#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"

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液位", "100L");
    m_washCard->addField("泡沫液位", "30L");

    m_armCard = new DataCard("机械臂", center);
    m_armCard->addField("末端位置", "XYZ");
    m_armCard->addField("姿态", "RX/RY/RZ");

    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_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("电量SOC", "85%");
    m_chassisCard->addField("电压U", "360V");
    m_chassisCard->addField("车速V", "3.45 km/h");
    m_chassisCard->addField("手刹", "有效");
    m_chassisFieldFault = m_chassisCard->addField("故障", "无");
    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);
    m_statusStrip->setModeVisible(false);   // 本页固定行车模式，底部不显示模式徽标
    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(); });
    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]() {
        if (ctx()->rcDriving()) {
            ConfirmDialog::toast(this, "遥控器操作中");
            return;
        }
        if (ctx()->mode != Mode::Drive) {
            ConfirmDialog::toast(this, "请切换至行车模式");
            return;
        }
        m_heldDirs.insert(dir);
        sendDirCommand();
    });
    connect(b, &QPushButton::released, this, [this, dir]() {
        m_heldDirs.remove(dir);
        sendDirCommand();
    });
    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()
{
    // 非行车模式、急停触发或遥控器正在操作时禁用方向按钮（遥控器优先）
    const bool drive = (ctx()->mode == Mode::Drive) && !ctx()->estopTriggered && !ctx()->rcDriving();
    for (QPushButton* b : m_dirButtons)
        b->setEnabled(drive);

    // 让位时清掉本地按住状态：按钮被禁用后不会再收到 released，否则方向会被一直挂住。
    // 让位给遥控器时不补发 stop，否则会覆盖遥控器刚下发的那条指令。
    if (!drive && !m_heldDirs.isEmpty()) {
        m_heldDirs.clear();
        if (!ctx()->rcDriving())
            ctx()->comm()->sendChassisMove("stop", 0);
    }
}

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

    // 机械臂未回位 / 通信异常告警
    if (!t.commOk) {
        m_banner->showAlarm("通信异常");
    } else if (!t.armHomed && t.returnState != "idle") {
        m_banner->showAlarm("机械臂未回位，请谨慎操作");
    } 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, QString("%1 km/h").arg(t.speed, 0, 'f', 2));
    m_chassisCard->setField(3, t.handbrake ? "有效" : "无效");
    m_chassisCard->setField(m_chassisFieldFault, t.chassisFaults.isEmpty() ? "无" : t.chassisFaults.join("；"));
    m_chassisCard->setAlarm(m_chassisFieldFault, !t.chassisFaults.isEmpty());

    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_armCard->setField(0, t.pos);
    m_armCard->setField(1, t.pose);
    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));
}

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");
}