<template>
  <div class="robot-teach-container">
    <!-- 主体内容区 -->
    <div class="main-wrap">
      <!-- 左侧数据面板 -->
      <div class="left-panel">
        <!-- TCP 笛卡尔坐标 -->
        <div class="panel-card">
          <div class="row dual-row">
            <div class="coord-item">
              <span class="key">X</span>
              <!-- <el-input v-model.number="tcp.x" suffix="mm" /> -->
               <div class="number">{{ tcp.x.toFixed(3) }}</div>
            </div>
            <div class="coord-item">
              <span class="key">RX</span>
              <!-- <el-input v-model.number="tcp.rx" suffix="°" /> -->
               <div class="number">{{ tcp.rx.toFixed(3) }}</div>
            </div>
          </div>
          <div class="row dual-row">
            <div class="coord-item">
              <span class="key">Y</span>
              <!-- <el-input v-model.number="tcp.y" suffix="mm" /> -->
               <div class="number">{{ tcp.y.toFixed(3) }}</div>
            </div>
            <div class="coord-item">
              <span class="key">RY</span>
              <div class="number">{{ tcp.ry.toFixed(3) }}</div>
              <!-- <el-input v-model.number="tcp.ry" suffix="°" /> -->
            </div>
          </div>
          <div class="row dual-row">
            <div class="coord-item">
              <span class="key">Z</span>
              <!-- <el-input v-model.number="tcp.z" suffix="mm" /> -->
               <div class="number">{{ tcp.z.toFixed(3) }}</div>
            </div>
            <div class="coord-item">
              <span class="key">RZ</span>
              <div class="number">{{ tcp.rz.toFixed(3) }}</div>
              <!-- <el-input v-model.number="tcp.rz" suffix="°" /> -->
            </div>
          </div>
        </div>

        <div class="joint-list">
          <div class="title">关节控制</div>
          <div v-for="joint in jointControls" :key="joint.name" class="joint-item">
            <label :for="joint.name">{{ joint.name }}</label>
            <el-input v-model="joint.value" readonly>
              <template #prepend>
                <el-button @mousedown="updateJoint(joint.name, '-')" @mouseup="stop"
                  @touchstart.prevent="updateJoint(joint.name, '-')" @touchend.prevent="stop">
                  -
                </el-button>
              </template>
              <template #append>
                <el-button @mousedown="updateJoint(joint.name, '+')" @mouseup="stop"
                  @touchstart.prevent="updateJoint(joint.name, '+')" @touchend.prevent="stop">
                  +
                </el-button>
              </template>
            </el-input>
          </div>
        </div>

        <div class="speed-container">
          <div class="label">速度：</div>
          <el-slider v-model="jointSpeed" :min="0.1" :step="0.1" :max="3" />
          <div class="proportion">{{ (jointSpeed / 3 * 100).toFixed(0) }} %</div>
        </div>
      </div>

      <!-- 中间3D机械臂空白区域 -->
      <div class="center-view">
        <UrdfView ref="urdfViewerRef" />
        <!-- 底部功能按钮 -->
        <!-- <div class="center-bottom-btns">
          <el-button type="success" size="large">零力示教</el-button>
          <el-button size="large">回到原点</el-button>
          <el-button size="large">Z轴对齐</el-button>
        </div> -->
      </div>

      <!-- 右侧摇杆操作面板 -->
      <div class="right-panel">
        <div class="controller">
          <div class="title">末端控制</div>
          <div class="axis-group">
            <!-- X Axis -->
            <div class="axis-row x">
              <div class="axis-label x">X</div>
              <div class="axis-slider-wrap">
                <div class="axis-name">前后平移</div>
                <div>
                  <el-button type="primary" circle @mousedown="move('x', '-', 'end')" @mouseup="stop"
                    @touchstart.prevent="move('x', '-')" @touchend.prevent="stop">
                    <el-icon size="24">
                      <Remove />
                    </el-icon>
                  </el-button>
                  <el-button type="primary" circle @mousedown="move('x', '+', 'end')" @mouseup="stop"
                    @touchstart.prevent="move('x', '+')" @touchend.prevent="stop">
                    <el-icon size="24">
                      <CirclePlus />
                    </el-icon>
                  </el-button>
                </div>
              </div>
            </div>

