#include "arm.h"
#include "titlebar.h"
#include "statusstrip.h"
#include "alarmbanner.h"
#include "datacard.h"
#include "car.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
//#include <QGridLayout>   // 末端按钮原为 2×3 网格，改为竖列后暂不需要
#include <QPushButton>
#include <QLabel>
#include <QTimer>
#include "global.h"

ArmPage::ArmPage(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("机械臂");
    root->addWidget(m_titleBar);

    m_banner = new AlarmBanner(this);
    root->addWidget(m_banner);

    QHBoxLayout* main = new QHBoxLayout();
    main->setContentsMargins(36, 16, 36, 16);
    main->setSpacing(32);

    // 左控制列（6 运动按钮 + 系统回位/暂停）
    QWidget* left = new QWidget(this);
    QVBoxLayout* leftLay = new QVBoxLayout(left);
    leftLay->setContentsMargins(10,10,20,10);
    leftLay->setSpacing(30);

    auto addMove = [&](const QString& t, const QString& axis, int dir) {
        QPushButton* b = makeMoveButton(t, axis, dir);
        m_moveButtons << b;
        leftLay->addWidget(b);
    };
    addMove("左平移", "x", -1);
    addMove("右平移", "x", +1);
    addMove("上升", "z", +1);
    addMove("下降", "z", -1);
    addMove("前平移", "y", +1);
    addMove("后平移", "y", -1);

    m_returnBtn = button("系统回位／\n暂停", "", left);
    m_returnBtn->setCheckable(true);
    m_returnBtn->setFixedSize(270, 120);   // 两行文字，故加高
    m_returnBtn->setStyleSheet(QString(
                                   "QPushButton{font-size:40px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;}"
                                   "QPushButton:hover,QPushButton:focus,QPushButton:checked"
                                   "{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}")
                                   .arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY));
    connect(m_returnBtn, &QPushButton::toggled, this, &ArmPage::onReturnToggled);
    leftLay->addWidget(m_returnBtn);

    m_returnStatus = label("", 18, C::TEXT_SUB, false, left);
    m_returnStatus->setAlignment(Qt::AlignCenter);
    m_returnStatus->setWordWrap(true);
    leftLay->addWidget(m_returnStatus);

    leftLay->addStretch(1);
    left->setFixedWidth(300);   // 270 按钮 + 左右边距 30，避免按钮被裁
    main->addWidget(left);

    // 中央区：左侧三张状态卡 + 机械臂参数卡，并排放在中间
    QWidget* center = new QWidget(this);
    QHBoxLayout* centerLay = new QHBoxLayout(center);
    centerLay->setContentsMargins(0, 0, 0, 0);
    centerLay->setSpacing(12);

    QWidget* cardsCol = new QWidget(center);
    QVBoxLayout* cardsLay = new QVBoxLayout(cardsCol);
    cardsLay->setContentsMargins(0, 0, 0, 0);
    cardsLay->setSpacing(12);

    m_chassisCard = new DataCard("底盘", cardsCol);
    m_chassisCard->addField("底盘电量SOC", "--");
    m_chassisCard->addField("底盘电压", "--");

    m_washCard = new DataCard("洗消", cardsCol);
    m_washCard->addField("A组分/清水液位", "--");
    m_washCard->addField("泡沫箱液位", "--");

    m_gasCard = new DataCard("气体检测仪", cardsCol);
    m_gasCard->addField("主机状态", "--");
    m_gasCard->addField("有毒物种类", "--");
    m_gasCard->addField("有毒物等级", "--");

    cardsLay->addWidget(m_chassisCard, 1);
    cardsLay->addWidget(m_washCard, 1);
    cardsLay->addWidget(m_gasCard, 1);

    m_armCard = new DataCard("机械臂参数", center);
    m_armCard->addField("末端位置", "--");
    m_armCard->addField("末端姿态", "--");
    m_armCard->addField("末端速度", "--");
    m_armCard->addField("Joint1关节角", "--");
    m_armCard->addField("Joint2关节角", "--");
    m_armCard->addField("Joint3关节角", "--");
    m_armCard->addField("Joint4关节角", "--");
    m_armCard->addField("Joint5关节角", "--");
    m_armCard->addField("Joint6关节角", "--");

    centerLay->addWidget(cardsCol, 1);
    centerLay->addWidget(m_armCard, 1);
    main->addWidget(center, 1);

