#include "chassis.h"
#include "titlebar.h"
#include "statusstrip.h"
#include "alarmbanner.h"
#include "datacard.h"
#include "paramcontrol.h"
#include "car.h"
#include "confirmdialog.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QPushButton>
#include <QTimer>
#include "global.h"

namespace {
// 收起姿态取全零：任一关节角绝对值超过这个角度即认为机械臂已展开。
// 单位与 CAN 下发的关节角一致（car.cpp 直接写入 t.js，未经缩放）。
const double kArmStowedTolDeg = 5.0;
}

ChassisPage::ChassisPage(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("机器人底盘");
    root->addWidget(m_titleBar);

    // 告警横幅（机械臂未回位 / 通信异常）
    m_banner = new AlarmBanner(this);
    root->addWidget(m_banner);

    QHBoxLayout* main = new QHBoxLayout();
    main->setContentsMargins(36, 16, 36, 16);
    main->setSpacing(0);   // 各段间距改用显式 addSpacing，便于单独调整（底盘列位置见各段注释）

    // 左控制列（垂直居中 + 平均分布）
    QWidget* left = new QWidget(this);
    QVBoxLayout* leftLay = new QVBoxLayout(left);
    leftLay->setContentsMargins(20, 20, 0, 0);
    leftLay->setSpacing(30);

    QPushButton* fwd = makeDirButton("前进", "fwd");
    QPushButton* back = makeDirButton("后退", "back");
    QPushButton* leftT = makeDirButton("左转向", "left");
    QPushButton* rightT = makeDirButton("右转向", "right");
    m_dirButtons << fwd << back << leftT << rightT;

    leftLay->addStretch(1);
    leftLay->addWidget(fwd);
    leftLay->addStretch(1);
    leftLay->addWidget(back);
    leftLay->addStretch(1);
    leftLay->addWidget(leftT);
    leftLay->addStretch(1);
    leftLay->addWidget(rightT);
    leftLay->addStretch(1);
    left->setFixedWidth(180);
    main->addWidget(left);
    main->addSpacing(32);

    // 中央卡片区（洗消/机械臂/气体检测仪）
    QWidget* center = new QWidget(this);
    QVBoxLayout* centerLay = new QVBoxLayout(center);
    centerLay->setContentsMargins(0, 0, 0, 0);
    centerLay->setSpacing(12);

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

    m_armCard = new DataCard("机械臂", center);
    m_armCard->addField("末端位置", "--");
    m_armCard->addField("末端姿态", "--");

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

    centerLay->addWidget(m_washCard, 1);
    centerLay->addWidget(m_armCard, 1);
    centerLay->addWidget(m_gasCard, 1);
    // 中间区域由「卡片列」与「底盘状态列」平均分配（两列拉伸因子都为 1）
    main->addWidget(center, 1);
    main->addSpacing(47);   // 中间卡片列 ↔ 底盘列：由 32 加大到 47

    // 底盘状态列
    QWidget* chassisCol = new QWidget(this);
    QVBoxLayout* chassisLay = new QVBoxLayout(chassisCol);
    chassisLay->setContentsMargins(0, 0, 0, 0);
    chassisLay->setSpacing(12);

    m_chassisCard = new DataCard("底盘状态", chassisCol);
    m_chassisCard->addField("底盘电量SOC", "--");
    m_chassisCard->addField("底盘电压U", "--");
    m_chassisCard->addField("底盘车速V", "--");
    m_chassisCard->addField("档位状态", "--");
    m_chassisCard->addField("驻车状态", "--");
    m_chassisCard->addField("四驱模式", "--");
    m_chassisCard->addField("底盘Ready状态", "--");
    m_chassisCard->addField("方向盘角度", "--");
    m_chassisCard->addField("角度对中状态", "--");
    chassisLay->addWidget(m_chassisCard, 1);
    main->addWidget(chassisCol, 1);   // 与中间卡片列平均分配中间区域
    main->addSpacing(17);             // 底盘列 ↔ 车速设置列：由 32 减小到 17（底盘列整体右移 15px）

    // 车速设置列（垂直居中）
    QWidget* right = new QWidget(this);
    QVBoxLayout* rightLay = new QVBoxLayout(right);
    rightLay->setContentsMargins(0, 0, 0, 0);
    rightLay->setSpacing(12);

    double speed = ctx->getDouble(ctx->keySpeed(), 4.5);
    // 协议 Vehi_TargetSpd：精度 0.01、0~500 → 物理范围 0~5.00 km/h
    // 每档 = 显示精度的最小单位（1 位小数 → 0.1），比协议的 0.01 粗，够用
    m_speed = new ParamControl("车速设置", "km/h", 0.1, 0.0, 5.0, false, false, right);
    m_speed->setValue(speed);
    m_speed->setStyleSheet("ParamControl{background:transparent;}");   // 只作用于本控件，避免影响子控件
    connect(m_speed, &ParamControl::valueChanged, this, &ChassisPage::onSpeedChanged);
    rightLay->addStretch(1);
    rightLay->addWidget(m_speed);
    rightLay->addStretch(1);
    right->setFixedWidth(380);
    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);

