#include "mainwindow.h"
#include "appcontext.h"
#include "car.h"
#include "confirmdialog.h"

#include "base.h"
#include "bootpassword.h"
#include "warning.h"
#include "passwordmgmtlogin.h"
#include "passwordmgmt.h"
#include "passwordreset.h"
#include "selfcheck.h"
#include "home.h"
#include "jobselect.h"
#include "chassis.h"
#include "arm.h"
#include "gasdetector.h"
#include "washpage.h"
#include "debugmaintain.h"
#include "faultquery.h"

#include <QStackedWidget>
#include <QLabel>
#include <QVBoxLayout>
#include <QKeyEvent>

MainWindow::MainWindow(QWidget* parent)
    : QMainWindow(parent)
{
    m_ctx = AppContext::instance();

    setWindowTitle("玉兔工业无线遥控器");
    setWindowFlags(Qt::FramelessWindowHint | Qt::Window);
    setFixedSize(SCREEN_W, SCREEN_H);

    // 中央堆栈
    m_stack = new QStackedWidget(this);
    m_stack->setObjectName("StackedWidget");
    setCentralWidget(m_stack);

    buildPages();

    // 全局急停横幅（覆盖于页面之上）：仅作提示。
    // 急停与复位都由遥控器 bit4 下发，面板不提供复位控件。
    m_estopBanner = new QLabel("急停已触发，请用遥控器复位！", this);
    m_estopBanner->setAlignment(Qt::AlignCenter);
    m_estopBanner->setStyleSheet(
        "background-color:#E5484D;color:#FFFFFF;font-size:50px;font-weight:700;");
    m_estopBanner->setGeometry(0, 98, SCREEN_W, 64);
    m_estopBanner->hide();

    connect(m_ctx, &AppContext::estopChanged, this, &MainWindow::onEstopChanged);

    // 启动通信层（UDP 收包发包）
    m_ctx->comm()->start();
    m_ctx->rc()->start();   // 遥控器接收（独立端口）

    // 初始页面：开机密码
    // m_stack->setCurrentIndex(PageBoot);
    // 免密码直接进自检页
    // m_stack->setCurrentIndex(PageSelfCheck);
    // 免登录直接进作业选择页（恢复原流程时改回上面的 PageBoot）
    m_stack->setCurrentIndex(PageJob);
}

MainWindow::~MainWindow()
{
}

void MainWindow::buildPages()
{
    m_pages.fill(nullptr, PageCount);

    auto add = [this](PageId id, BasePage* p) {
        m_pages[id] = p;
        m_stack->addWidget(p);
        connect(p, &BasePage::navigate, this, &MainWindow::onNavigate);
    };

    add(PageBoot,      new BootPasswordPage(m_ctx));
    add(PageWarning,   new WarningPage(m_ctx));
    add(PageMgmtLogin, new PasswordMgmtLoginPage(m_ctx));
    add(PageMgmt,      new PasswordMgmtPage(m_ctx));
    add(PageReset,     new PasswordResetPage(m_ctx));
    add(PageSelfCheck, new SelfCheckPage(m_ctx));
    add(PageHome,      new HomePage(m_ctx));
    add(PageJob,       new JobSelectPage(m_ctx));
    add(PageChassis,   new ChassisPage(m_ctx));
    add(PageArm,       new ArmPage(m_ctx));
    add(PageGas,       new GasDetectorPage(m_ctx));
    add(PageClean,     new WashPage(m_ctx, WashPage::Clean));
    add(PageDisinfect, new WashPage(m_ctx, WashPage::Disinfect));
    add(PageDebug,     new DebugMaintainPage(m_ctx));
    add(PageFault,     new FaultQueryPage(m_ctx));

    m_faultPage = qobject_cast<FaultQueryPage*>(page(PageFault));
}

void MainWindow::onNavigate(PageId id)
{
    // 记录故障查询返回来源（自检页 / 系统首页面 进入时原路返回，其它一律回作业选择页）
    if (id == PageFault && m_faultPage) {
        PageId cur = static_cast<PageId>(m_stack->currentIndex());
        if (cur == PageSelfCheck || cur == PageHome)
            m_faultPage->setReturnPage(cur);
        else
            m_faultPage->setReturnPage(PageJob);
    }
    if (id >= 0 && id < PageCount)
        m_stack->setCurrentIndex(id);
}

void MainWindow::onEstopChanged(bool triggered)
{
    m_estopBanner->setVisible(triggered);
    m_estopBanner->raise();
}

void MainWindow::keyPressEvent(QKeyEvent* ev)
{
    // 演示用快捷键：M 切换行车/机械臂模式。
    // 遥控器在线时模式由遥控器报文决定，此处不抢（与底盘页 showEvent 同一规则）。
    switch (ev->key()) {
    case Qt::Key_M:
        if (!m_ctx->rc()->linkOk())
            m_ctx->setMode(m_ctx->mode == Mode::Drive ? Mode::Arm : Mode::Drive);
        break;
    default:
        QMainWindow::keyPressEvent(ev);
    }
}