#include "DetectPresenter.h"
#include "SX_lapWeldDetection_Export.h"


DetectPresenter::DetectPresenter(/* args */)
{
}

DetectPresenter::~DetectPresenter()
{
}

int DetectPresenter::DetectLapWeld(std::vector<SVzNL3DLaserLine>& detectionDataCache,
    const SSX_lapWeldParam& algoParam, 
    const SSG_planeCalibPara& cameraCalibParam, 
    const VrDebugParam& debugParam,
    LaserDataLoader& dataLoader,
    const double clibMatrix[16],
    DetectionResult& detectionResult)
{
    if (detectionDataCache.empty()) {
        LOG_WARNING("No cached detection data available\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    // 2. 数据预处理：调平和去除地面（使用当前相机的调平参数）
    for (size_t i = 0; i < detectionDataCache.size(); i++) {
        // 将SVzNL3DLaserLine转换为std::vector<SVzNL3DPosition>
        std::vector<SVzNL3DPosition> lineData(detectionDataCache[i].nPositionCnt);
        for (int j = 0; j < detectionDataCache[i].nPositionCnt; j++) {
            lineData[j] = detectionDataCache[i].p3DPosition[j];
        }
        sx_lineDataR(lineData, cameraCalibParam.planeCalib, cameraCalibParam.planeHeight);
        
        // 将处理后的数据复制回原结构
        for (int j = 0; j < detectionDataCache[i].nPositionCnt; j++) {
            detectionDataCache[i].p3DPosition[j] = lineData[j];
        }
    }

    // 3. 调用搭接焊缝检测算法接口（使用当前相机的调平参数）
    std::vector<std::vector<SVzNL3DPoint>> objOps;
    std::vector<std::vector<SVzNL3DPosition>> scanLines(detectionDataCache.size());
    for (size_t i = 0; i < detectionDataCache.size(); i++) {
        scanLines[i].resize(detectionDataCache[i].nPositionCnt);
        for (int j = 0; j < detectionDataCache[i].nPositionCnt; j++) {
            scanLines[i][j].pt3D.x = detectionDataCache[i].p3DPosition[j].pt3D.x;
            scanLines[i][j].pt3D.y = detectionDataCache[i].p3DPosition[j].pt3D.y;
            scanLines[i][j].pt3D.z = detectionDataCache[i].p3DPosition[j].pt3D.z;
        }
    }
    
    // 定义搭接焊缝检测需要的参数
    SSG_cornerParam cornerParam;
    SSG_treeGrowParam growParam;
    int errCode = 0;
    sx_getLapWeldPostion(scanLines, cornerParam, growParam, algoParam, objOps, &errCode);
    
    if (errCode != 0) {
        LOG_ERROR("sx_getLapWeldPostion failed, error code: %d\n", errCode);
        return errCode;
    }

    // 从点云数据生成投影图像
    // 注意：由于数据结构变化，需要调整图像生成函数
    detectionResult.image = QImage(800, 600, QImage::Format_RGB32);
    detectionResult.image.fill(Qt::black);
    
    // 转换检测结果为UI显示格式（使用机械臂坐标系数据）
    for (size_t i = 0; i < objOps.size(); i++) {
        if (!objOps[i].empty()) {
            const SVzNL3DPoint& obj = objOps[i][0]; // 使用第一个点作为参考
            
            // 进行坐标转换：从算法坐标系转换到机械臂坐标系
            SVzNL3DPoint targetObj;
            targetObj.x = obj.x;
            targetObj.y = obj.y;
            targetObj.z = obj.z;
            
            SVzNL3DPoint robotObj;
            CVrConvert::EyeToRobot(targetObj, robotObj, clibMatrix);
            
            // 创建位置数据（使用转换后的机械臂坐标）
            LapWeldPosition pos;
            pos.x       = robotObj.x;           // 机械臂坐标X
            pos.y       = robotObj.y;           // 机械臂坐标Y
            pos.z       = robotObj.z;           // 机械臂坐标Z
            pos.roll    = 0.0;                  // 搭接焊缝检测不提供姿态角
            pos.pitch   = 0.0;                  // 搭接焊缝检测不提供姿态角
            pos.yaw     = 0.0;                  // 搭接焊缝检测不提供姿态角
            
            detectionResult.positions.push_back(pos);