            <!-- Y Axis -->
            <div class="axis-row y">
              <div class="axis-label y">Y</div>
              <div class="axis-slider-wrap">
                <div class="axis-name">左右平移</div>
                <div>
                  <el-button type="primary" circle @mousedown="move('y', '-', 'end')" @mouseup="stop"
                    @touchstart.prevent="move('y', '-')" @touchend.prevent="stop">
                    <el-icon size="24">
                      <Remove />
                    </el-icon>
                  </el-button>
                  <el-button type="primary" circle @mousedown="move('y', '+', 'end')" @mouseup="stop"
                    @touchstart.prevent="move('y', '+')" @touchend.prevent="stop">
                    <el-icon size="24">
                      <CirclePlus />
                    </el-icon>
                  </el-button>
                </div>
              </div>
            </div>

            <!-- Z Axis -->
            <div class="axis-row z">
              <div class="axis-label z">Z</div>
              <div class="axis-slider-wrap">
                <div class="axis-name">上下平移</div>
                <div>
                  <el-button type="primary" circle @mousedown="move('z', '-', 'end')" @mouseup="stop"
                    @touchstart.prevent="move('z', '-')" @touchend.prevent="stop">
                    <el-icon size="24">
                      <Remove />
                    </el-icon>
                  </el-button>
                  <el-button type="primary" circle @mousedown="move('z', '+', 'end')" @mouseup="stop"
                    @touchstart.prevent="move('z', '+')" @touchend.prevent="stop">
                    <el-icon size="24">
                      <CirclePlus />
                    </el-icon>
                  </el-button>
                </div>
              </div>
            </div>
          </div>
          <div class="speed-container">
            <div class="label">速度：</div>
            <el-slider v-model="endSpeed" :min="0.1" :step="0.1" :max="2" />
            <div class="proportion">{{ (endSpeed / 2 * 100).toFixed(0) }} %</div>
          </div>
        </div>

        <div class="controller">
          <div class="title">姿态控制</div>
          <div class="axis-group">
            <!-- X Axis -->
            <div class="axis-row x">
              <div class="axis-label x">X</div>
              <div class="axis-slider-wrap">
                <div class="axis-name">前后平移</div>
                <div>
                  <el-button type="primary" circle @mousedown="move('x', '-', 'posture')" @mouseup="stop"
                    @touchstart.prevent="move('x', '-')" @touchend.prevent="stop">
                    <el-icon size="24">
                      <Remove />
                    </el-icon>
                  </el-button>
                  <el-button type="primary" circle @mousedown="move('x', '+', 'posture')" @mouseup="stop"
                    @touchstart.prevent="move('x', '+')" @touchend.prevent="stop">
                    <el-icon size="24">
                      <CirclePlus />
                    </el-icon>
                  </el-button>
                </div>
              </div>
            </div>

            <!-- Y Axis -->
            <div class="axis-row y">
              <div class="axis-label y">Y</div>
              <div class="axis-slider-wrap">
                <div class="axis-name">左右平移</div>
                <div>
                  <el-button type="primary" circle @mousedown="move('y', '-', 'posture')" @mouseup="stop"
                    @touchstart.prevent="move('y', '-')" @touchend.prevent="stop">
                    <el-icon size="24">
                      <Remove />
                    </el-icon>
                  </el-button>
                  <el-button type="primary" circle @mousedown="move('y', '+', 'posture')" @mouseup="stop"
                    @touchstart.prevent="move('y', '+')" @touchend.prevent="stop">
                    <el-icon size="24">
                      <CirclePlus />
                    </el-icon>
                  </el-button>
                </div>
              </div>
            </div>

            <!-- Z Axis -->
            <div class="axis-row z">
              <div class="axis-label z">Z</div>
              <div class="axis-slider-wrap">
                <div class="axis-name">上下平移</div>
                <div>
                  <el-button type="primary" circle @mousedown="move('z', '-', 'posture')" @mouseup="stop"
                    @touchstart.prevent="move('z', '-')" @touchend.prevent="stop">
                    <el-icon size="24">
                      <Remove />
                    </el-icon>
                  </el-button>
                  <el-button type="primary" circle @mousedown="move('z', '+', 'posture')" @mouseup="stop"
                    @touchstart.prevent="move('z', '+')" @touchend.prevent="stop">
                    <el-icon size="24">
                      <CirclePlus />
                    </el-icon>
                  </el-button>
                </div>
              </div>
            </div>
          </div>
          <div class="speed-container">
            <div class="label">速度：</div>
            <el-slider v-model="postureSpeed" :min="0.1" :step="0.1" :max="2" />
            <div class="proportion">{{ (postureSpeed / 2 * 100).toFixed(0) }} %</div>
          </div>
        </div>
      </div>
    </div>
  </div>
</template>