    // 右控制列（末端 6 姿态按钮，与左侧按钮列对称）
    QWidget* right = new QWidget(this);
    QVBoxLayout* rightLay = new QVBoxLayout(right);
    rightLay->setContentsMargins(10, 20, 20, 20);
    rightLay->setSpacing(15);

    auto addEnd = [&](const QString& t, const QString& axis, int dir) {
        QPushButton* b = makeMoveButton(t, axis, dir);
        m_endButtons << b;
        rightLay->addWidget(b);
    };
    addEnd("末端仰", "pitch", +1);
    addEnd("末端俯", "pitch", -1);
    addEnd("末端正偏航", "yaw", +1);
    addEnd("末端负偏航", "yaw", -1);
    addEnd("末端左横滚", "roll", -1);
    addEnd("末端右横滚", "roll", +1);

    right->setFixedWidth(300);   // 与左列同宽，按钮 270 不被裁
    main->addWidget(right);

    root->addLayout(main, 1);

    m_statusStrip = new StatusStrip(ctx, this);
    connect(m_statusStrip, &StatusStrip::backClicked, this, [this]() { emit navigate(PageJob); });
    root->addWidget(m_statusStrip);

    m_statusTimer = new QTimer(this);
    m_statusTimer->setSingleShot(true);
    m_statusTimer->setInterval(3000);
    connect(m_statusTimer, &QTimer::timeout, this, [this]() {
        m_returnStatus->setText("");
    });

    connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &ArmPage::refresh);
    connect(ctx, &AppContext::modeChanged, this, [this](Mode) { updateModeGating(); });
    connect(ctx, &AppContext::estopChanged, this, [this](bool) { updateModeGating(); });
    connect(ctx, &AppContext::rcDrivingChanged, this, [this](bool) {
        updateModeGating();
        // 同底盘页：让位给遥控器期间按下的轴被忽略，遥控器松手后把按着的键重发一遍。
        // 注意写 this->ctx()：构造函数形参也叫 ctx，直接写 ctx() 会被它遮住
        if (this->ctx()->rcDriving()) return;
        for (QPushButton* b : m_moveButtons)
            if (b->isDown())
                this->ctx()->comm()->sendArmMove(b->property("armAxis").toString(),
                                                 b->property("armDir").toInt());
    });
    updateModeGating();
    refresh();
}

void ArmPage::showEvent(QShowEvent* ev)
{
    BasePage::showEvent(ev);
    // 每次进入机械臂页自动切到机械臂模式：Arm_ControlCmd1 的 Arm_modeCmd/Arm_enable
    // 挂在它上面，不切的话车端会忽略这里发出的动作指令。遥控器在线时模式由遥控器报文
    // 决定，不抢——和底盘页进页面切行车模式是同一套处理。
    if (!ctx()->rc()->linkOk())
        ctx()->setMode(Mode::Arm);
}

QPushButton* ArmPage::makeMoveButton(const QString& text, const QString& axis, int dir)
{
    QPushButton* b = button(text, "", this);
    b->setFixedSize(270, 76);
    // 记下这根按钮管哪个轴/往哪边，好让"遥控器松手后重发按住的键"找得到它
    b->setProperty("armAxis", axis);
    b->setProperty("armDir", dir);
    b->setStyleSheet(QString(
                         "QPushButton{font-size:45px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;}"
                         "QPushButton:hover,QPushButton:focus,QPushButton:pressed"
                         "{background-color:%4;color:#FFFFFF;border:2px solid #8ABFFF;}")
                         .arg(C::PANEL_HI, C::TEXT, C::BORDER, C::PRIMARY));
    connect(b, &QPushButton::pressed, this, [this, axis, dir]() {
        ctx()->comm()->sendArmMove(axis, dir);
    });
    connect(b, &QPushButton::released, this, [this, axis]() {
        ctx()->comm()->sendArmMove(axis, 0);
    });
    return b;
}

