#include "udpcommunication.h"
#include <QSettings>
#include <QJsonDocument>
#include <QJsonObject>
#include <QJsonArray>
#include <QHostAddress>
#include <QDateTime>
#include <QNetworkDatagram>

UdpCommunication::UdpCommunication(Telemetry* tel, QObject* parent)
    : QObject(parent), m_tel(tel)
{
    m_socket = new QUdpSocket(this);
    connect(m_socket, &QUdpSocket::readyRead, this, &UdpCommunication::onReadyRead);

    // 网络配置（默认回环：本地 9000 收，向 127.0.0.1:9001 发）
    QSettings s;
    m_localPort  = s.value("net/local_port", 9000).toInt();
    m_remoteHost = s.value("net/remote_host", "127.0.0.1").toString();
    m_remotePort = s.value("net/remote_port", 9001).toInt();
    m_mock       = s.value("net/mock", true).toBool();

    // 通信超时判定：连续 2s 无心跳 → 通信异常
    m_hbTimer = new QTimer(this);
    m_hbTimer->setInterval(2000);
    connect(m_hbTimer, &QTimer::timeout, this, &UdpCommunication::onHeartbeatTimeout);
}

bool UdpCommunication::start()
{
    if (m_socket->state() != QAbstractSocket::UnconnectedState)
        return true;
    bool ok = m_socket->bind(QHostAddress::AnyIPv4, m_localPort,
                             QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
    if (ok) m_hbTimer->start();
    return ok;
}

void UdpCommunication::stop()
{
    m_hbTimer->stop();
    m_socket->close();
}

void UdpCommunication::sendJson(const QJsonObject& obj)
{
    QByteArray data = QJsonDocument(obj).toJson(QJsonDocument::Compact);
    m_socket->writeDatagram(data, QHostAddress(m_remoteHost), m_remotePort);
}

// ===================== 上行命令 =====================
void UdpCommunication::sendChassisMove(const QString& dir, double speed)
{
    QJsonObject o; o["t"] = "chassis_move"; o["dir"] = dir; o["speed"] = speed;
    sendJson(o);
}

void UdpCommunication::sendArmMove(const QString& axis, int dir)
{
    QJsonObject o; o["t"] = "arm_move"; o["axis"] = axis; o["dir"] = dir;
    sendJson(o);
}

void UdpCommunication::sendArmReturn()
{
    QJsonObject o; o["t"] = "arm_return";
    sendJson(o);
}

void UdpCommunication::sendArmPause()
{
    QJsonObject o; o["t"] = "arm_pause";
    sendJson(o);
}

void UdpCommunication::sendGasStart()
{
    QJsonObject o; o["t"] = "gas_start";
    sendJson(o);
}

void UdpCommunication::sendGasStop()
{
    QJsonObject o; o["t"] = "gas_stop";
    sendJson(o);
}

void UdpCommunication::sendWashStart(const QString& mode)
{
    QJsonObject o; o["t"] = "wash_start"; o["mode"] = mode;
    sendJson(o);
}

void UdpCommunication::sendWashStop()
{
    QJsonObject o; o["t"] = "wash_stop";
    sendJson(o);
}

void UdpCommunication::sendBallValve(int valve, bool open)
{
    QJsonObject o; o["t"] = "ball_valve"; o["valve"] = valve; o["open"] = open;
    sendJson(o);
}

void UdpCommunication::sendPumpPower(const QString& pump, bool on)
{
    QJsonObject o; o["t"] = "pump_power"; o["pump"] = pump; o["on"] = on;
    sendJson(o);
}

void UdpCommunication::sendPumpRpm(const QString& pump, int rpm)
{
    QJsonObject o; o["t"] = "pump_rpm"; o["pump"] = pump; o["rpm"] = rpm;
    sendJson(o);
}

void UdpCommunication::sendSetParam(const QString& key, double value)
{
    QJsonObject o; o["t"] = "set_param"; o["key"] = key; o["value"] = value;
    sendJson(o);
}

void UdpCommunication::sendSelfCheckStart()
{
    QJsonObject o; o["t"] = "selfcheck_start";
    sendJson(o);
}

void UdpCommunication::sendEstop()
{
    QJsonObject o; o["t"] = "estop";
    sendJson(o);
}

void UdpCommunication::sendEstopReset()
{
    QJsonObject o; o["t"] = "estop_reset";
    sendJson(o);
}

