#ifndef CALIBDATAWIDGET_H
#define CALIBDATAWIDGET_H

#include <QWidget>
#include <QTableWidget>
#include <QPushButton>
#include <QComboBox>
#include <QGroupBox>
#include <QSpinBox>
#include <QDoubleSpinBox>
#include <QLabel>
#include <vector>

#include "HandEyeCalibTypes.h"

/**
 * @brief 标定数据输入控件
 * 支持 Eye-To-Hand、Eye-In-Hand 和 TCP 三种模式的数据输入
 */
class CalibDataWidget : public QWidget
{
    Q_OBJECT

public:
    explicit CalibDataWidget(QWidget* parent = nullptr);
    ~CalibDataWidget() override;

    /**
     * @brief 获取 Eye-To-Hand 标定数据
     */
    void getEyeToHandData(std::vector<HECPoint3D>& eyePoints,
                          std::vector<HECPoint3D>& robotPoints) const;

    /**
     * @brief 获取 Eye-In-Hand 标定数据
     */
    void getEyeInHandData(std::vector<HECEyeInHandData>& calibData) const;

    /**
     * @brief 获取当前标定模式
     */
    HECCalibrationType getCalibType() const;

    /**
     * @brief 清除所有数据
     */
    void clearAll();

    /**
     * @brief 供外部设置机械臂数据到输入框（根据当前模式自动填充）
     */
    void setRobotInput(double x, double y, double z, double rx, double ry, double rz);

    /**
     * @brief 供外部设置相机数据到输入框（Eye-To-Hand 模式）
     */
    void setCameraInput(double x, double y, double z, double rx, double ry, double rz);

    /**
     * @brief 获取 TCP 标定输入数据
     */
    HECTCPCalibData getTCPCalibData() const;

signals:
    /**
     * @brief 标定模式改变信号
     */
    void calibTypeChanged(HECCalibrationType type);

    /**
     * @brief 请求 Eye-To-Hand 标定
     */
    void requestEyeToHandCalib();

    /**
     * @brief 请求 Eye-In-Hand 标定
     */
    void requestEyeInHandCalib();

    /**
     * @brief 请求 TCP 标定
     */
    void requestTCPCalib();


private slots:
    /**
     * @brief 标定模式切换
     */
    void onCalibTypeChanged(int index);

    /**
     * @brief TCP 模式切换（3-DOF / 6-DOF）
     */
    void onTCPModeChanged(int index);

    /**
     * @brief TCP 添加行
     */
    void onTCPAddRow();

    /**
     * @brief TCP 删除行
     */
    void onTCPRemoveRow();

private:
    /**
     * @brief 初始化界面
     */
    void setupUI();

    /**
     * @brief 创建 Eye-To-Hand 数据表格
     */
    QWidget* createEyeToHandGroup();

    /**
     * @brief 创建 Eye-In-Hand 数据表格
     */
    QWidget* createEyeInHandGroup();

    /**
     * @brief 创建 TCP 标定数据组
     */
    QWidget* createTCPCalibGroup();


    /**
     * @brief 更新表格显示
     */
    void updateTableVisibility();

    // 标定模式选择
    QComboBox* m_cbCalibType;

    // Eye-To-Hand 数据表格
    QTableWidget* m_tableEyeToHand;
    QWidget* m_groupEyeToHand;

    // Eye-In-Hand 数据表格
    QTableWidget* m_tableEyeInHand;
    QWidget* m_groupEyeInHand;

    // Eye-To-Hand 内联按钮
    QPushButton* m_btnEyeToHandAddRow;
    QPushButton* m_btnEyeToHandDeleteRow;
    QPushButton* m_btnEyeToHandCalib;

    // Eye-In-Hand 内联按钮
    QPushButton* m_btnEyeInHandAddRow;
    QPushButton* m_btnEyeInHandDeleteRow;
    QPushButton* m_btnEyeInHandCalib;

    // TCP 标定相关
    QWidget* m_groupTCPCalib;
    QTableWidget* m_tableTCP;
    QComboBox* m_tcpModeCombo;
    QComboBox* m_tcpEulerOrderCombo;
    QSpinBox* m_tcpRefPoseIndex;
    QDoubleSpinBox* m_tcpWorldRx;
    QDoubleSpinBox* m_tcpWorldRy;
    QDoubleSpinBox* m_tcpWorldRz;
    QGroupBox* m_tcpOrientationGroup;
    QPushButton* m_tcpAddRowBtn;
    QPushButton* m_tcpRemoveRowBtn;
    QPushButton* m_btnTCPCalib;

    // Eye-To-Hand 输入框
    QDoubleSpinBox* m_inputEyeX;
    QDoubleSpinBox* m_inputEyeY;
    QDoubleSpinBox* m_inputEyeZ;
    QDoubleSpinBox* m_inputRobotX;
    QDoubleSpinBox* m_inputRobotY;
    QDoubleSpinBox* m_inputRobotZ;
    QPushButton* m_btnEyeToHandAddInput;

    // Eye-In-Hand 输入框
    QDoubleSpinBox* m_inputEndX;
    QDoubleSpinBox* m_inputEndY;
    QDoubleSpinBox* m_inputEndZ;
    QDoubleSpinBox* m_inputEndRoll;
    QDoubleSpinBox* m_inputEndPitch;
    QDoubleSpinBox* m_inputEndYaw;
    QDoubleSpinBox* m_inputCamX;
    QDoubleSpinBox* m_inputCamY;
    QDoubleSpinBox* m_inputCamZ;
    QPushButton* m_btnEyeInHandAddInput;

    // TCP 输入框
    QDoubleSpinBox* m_inputTcpX;
    QDoubleSpinBox* m_inputTcpY;
    QDoubleSpinBox* m_inputTcpZ;
    QDoubleSpinBox* m_inputTcpRx;
    QDoubleSpinBox* m_inputTcpRy;
    QDoubleSpinBox* m_inputTcpRz;
    QPushButton* m_btnTcpAddInput;
};

#endif // CALIBDATAWIDGET_H