void ArmPage::updateModeGating()
{
    // 和底盘页一样：现在只有**急停**会禁用动作按钮。模式不再限制（进页面即用），
    // 遥控器也不再让位——面板和遥控器可以同时操作，两边各发各的。
    const bool ok = !ctx()->estopTriggered;
    for (QPushButton* b : m_moveButtons) b->setEnabled(ok);
    for (QPushButton* b : m_endButtons)  b->setEnabled(ok);
}

void ArmPage::onReturnToggled(bool on)
{
    if (on) ctx()->comm()->sendArmReturn();
    else    ctx()->comm()->sendArmPause();
}

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

    if (!t.commOk) {
        m_banner->showAlarm("通信异常");
    } else {
        m_banner->clear();
    }

    // 未收到对应报文的数值统一显示 "--"（dashIf）
    m_chassisCard->setField(0, dashIf(t.hasBattery, QString("%1%").arg(t.soc)));
    m_chassisCard->setField(1, dashIf(t.hasBattery, QString("%1V").arg(t.volt, 0, 'f', 0)));
    m_chassisCard->setFaults(t.chassisFaults);

    m_washCard->setField(0, dashIf(t.hasWash, QString("%1L").arg(t.levelA, 0, 'f', 0)));
    m_washCard->setField(1, dashIf(t.hasWash, QString("%1L").arg(t.levelFoam, 0, 'f', 0)));
    m_washCard->setAlarm(0, t.levelALow);
    m_washCard->setAlarm(1, t.levelBLow);
    m_washCard->setFaults(washCardFaults(t));

    m_gasCard->setField(0, gasHostLabel(t));
    m_gasCard->setField(1, t.gasType);    // 有毒物种类，未收到报文时本身就是 "--"
    m_gasCard->setField(2, t.gasLevel);   // 有毒物等级
    m_gasCard->setAlarm(0, t.gasHost == "fault");
    m_gasCard->setFaults(t.detectorFaults);

    // 本卡没有故障行：机械臂那四帧只有位置/姿态/关节角，协议里没有机械臂故障信号
    m_armCard->setField(0, t.pos);
    m_armCard->setField(1, t.pose);
    m_armCard->setField(2, dashIf(t.hasArmPose, QString("%1").arg(t.vel, 0, 'f', 1)));
    for (int i = 0; i < 6 && i < t.js.size(); ++i)
        m_armCard->setField(3 + i, dashIf(t.hasJoints, QString("%1°").arg(t.js[i], 0, 'f', 0)));

    // 回位状态机
    if (t.returnState != m_prevReturnState) {
        m_prevReturnState = t.returnState;
        if (t.returnState == "done") {
            m_returnBtn->setChecked(false);
            m_returnStatus->setText("机械臂系统完成回位");
            m_returnStatus->setStyleSheet(QString("color:%1;font-size:22px;font-weight:700;").arg(C::SUCCESS));
            m_statusTimer->start();
        } else if (t.returnState == "fault") {
            m_returnBtn->setChecked(false);
            m_returnStatus->setText("机械臂系统回位异常");
            m_returnStatus->setStyleSheet(QString("color:%1;font-size:22px;font-weight:700;").arg(C::DANGER));
        } else if (t.returnState == "returning") {
            m_returnStatus->setText("回位中…");
            m_returnStatus->setStyleSheet(QString("color:%1;font-size:22px;font-weight:700;").arg(C::WARNING));
        } else {
            m_returnStatus->setText("");
        }
    }
}