    // 车速自动保存（1s 防抖）
    m_saveTimer = new QTimer(this);
    m_saveTimer->setSingleShot(true);
    m_saveTimer->setInterval(1000);
    connect(m_saveTimer, &QTimer::timeout, this, &ChassisPage::onSpeedSaved);

    connect(ctx->comm(), &CarCommunication::telemetryUpdated, this, &ChassisPage::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();
        // 让位给遥控器时按下的方向是被忽略掉的，遥控器一松手就重发一遍——
        // 否则手一直按着也看不出恢复，车端停在遥控器最后给的那个值上。
        // 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() && !m_heldDirs.isEmpty())
            sendDirCommand();
    });
    updateModeGating();
    refresh();
}

void ChassisPage::showEvent(QShowEvent* ev)
{
    BasePage::showEvent(ev);
    // 每次进入底盘页自动切换到行车模式；遥控器在线时模式由遥控器报文决定，不抢
    if (!ctx()->rc()->linkOk())
        ctx()->setMode(Mode::Drive);
}

QPushButton* ChassisPage::makeDirButton(const QString& text, const QString& dir)
{
    QPushButton* b = button(text, "", this);
    b->setFixedSize(140, 100);
    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, dir]() {
        m_heldDirs.insert(dir);
        sendDirCommand();
        updateAlarm();
    });
    connect(b, &QPushButton::released, this, [this, dir]() {
        m_heldDirs.remove(dir);
        sendDirCommand();
        updateAlarm();
    });
    return b;
}

// 同时按住前进/后退与左/右转向时一并下发；两者都松开才停车
void ChassisPage::sendDirCommand()
{
    const QString dir = m_heldDirs.contains("fwd")  ? "fwd"
                      : m_heldDirs.contains("back") ? "back" : QString("stop");
    const QString turn = m_heldDirs.contains("right") ? "right"
                       : m_heldDirs.contains("left")  ? "left" : QString();

    if (dir == "stop" && turn.isEmpty()) {
        ctx()->comm()->sendChassisMove("stop", 0);
        return;
    }
    // 仅转向（档位回中）时发 stop + turn，由车载端决定是否原地转向
    const double spd = (dir == "stop") ? 0.0 : ctx()->getDouble(ctx()->keySpeed(), 4.5);
    ctx()->comm()->sendChassisMove(dir, spd, turn);
}

void ChassisPage::updateModeGating()
{
    // 现在只有**急停**会禁用方向按钮：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，由车端处理。
    const bool ok = !ctx()->estopTriggered;
    for (QPushButton* b : m_dirButtons)
        b->setEnabled(ok);

    // 急停把按钮禁掉时清掉按住状态并补一条 stop。（Qt 禁用时会补发 released，
    // 各按钮自己那一遍已经发过了，这里只是兜底。）
    if (!ok && !m_heldDirs.isEmpty()) {
        m_heldDirs.clear();
        ctx()->comm()->sendChassisMove("stop", 0);
    }

    updateAlarm();
}

// 任一关节角偏离收起姿态（全零）即认为机械臂已展开
bool ChassisPage::armNotStowed() const
{
    const QVector<double>& js = ctx()->telemetry.js;
    for (double a : js)
        if (a > kArmStowedTolDeg || a < -kArmStowedTolDeg)
            return true;
    return false;
}

// 面板方向键按住，或遥控器正在推杆，都算正在驱动底盘
bool ChassisPage::chassisDriving() const
{
    return !m_heldDirs.isEmpty() || ctx()->rcDriving();
}

// 通信异常优先；其次是“机械臂已展开且正在驱动底盘”
void ChassisPage::updateAlarm()
{
    if (!ctx()->telemetry.commOk)
        m_banner->showAlarm("通信异常");
    else if (armNotStowed() && chassisDriving())
        m_banner->showAlarm("机械臂未回位，请谨慎操作");
    else
        m_banner->clear();
}

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

    updateAlarm();

    // 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->setField(2, dashIf(t.hasSpeed,    QString("%1 km/h").arg(t.speed, 0, 'f', 2)));
    m_chassisCard->setField(3, dashIf(t.hasChassis4, gearLabel(t.gearPos)));
    m_chassisCard->setField(4, dashIf(t.hasChassis4, parkingLabel(t.parking)));
    m_chassisCard->setField(5, dashIf(t.hasChassis4, awdLabel(t.awdMode)));
    m_chassisCard->setField(6, dashIf(t.hasSpeed,    rdyLabel(t.rdyStatus)));
    m_chassisCard->setField(7, dashIf(t.hasChassis4, QString("%1°").arg(t.steerAngle, 0, 'f', 0)));
    m_chassisCard->setField(8, dashIf(t.hasChassis4, alignLabel(t.alignStatus)));
    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_armCard->setField(0, t.pos);
    m_armCard->setField(1, t.pose);
    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);
}

void ChassisPage::onSpeedChanged(double v)
{
    // 1s 防抖后自动保存
    m_saveTimer->start();
    ctx()->comm()->sendSetParam(ctx()->keySpeed(), v);
}

void ChassisPage::onSpeedSaved()
{
    ctx()->setDouble(ctx()->keySpeed(), m_speed->value());
    ConfirmDialog::toast(this, "车速已保存");
}