#include "armpage.h"
#include "titlebar.h"
#include "statusstrip.h"
#include "alarmbanner.h"
#include "datacard.h"
#include "udpcommunication.h"
#include "confirmdialog.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QGridLayout>
#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(0, 0, 0, 0);
    leftLay->setSpacing(8);

    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／暂停", "", left);
    m_returnBtn->setCheckable(true);
    m_returnBtn->setFixedSize(180, 90);
    m_returnBtn->setStyleSheet(QString("font-size:22px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;")
                                   .arg(C::PANEL_HI, C::TEXT, C::BORDER));
    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(180);
    main->addWidget(left);

    // 中央卡片区（底盘/洗消/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_chassisCard = new DataCard("底盘", center);
    m_chassisCard->addField("电量", "85%");
    m_chassisCard->addField("电压", "360V");
    m_chassisCard->addField("故障", "无");

    m_washCard = new DataCard("洗消", center);
    m_washCard->addField("A液位", "100L");
    m_washCard->addField("泡沫液位", "30L");

    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");

    centerLay->addWidget(m_chassisCard, 1);
    centerLay->addWidget(m_washCard, 1);
    centerLay->addWidget(m_gasCard, 1);
    main->addWidget(center, 1);

    // 右参数区（机械臂参数卡 + 末端按钮列）
    QWidget* right = new QWidget(this);
    QVBoxLayout* rightLay = new QVBoxLayout(right);
    rightLay->setContentsMargins(0, 0, 0, 0);
    rightLay->setSpacing(12);

    m_armCard = new DataCard("机械臂参数", right);
    m_armCard->addField("末端位置", "XYZ");
    m_armCard->addField("姿态", "RX/RY/RZ");
    m_armCard->addField("速度", "0");
    m_armCard->addField("J1", "30°");
    m_armCard->addField("J2", "20°");
    m_armCard->addField("J3", "0°");
    m_armCard->addField("J4", "90°");
    m_armCard->addField("J5", "45°");
    m_armCard->addField("J6", "0°");
    rightLay->addWidget(m_armCard, 1);

    // 末端 6 姿态按钮（2 列 × 3 行）
    QGridLayout* endGrid = new QGridLayout();
    endGrid->setSpacing(8);
    auto addEnd = [&](const QString& t, const QString& axis, int dir, int r, int c) {
        QPushButton* b = makeMoveButton(t, axis, dir);
        b->setFixedHeight(80);
        m_endButtons << b;
        endGrid->addWidget(b, r, c);
    };
    addEnd("末端仰", "pitch", +1, 0, 0);
    addEnd("末端俯", "pitch", -1, 0, 1);
    addEnd("末端正偏航", "yaw", +1, 1, 0);
    addEnd("末端负偏航", "yaw", -1, 1, 1);
    addEnd("末端左横滚", "roll", -1, 2, 0);
    addEnd("末端右横滚", "roll", +1, 2, 1);
    rightLay->addLayout(endGrid);

    right->setFixedWidth(430);
    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(), &UdpCommunication::telemetryUpdated, this, &ArmPage::refresh);
    connect(ctx, &AppContext::modeChanged, this, [this](Mode) { updateModeGating(); });
    connect(ctx, &AppContext::estopChanged, this, [this](bool) { updateModeGating(); });
    updateModeGating();
    refresh();
}

QPushButton* ArmPage::makeMoveButton(const QString& text, const QString& axis, int dir)
{
    QPushButton* b = button(text, "", this);
    b->setFixedSize(180, 90);
    b->setStyleSheet(QString("font-size:24px;background-color:%1;color:%2;border:1px solid %3;border-radius:12px;")
                         .arg(C::PANEL_HI, C::TEXT, C::BORDER));
    connect(b, &QPushButton::pressed, this, [this, axis, dir]() {
        if (ctx()->mode != Mode::Arm) {
            ConfirmDialog::toast(this, "请切换至机械臂模式");
            return;
        }
        ctx()->comm()->sendArmMove(axis, dir);
    });
    connect(b, &QPushButton::released, this, [this, axis]() {
        ctx()->comm()->sendArmMove(axis, 0);
    });
    return b;
}

void ArmPage::updateModeGating()
{
    bool arm = (ctx()->mode == Mode::Arm) && !ctx()->estopTriggered;
    for (QPushButton* b : m_moveButtons) b->setEnabled(arm);
    for (QPushButton* b : m_endButtons)  b->setEnabled(arm);
}

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();
    }

    m_chassisCard->setField(0, QString("%1%").arg(t.soc));
    m_chassisCard->setField(1, QString("%1V").arg(t.volt, 0, 'f', 0));
    m_chassisCard->setField(2, t.chassisFaults.isEmpty() ? "无" : t.chassisFaults.join("；"));

    m_washCard->setField(0, QString("%1L").arg(t.levelA, 0, 'f', 0));
    m_washCard->setField(1, QString("%1L").arg(t.levelFoam, 0, 'f', 0));
    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_armCard->setField(0, t.pos);
    m_armCard->setField(1, t.pose);
    m_armCard->setField(2, QString("%1").arg(t.vel, 0, 'f', 1));
    for (int i = 0; i < 6 && i < t.js.size(); ++i)
        m_armCard->setField(3 + i, 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("");
        }
    }
}