// ===================== 收包与解析 =====================
void UdpCommunication::onReadyRead()
{
    while (m_socket->hasPendingDatagrams()) {
        QNetworkDatagram dg = m_socket->receiveDatagram();
        QJsonParseError err;
        QJsonDocument doc = QJsonDocument::fromJson(dg.data(), &err);
        if (err.error != QJsonParseError::NoError || !doc.isObject())
            continue;
        parse(doc.object());
    }
}

void UdpCommunication::parse(const QJsonObject& o)
{
    const QString t = o.value("t").toString();

    if (t == "heartbeat") {
        bool ok = o.value("ok").toBool();
        m_hbTimer->start(); // 重置超时计时
        if (ok != m_lastCommOk) {
            m_lastCommOk = ok;
            if (m_tel) m_tel->commOk = ok;
            emit commOkChanged(ok);
        }
        return;
    }

    if (t == "chassis") {
        m_tel->soc = o.value("soc").toInt();
        m_tel->volt = o.value("volt").toDouble();
        m_tel->speed = o.value("speed").toDouble();
        m_tel->handbrake = o.value("handbrake").toBool();
        m_tel->chassisFaults.clear();
        for (const QJsonValue& v : o.value("faults").toArray())
            m_tel->chassisFaults << v.toString();
    } else if (t == "arm") {
        const QJsonArray a = o.value("js").toArray();
        m_tel->js.clear();
        for (const QJsonValue& v : a) m_tel->js << v.toDouble();
        m_tel->pos = o.value("pos").toString();
        m_tel->pose = o.value("pose").toString();
        m_tel->vel = o.value("vel").toDouble();
        m_tel->returnState = o.value("return_state").toString("idle");
        m_tel->armHomed = o.value("homed").toBool();
    } else if (t == "wash") {
        m_tel->washMode = o.value("mode").toString("--");
        m_tel->flowA = o.value("flowA").toDouble();
        m_tel->flowB = o.value("flowB").toDouble();
        m_tel->gasFlow = o.value("gasFlow").toDouble();
        m_tel->press = o.value("press").toDouble();
        m_tel->airPress = o.value("airPress").toDouble();
        m_tel->foam = o.value("foam").toDouble();
        m_tel->washFaults.clear();
        for (const QJsonValue& v : o.value("faults").toArray())
            m_tel->washFaults << v.toString();
    } else if (t == "tank") {
        m_tel->levelA = o.value("a").toDouble();
        m_tel->levelFoam = o.value("foam").toDouble();
    } else if (t == "gas") {
        m_tel->gasHost = o.value("host").toString("standby");
        m_tel->gasType = o.value("type").toString("--");
        m_tel->gasLevel = o.value("level").toString("--");
        m_tel->gasConc = o.value("conc").toDouble();
    } else if (t == "valve") {
        m_tel->d1open = o.value("d1open").toBool();
        m_tel->d1close = o.value("d1close").toBool();
        m_tel->d2open = o.value("d2open").toBool();
        m_tel->d2close = o.value("d2close").toBool();
        m_tel->valveFault = o.value("fault").toString();
        if (!m_tel->valveFault.isEmpty())
            emit faultAppended("洗消系统", m_tel->valveFault, m_tel->valveFault);
    } else if (t == "pump") {
        m_tel->plunger = o.value("plunger").toBool();
        m_tel->air = o.value("air").toBool();
        m_tel->leaf = o.value("leaf").toBool();
        m_tel->pumpFaults.clear();
        for (const QJsonValue& v : o.value("faults").toArray())
            m_tel->pumpFaults << v.toString();
    } else if (t == "estop") {
        m_tel->estop = o.value("triggered").toBool();
        emit estopReceived(m_tel->estop);
    } else if (t == "selfcheck") {
        emit selfCheckItem(o.value("item").toInt(), o.value("ok").toBool());
    } else if (t == "selfcheck_done") {
        emit selfCheckDone(o.value("all_ok").toBool());
    } else {
        return; // 未知类型不触发刷新
    }

    emit telemetryUpdated();
}

void UdpCommunication::onHeartbeatTimeout()
{
    if (m_lastCommOk) {
        m_lastCommOk = false;
        if (m_tel) m_tel->commOk = false;
        emit commOkChanged(false);
    }
}