/RY/RZ");
    m_gasCard = new DataCard("气体检测仪", center);
    m_gasCard->addField("主机状态", "待机");
    m_gasCard->addField("浓度", "0 ppb");
    miniRow->addWidget(m_chassisCard, 1);
    miniRow->addWidget(m_armCard, 1);
    miniRow->addWidget(m_gasCard, 1);
    centerLay->addLayout(miniRow, 1);

    m_washCard = new DataCard("洗消参数", center);
    m_washCard->addField("洗消模式", "--");
    m_washCard->addField("A组分液位", "100L");
    m_washCard->addField("A药剂流量", "0 L/min");
    m_washCard->addField("管路压力", "0 MPa");
    m_washCard->addField("发泡倍数", "0");
    m_washCard->addField("空压机故障代码", "");
    m_washCard->addField("柱塞泵故障代码", "");
    centerLay->addWidget(m_washCard, 1);

    main->addWidget(center, 1);

    // 右泵控制区
    QWidget* right = new QWidget(this);
    QVBoxLayout* rightLay = new QVBoxLayout(right);
    rightLay->setContentsMargins(0, 0, 0, 0);
    rightLay->setSpacing(8);
    rightLay->addWidget(makePumpGroup("air", "空压机"));
    rightLay->addWidget(makePumpGroup("plunger", "柱塞泵"));
    rightLay->addWidget(makePumpGroup("leaf", "叶片泵"));
    rightLay->addStretch(1);
    right->setFixedWidth(420);
    main->addWidget(right);

    root->addLayout(main, 1);

    // 底部指示灯条
    QWidget* bottom = new QWidget(this);
    bottom->setFixedHeight(94);
    bottom->setStyleSheet(QString("background-color:%1;border-top:1px solid %2;")
                              .arg(C::PANEL, C::BORDER));
    QHBoxLayout* bottomLay = new QHBoxLayout(bottom);
    bottomLay->setContentsMargins(36, 0, 24, 0);
    bottomLay->setSpacing(48);
    m_ledPlunger = new LedIndicator("柱塞泵", bottom);
    m_ledAir = new LedIndicator("空压机", bottom);
    m_ledLeaf = new LedIndicator("叶片泵", bottom);
    m_ledLevel = new LedIndicator("液位低", bottom);
    bottomLay->addWidget(m_ledPlunger);
    bottomLay->addWidget(m_ledAir);
    bottomLay->addWidget(m_ledLeaf);
    bottomLay->addWidget(m_ledLevel);
    bottomLay->addStretch(1);
    QPushButton* back = button("返回", "", bottom);
    back->setFixedSize(144, 76);
    connect(back, &QPushButton::clicked, this, [this]() { emit navigate(PageJob); });
    bottomLay->addWidget(back);
    root->addWidget(bottom);

    connect(ctx->comm(), &UdpCommunication::telemetryUpdated, this, &DebugMaintainPage::refresh);
    refresh();
}

QWidget* DebugMaintainPage::makeValveGroup(int valve)
{
    QWidget* grp = new QWidget(this);
    grp->setProperty("card", true);
    grp->setStyleSheet(QString("QWidget[card=\"true\"]{background-color:%1;border:2px solid %2;border-radius:12px;}")
                           .arg(C::PANEL, C::BORDER));
    QVBoxLayout* lay = new QVBoxLayout(grp);
    lay->setContentsMargins(12, 12, 12, 12);
    lay->setSpacing(8);

    QLabel* title = label(QString("D%1 球阀").arg(valve), 20, C::TEXT, true, grp);
    lay->addWidget(title);

    // 控制开/关（toggle）
    QPushButton* ctrl = button(QString("D%1 控制：关闭").arg(valve), "", grp);
    ctrl->setCheckable(true);
    ctrl->setFixedHeight(64);
    connect(ctrl, &QPushButton::toggled, this, [this, valve, ctrl](bool on) {
        ctrl->setText(QString("D%1 控制：%2").arg(valve).arg(on ? "开启" : "关闭"));
        ctx()->comm()->sendBallValve(valve, on);
    });
    lay->addWidget(ctrl);

    // 开启到位 / 关闭到位
    LedIndicator* open = new LedIndicator("开启到位", grp);
    open->setState(LedIndicator::Off);
    LedIndicator* close = new LedIndicator("关闭到位", grp);
    close->setState(LedIndicator::Red);
    lay->addWidget(open);
    lay->addWidget(close);

    // 故障提示
    QLabel* fault = label("", 16, C::DANGER, true, grp);
    fault->setAlignment(Qt::AlignCenter);
    fault->setProperty("alert", true);
    fault->hide();
    lay->addWidget(fault);

    if (valve == 1) {
        m_valve1Btn = ctrl;
        m_v1Open = open;
        m_v1Close = close;
        m_valveFault1 = fault;
    } else {
        m_valve2Btn = ctrl;
        m_v2Open = open;
        m_v2Close = close;
        m_valveFault2 = fault;
    }
    return grp;
}