<script setup>
import { nextTick, onMounted, onUnmounted, ref } from 'vue'
import UrdfView from './UrdfView.vue'
import { getPoseApi, getJointStateApi, moveJApi, torqueOnApi, speedJApi, stopMotionApi, speedLApi } from '@/api/arm'
import { Remove, CirclePlus } from '@element-plus/icons-vue'
import { useRobotStore } from '@/stores/robot'

const robotStore = useRobotStore()
const deviceId = robotStore.almDeviceId

const urdfViewerRef = ref()
const jointControls = ref()

// TCP坐标数据
const tcp = ref({
  x: 46.691,
  y: 385.321,
  z: 141.877,
  rx: -174.595,
  ry: 4.212,
  rz: -72.937
})

const torqueOn = async () => {
  await torqueOnApi({
    ip: robotStore.ip,
    deviceId: deviceId
  })
}

const getPose = async () => {
  const res = await getPoseApi({
    ip: robotStore.ip,
    deviceId: deviceId
  })
  if (res.code === 200) {
    const { x, y, z, rx, ry, rz } = res.data
    tcp.value = { x, y, z, rx, ry, rz }
  }
}

const jointNamsMap = {
  'joint_1': 'elfin_joint1',
  'joint_2': 'elfin_joint2',
  'joint_3': 'elfin_joint3',
  'joint_4': 'elfin_joint4',
  'joint_5': 'elfin_joint5',
  'joint_6': 'elfin_joint6',
}

/**
 * 获取关节状态
 * @param robot 
 */
const getJointState = async (robot) => {
  try {
    const res = await getJointStateApi({
      deviceId: deviceId,
      ip: robotStore.ip,
    })
    if (res.code === 200) {
      setTimeout(() => {
        const names = res.data.name
        const positions = res.data.position
        names.forEach((name, index) => {
          urdfViewerRef.value.updateJoint(jointNamsMap[name] || name, positions[index].toFixed(3))
        })
      }, 500)
    } else {
      console.error('获取关节状态失败:', res.message)
    }
  } catch (error) {
    console.error('获取关节状态失败:', error)
  }
}

// 速度
const jointSpeed = ref(0.8)
const updateJoint = async (jointName, _dir) => {
  const velocities = jointControls.value.map(joint => {
    return 0
  })
  const index = jointControls.value.findIndex(joint => joint.name === jointName)
  velocities[index] = jointSpeed.value * (_dir === '+' ? 1 : -1)
  const res = await speedJApi({
    deviceId: deviceId,
    ip: robotStore.ip,
    acceleration: jointSpeed.value * (_dir === '+' ? 1 : -1) + 0.1,
    duration: 60,
    velocities: velocities
  })
}

const postureSpeed = ref(0.8)
const endSpeed = ref(0.8)

const speedData = reactive({
  vx: 0,
  vy: 0,
  vz: 0,
  wx: 0,
  wy: 0,
  wz: 0
})

/**
 * 机械臂移动
 * @param axis 坐标轴
 * @param direction 方向
 */
const move = async (axis, direction, type) => {
  speedData.vx = 0
  speedData.vy = 0
  speedData.vz = 0
  speedData.wx = 0
  speedData.wy = 0
  speedData.wz = 0
  if (type === 'end') {
    // 末端移动
    const speedValue = endSpeed.value
    switch (axis) {
      case 'x':
        speedData.vx = direction === '+' ? speedValue : -speedValue
        break
      case 'y':
        speedData.vy = direction === '+' ? speedValue : -speedValue
        break
      case 'z':
        speedData.vz = direction === '+' ? speedValue : -speedValue
        break
    }
  } else if (type === 'posture') {
    // 关节移动
    const jointSpeed = postureSpeed.value
    switch (axis) {
      case 'x':
        speedData.wx = direction === '+' ? jointSpeed : -jointSpeed
        break
      case 'y':
        speedData.wy = direction === '+' ? jointSpeed : -jointSpeed
        break
      case 'z':
        speedData.wz = direction === '+' ? jointSpeed : -jointSpeed
        break
    }

  }

  speedLApi({
    deviceId: deviceId,
    ip: robotStore.ip,
    duration: 60,
    acceleration: type === 'posture' ? postureSpeed.value + 0.1 : endSpeed.value + 0.1,
    velocity: {
      ...speedData
    }
  })
}