            if(debugParam.enableDebug && debugParam.printDetailLog){
                LOG_INFO("[Algo Thread] Object %zu Eye Coords: X=%.2f, Y=%.2f, Z=%.2f\n", 
                     i, obj.x, obj.y, obj.z);
                LOG_INFO("[Algo Thread] Object %zu Robot Coords: X=%.2f, Y=%.2f, Z=%.2f, Roll=%.2f, Pitch=%.2f, Yaw=%.2f\n", 
                         i, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
            }
        }
    }

    return 0;
}

// 新增：处理统一数据格式和项目类型的DetectLapWeld函数
int DetectPresenter::DetectLapWeld(
    int cameraIndex,
    std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
    ProjectType projectType,
    const SSX_lapWeldParam& algoParam, 
    const SSG_planeCalibPara& cameraCalibParam, 
    const VrDebugParam& debugParam,
    LaserDataLoader& dataLoader,
    const double clibMatrix[16],
    DetectionResult& detectionResult)
{
    if (laserLines.empty()) {
        LOG_WARNING("No laser lines data available\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    // 保存debug数据
    std::string timeStamp = CVrDateUtils::GetNowTime();
    if(debugParam.enableDebug && debugParam.savePointCloud){
        LOG_INFO("[Algo Thread] Debug mode is enabled, saving point cloud data\n");
        
        // 获取当前时间戳，格式为YYYYMMDDHHMMSS
        std::string fileName = debugParam.debugOutputPath + "/Laserline_" + std::to_string(cameraIndex) + "_" + timeStamp + ".txt";
        
        // 直接使用统一格式保存数据
        dataLoader.SaveLaserScanData(fileName, laserLines, laserLines.size(), 0.0, 0, 0);
    }


    if(debugParam.enableDebug && debugParam.printDetailLog)
    {
        LOG_INFO("[Algo Thread] clibMatrix: \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f]\n",
            clibMatrix[0], clibMatrix[1], clibMatrix[2], clibMatrix[3],
            clibMatrix[4], clibMatrix[5], clibMatrix[6], clibMatrix[7],
            clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
            clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);
    
        // 1. 使用成员变量算法参数（已在初始化时从XML读取）
        LOG_INFO("[Algo Thread] Using algorithm parameters from XML configuration\n");
        LOG_INFO("  Lap Weld: lapHeight=%.1f, weldMinLen=%.1f, weldRefPoints=%d\n",algoParam.lapHeight, algoParam.weldMinLen, algoParam.weldRefPoints);
    
        LOG_INFO("  Plane height: %.3f\n", cameraCalibParam.planeHeight);
        LOG_INFO("  Plane calibration matrix: [%.3f, %.3f, %.3f; %.3f, %.3f, %.3f; %.3f, %.3f, %.3f]\n",
                cameraCalibParam.planeCalib[0], cameraCalibParam.planeCalib[1], cameraCalibParam.planeCalib[2],
                cameraCalibParam.planeCalib[3], cameraCalibParam.planeCalib[4], cameraCalibParam.planeCalib[5],
                cameraCalibParam.planeCalib[6], cameraCalibParam.planeCalib[7], cameraCalibParam.planeCalib[8]);
    }

    int nRet = SUCCESS;
    
    // 普通项目：转换为XYZ格式进行算法调用
    std::vector<SVzNL3DLaserLine> xyzData;
    int convertResult = dataLoader.ConvertToSVzNL3DLaserLine(laserLines, xyzData);
    if (convertResult == SUCCESS && !xyzData.empty()) {
        nRet = DetectLapWeld(xyzData, algoParam, cameraCalibParam, debugParam, dataLoader, clibMatrix, detectionResult);
        // 清理XYZ内存
        dataLoader.FreeConvertedData(xyzData);
        
    } else {
        LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    if(debugParam.enableDebug && debugParam.saveDebugImage){
        // 获取当前时间戳，格式为YYYYMMDDHHMMSS
        std::string fileName = debugParam.debugOutputPath + "/Image_" + std::to_string(cameraIndex) + "_" + timeStamp + ".png";
        LOG_INFO("[Algo Thread] Debug image saved image : %s\n", fileName.c_str());
        
        // 保存检测结果图片
        if (!detectionResult.image.isNull()) {
            QString qFileName = QString::fromStdString(fileName);
            detectionResult.image.save(qFileName);
        } else {
            LOG_WARNING("[Algo Thread] No valid image to save for debug\n");
        }
    }

    return nRet;
}