QWidget* DebugMaintainPage::makePumpGroup(const QString& pump, const QString& name)
{
    QWidget* grp = new QWidget(this);
    grp->setProperty("card", true);
    grp->setStyleSheet(QString("QWidget[card=\"true\"]{background-color:%1;border:2px solid %2;border-radius:12px;}")
                           .arg(C::PANEL, C::BORDER));
    QVBoxLayout* lay = new QVBoxLayout(grp);
    lay->setContentsMargins(12, 8, 12, 8);
    lay->setSpacing(4);

    ParamControl* rpm = new ParamControl(name + "转速", "rpm", 10, 0, 2000, false, false, grp);
    rpm->setValue(200);
    connect(rpm, &ParamControl::valueChanged, this, [this, pump](double v) {
        ctx()->comm()->sendPumpRpm(pump, static_cast<int>(v));
    });
    lay->addWidget(rpm);

    QPushButton* power = button("上电", "", grp);
    power->setCheckable(true);
    power->setFixedHeight(56);
    connect(power, &QPushButton::toggled, this, [this, pump, power](bool on) {
        power->setText(on ? "上电中" : "上电");
        ctx()->comm()->sendPumpPower(pump, on);
    });
    lay->addWidget(power);

    if (pump == "air")      { m_airRpm = rpm; m_airPower = power; }
    else if (pump == "plunger") { m_plungerRpm = rpm; m_plungerPower = power; }
    else                    { m_leafRpm = rpm; m_leafPower = power; }
    return grp;
}

void DebugMaintainPage::refresh()
{
    const Telemetry& t = ctx()->telemetry;

    m_chassisCard->setField(0, QString("%1%").arg(t.soc));
    m_chassisCard->setField(1, QString("%1V").arg(t.volt, 0, 'f', 0));
    m_armCard->setField(0, t.pos);
    m_armCard->setField(1, t.pose);
    m_gasCard->setField(0, t.gasHost == "detecting" ? "检测中" : (t.gasHost == "fault" ? "故障" : "待机"));
    m_gasCard->setField(1, QString("%1 ppb").arg(t.gasConc, 0, 'f', 0));

    m_washCard->setField(0, t.washMode);
    m_washCard->setField(1, QString("%1L").arg(t.levelA, 0, 'f', 0));
    m_washCard->setField(2, QString("%1 L/min").arg(t.flowA, 0, 'f', 1));
    m_washCard->setField(3, QString("%1 MPa").arg(t.press, 0, 'f', 2));
    m_washCard->setField(4, QString("%1").arg(t.foam, 0, 'f', 1));
    m_washCard->setField(5, t.pumpFaults.value(0));
    m_washCard->setField(6, t.pumpFaults.value(0));

    // 球阀到位反馈
    m_v1Open->setState(t.d1open ? LedIndicator::Green : LedIndicator::Off);
    m_v1Close->setState(t.d1close ? LedIndicator::Red : LedIndicator::Off);
    m_v2Open->setState(t.d2open ? LedIndicator::Green : LedIndicator::Off);
    m_v2Close->setState(t.d2close ? LedIndicator::Red : LedIndicator::Off);

    // 球阀故障提示
    bool v1Fault = t.valveFault.contains("D1");
    bool v2Fault = t.valveFault.contains("D2");
    if (v1Fault) { m_valveFault1->setText(t.valveFault); m_valveFault1->show(); startBlink(m_valveFault1, "blink"); }
    else { stopBlink(m_valveFault1, "blink"); m_valveFault1->hide(); }
    if (v2Fault) { m_valveFault2->setText(t.valveFault); m_valveFault2->show(); startBlink(m_valveFault2, "blink"); }
    else { stopBlink(m_valveFault2, "blink"); m_valveFault2->hide(); }

    // 泵上电状态同步
    if (m_airPower) m_airPower->setChecked(t.air);
    if (m_plungerPower) m_plungerPower->setChecked(t.plunger);
    if (m_leafPower) m_leafPower->setChecked(t.leaf);

    // 底部指示灯
    m_ledPlunger->setState(t.plunger ? LedIndicator::Green : LedIndicator::Off);
    m_ledAir->setState(t.air ? LedIndicator::Green : LedIndicator::Off);
    m_ledLeaf->setState(t.leaf ? LedIndicator::Green : LedIndicator::Off);
    m_ledLevel->setState(t.levelA < 10 ? LedIndicator::RedBlink : LedIndicator::Off);
}