/**
 * 停止机械臂移动
 */
const stop = async () => {
  await stopMotionApi({
    deviceId: deviceId,
    ip: robotStore.ip
  })
}

const timer = ref(null)
onMounted(() => {
  nextTick(() => {
    jointControls.value = urdfViewerRef.value.jointControls
    torqueOn()
    getPose()
    if (timer.value) {
      clearInterval(timer.value)
    }
    // timer.value = setInterval(() => {
      getPose()
      getJointState()
    // }, 100)
  })
})

onUnmounted(() => {
  if (timer.value) {
    clearInterval(timer.value)
  }
})

</script>

<style lang="scss" scoped>
.robot-teach-container {
  height: 100%;
  background: $bg-deep;
  color: $text;
  font-family: $font-b;
  overflow: hidden;
  user-select: none;

  // 主体三栏布局
  .main-wrap {
    width: 100%;
    height: 100%;
    display: flex;
    overflow: hidden;

    // 左侧面板
    .left-panel {
      width: 400px;
      padding: 20px;
      overflow-y: auto;
      // background: #030729;
      background: $bg-body;
      border-right: 1px solid rgba(0, 195, 255, 0.08);

      .panel-card {
        padding: 12px;

        .row {
          display: flex;
          gap: 20px;
          margin-bottom: 12px;

          .number {
            width: 180px;
            border-radius: 5px;
            padding: 6px;
            background: #2d323e;
          }
        }
      }

      .joint-list {
        margin-top: 24px;
        // background: #161933;
        padding: 15px;
        border-radius: 8px;
        color: #ccc;

        .title {
          font-size: 20px;
          font-weight: bold;
          margin-bottom: 10px;
        }


        .joint-item {
          display: flex;
          align-items: center;
          gap: 8px;
          margin-bottom: 10px;
          padding: 10px;
          border: 1px solid rgba(0, 195, 255, 0.08);
          border-radius: 5px;
          background: #0a0b10;

          &:hover {
            border-color: #2a3f7a;
            background: rgba(59, 130, 246, 0.031372549);
          }

          label {
            width: 120px;
            font-size: 16px;
            font-weight: bold;
          }

          input[type=range] {
            flex: 1;
          }

          .angle {
            width: 50px;
            text-align: right;
          }

          :deep(.el-input-group__prepend) {
            background: #080b10;
            border-right: 0px;
            box-shadow: 0 0 0 1px #272727 inset;
          }

          :deep(.el-input-group__append) {
            background: #080b10;
            border-left: 0px;
            box-shadow: 0 0 0 1px #272727 inset;
          }

          :deep(.el-input__wrapper) {
            background-color: #0e0e0e;
            box-shadow: 0 0 0 1px #272727 inset;
          }
        }
      }


    }

    // 中间3D区域
    .center-view {
      flex: 1;
      display: flex;
    }

    // 右侧摇杆面板
    .right-panel {
      width: 400px;
      padding: 20px;
      // background: #030729;
      background: $bg-body;
      border-left: 1px solid rgba(0, 195, 255, 0.08);

      .controller {
        margin-bottom: 60px;

        .title {
          font-size: 20px;
          font-weight: bold;
          margin-bottom: 10px;
        }

        .axis-group {
          display: flex;
          flex-direction: column;
          gap: 12px;
          margin-bottom: 16px;

          .axis-row {
            display: flex;
            align-items: center;
            gap: 10px;
            padding: 10px 14px;
            background: #0a0b10;
            border: 1px solid #1c2a52;
            border-radius: 10px;
            transition: all 0.2s ease;

            &:hover {
              border-color: #2a3f7a;
              background: #3b82f608;
            }

            .axis-label {
              width: 28px;
              height: 28px;
              border-radius: 6px;
              display: flex;
              align-items: center;
              justify-content: center;
              font-size: 13px;
              font-weight: 700;
              flex-shrink: 0;
            }

            .x {
              background: #f8717126;
              color: #f87171;
              border: 1px solid #f871714d;
            }

            .y {
              background: #34d39926;
              color: #34d399;
              border: 1px solid #34d3994d;
            }

            .z {
              background: #38bdf826;
              color: #38bdf8;
              border: 1px solid #38bdf84d;
            }


            .axis-slider-wrap {
              flex: 1;
              display: flex;
              align-items: center;
              justify-content: space-between;
              gap: 4px;
            }
          }
        }
      }
    }

    .speed-container {
      display: flex;
      align-items: center;
      justify-content: space-between;

      .label,
      .proportion {
        width: 100px;
        text-align: center;
      }
    }
  }
}

// element-plus深色输入框覆盖
:deep(.el-input__wrapper) {
  background-color: #2d323e;
  box-shadow: $shadow;

  .el-input__inner {
    color: #fff;
  }
}

:deep(.el-slider__runway) {
  background: #333842;
}
</style>