#include "appcontext.h"
#include "udpcommunication.h"
#include "mockvehicle.h"
#include <QApplication>
#include <QDateTime>

AppContext* AppContext::instance()
{
    static AppContext* s = nullptr;
    if (!s) s = new AppContext();
    return s;
}

AppContext::AppContext(QObject* parent)
    : QObject(parent)
{
    // 参数与密码持久化：QSettings 写入程序目录 config.ini
    m_settings = new QSettings(QApplication::applicationDirPath() + "/config.ini",
                               QSettings::IniFormat, this);

    // 首次运行写入默认值
    if (!m_settings->contains(keySpeed()))      m_settings->setValue(keySpeed(), 4.5);
    if (!m_settings->contains(keyPumpFlow()))   m_settings->setValue(keyPumpFlow(), 20);
    if (!m_settings->contains(keyFoamRatio()))  m_settings->setValue(keyFoamRatio(), 6);
    if (!m_settings->contains(keyFoamPercent()))m_settings->setValue(keyFoamPercent(), 3);
    if (!m_settings->contains(keyAirFlow()))    m_settings->setValue(keyAirFlow(), 100);
    if (!m_settings->contains("param/pwd"))     m_settings->setValue("param/pwd", "6789");
    if (!m_settings->contains("param/admin_pwd"))m_settings->setValue("param/admin_pwd", "6789");

    // 通信层（UDP 收包发包）
    m_comm = new UdpCommunication(&telemetry, this);

    // 内置模拟车载端（离线演示：回环 UDP 收发）
    m_vehicle = new MockVehicle(this);

    // 通信层故障信号 → 写入故障历史
    connect(m_comm, &UdpCommunication::faultAppended,
            this, &AppContext::appendFault);

    seedFaultHistory();
}

void AppContext::seedFaultHistory()
{
    // 演示用历史故障汇总（协议示例数据 + 补充）
    struct Seed { const char* t; const char* sys; const char* code; const char* d; };
    const Seed seeds[] = {
        {"2026-05-16 10:08", "机器人底盘", "C01", "底盘电量低"},
        {"2026-05-16 09:58", "机器人底盘", "C02", "底盘电机温度高"},
        {"2026-05-16 09:41", "机器人底盘", "C03", "总电压低"},
        {"2026-05-15 09:08", "机械臂",     "A01", "机械臂通信故障"},
        {"2026-05-15 08:55", "机械臂",     "A02", "机械臂自检故障"},
        {"2026-05-15 08:30", "机械臂",     "A03", "关节J2过载"},
        {"2026-05-14 09:58", "洗消系统",   "W01", "柱塞泵故障"},
        {"2026-05-14 09:20", "洗消系统",   "W02", "空压机压力异常"},
        {"2026-05-14 08:45", "洗消系统",   "W03", "电动球阀D1开启故障"},
        {"2026-05-13 09:08", "洗消系统",   "W04", "清水液位低"},
        {"2026-05-13 08:18", "洗消系统",   "W05", "药剂液位低"},
        {"2026-05-13 08:02", "洗消系统",   "W06", "叶片泵故障"},
        {"2026-05-12 11:20", "气体检测仪", "G01", "检测仪通信故障"},
        {"2026-05-12 10:50", "气体检测仪", "G02", "有毒物浓度超阈值"},
        {"2026-05-11 09:30", "气体检测仪", "G03", "主机标定异常"},
        {"2026-05-11 09:10", "机器人底盘", "C04", "手刹失效"},
        {"2026-05-10 08:40", "机械臂",     "A04", "末端速度超限"},
        {"2026-05-10 08:15", "气体检测仪", "G04", "传感器信号异常"},
    };
    for (const Seed& s : seeds) {
        FaultRecord r;
        r.time = QString::fromUtf8(s.t);
        r.system = QString::fromUtf8(s.sys);
        r.code = QString::fromUtf8(s.code);
        r.desc = QString::fromUtf8(s.d);
        faultHistory.append(r); // 种子数据按“最新在前”顺序直接追加
    }
}

void AppContext::appendFault(const QString& system, const QString& code, const QString& desc)
{
    FaultRecord r;
    r.time = QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm");
    r.system = system;
    r.code = code;
    r.desc = desc;
    faultHistory.prepend(r); // 最新在前
}

double AppContext::getDouble(const QString& key, double def) const
{
    return m_settings->value(key, def).toDouble();
}

void AppContext::setDouble(const QString& key, double val)
{
    m_settings->setValue(key, val);
    m_settings->sync();
}

QString AppContext::getString(const QString& key, const QString& def) const
{
    return m_settings->value(key, def).toString();
}

void AppContext::setString(const QString& key, const QString& val)
{
    m_settings->setValue(key, val);
    m_settings->sync();
}

QString AppContext::password() const
{
    return m_settings->value("param/pwd", "6789").toString();
}

void AppContext::setPassword(const QString& pwd)
{
    m_settings->setValue("param/pwd", pwd);
    m_settings->sync();
}

QString AppContext::adminPassword() const
{
    return m_settings->value("param/admin_pwd", "6789").toString();
}

void AppContext::resetEstop()
{
    estopTriggered = false;
    telemetry.estop = false;
    emit estopChanged(false);
    // 通知车载端复位
    if (m_comm) m_comm->sendEstopReset();
}

void AppContext::triggerEstop()
{
    estopTriggered = true;
    telemetry.estop = true;
    emit estopChanged(true);
    if (m_comm) m_comm->sendEstop();
}

void AppContext::setMode(Mode m)
{
    if (mode == m) return;
    mode = m;
    emit modeChanged(m);
}