#pragma once

#include <QImage>
#include <QHash>
#include <QList>
#include <QMainWindow>
#include <QSet>
#include <QStyle>
#include <QStringList>
#include <QVariantList>
#include <QVariantMap>
#include <QVector>

#include "videoframe.h"

class QButtonGroup;
class QCheckBox;
class QComboBox;
class QDoubleSpinBox;
class QDialog;
class QEvent;
class QHBoxLayout;
class QGridLayout;
class QLabel;
class QLineEdit;
class QProgressBar;
class QPushButton;
class QResizeEvent;
class QSettings;
class QSpinBox;
class QStackedWidget;
class QTableWidget;
class QTabWidget;
class QTextEdit;
class QTimer;
class TrendWidget;
class RobotClient;
class QuicTestServer;
class UrdfViewerWidget;
class AudioStreamManager;
class VideoRenderWidget;

class MainWindow : public QMainWindow
{
    Q_OBJECT

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

protected:
    bool nativeEvent(const QByteArray &eventType, void *message, long *result) override;
    void changeEvent(QEvent *event) override;
    void resizeEvent(QResizeEvent *event) override;

private slots:
    void selectPage(int index);
    void toggleConnection();
    void updateConnection(bool connected, int latencyMs, const QString &detail);
    void updateTelemetry(const QVariantList &joints, const QVariantMap &pose);
    void updateSystemStatus(double cpu, double memory, double disk, int devices);
    void updateSystemInfo(const QVariantMap &info);
    void updateImage(const QImage &image, const QString &detail);
    void updateVideoFrame(const QString &cameraId, const VideoFrame &frame,
                          const QString &detail);
    void updateCameraStreamState(const QString &cameraId, bool running,
                                 const QString &detail);
    void updateCameraRecordingState(bool recording, const QString &detail);
    void updateAgvState(const QVariantMap &state, const QVariantMap &navigation);
    void updateAgvInventory(const QStringList &maps, const QVariantList &stations);
    void handleCommand(const QString &command, bool success, const QString &detail);
    void appendLog(const QString &level, const QString &message);
    void toggleQuicServer();
    void updateQuicRunning(bool running, quint16 port, const QString &detail);
    void appendQuicLog(const QString &level, const QString &message);
    void sendMoveJ();
    void sendMoveJPose();
    void recordCurrentJointPoint();
    void executeSelectedJointPoint();
    void startJointPointLoop();
    void stopJointPointLoop(const QString &reason = QString());
    void advanceJointPointLoop();
    void refreshRecordedJointPoints();
    void refreshJointFlowTable();
    void saveSnapshot();

private:
    QWidget *createSystemPage();
    QWidget *createArmPage();
    QWidget *createCameraPage();
    QStringList configuredCameraIds() const;
    void rebuildCameraPreviewGrid(const QStringList &cameraIds);
    void refreshCameraStreamControls();
    QWidget *createAgvPage();
    QWidget *createAudioPage(bool speaker);
    QWidget *createRpcPage(const QString &serviceName);
    QWidget *createQuicPage();
    QWidget *createDiagnosticsPage();
    void loadSettings();
    void saveSettings();
    void loadJointPrograms(QSettings &settings);
    void saveJointPrograms(QSettings &settings) const;
    void setControlsEnabled(bool enabled);
    void updateWindowChrome();
    void ensureArmModelLoaded();
    QString endpoint() const;

    RobotClient *m_client = nullptr;
    AudioStreamManager *m_audioManager = nullptr;
    QuicTestServer *m_quicServer = nullptr;
    QStackedWidget *m_pages = nullptr;
    QButtonGroup *m_navGroup = nullptr;
    QList<QPushButton *> m_navButtons;

    QWidget *m_windowSurface = nullptr;
    QWidget *m_customTitleBar = nullptr;
    QLabel *m_titleBarPage = nullptr;
    QLabel *m_titleBarBuild = nullptr;
    QPushButton *m_minimizeWindowButton = nullptr;
    QPushButton *m_maximizeWindowButton = nullptr;
    QPushButton *m_closeWindowButton = nullptr;
    QSize m_windowChromeSize;
    bool m_windowChromeInitialized = false;
    bool m_windowChromeMaximized = false;
    bool m_updatingWindowChrome = false;

    QLineEdit *m_hostEdit = nullptr;
    QSpinBox *m_portSpin = nullptr;
    QCheckBox *m_demoCheck = nullptr;
    QPushButton *m_connectButton = nullptr;
    QLabel *m_connectionDot = nullptr;
    QLabel *m_connectionText = nullptr;
    QLabel *m_latencyLabel = nullptr;
    QLabel *m_pageTitle = nullptr;
    QLabel *m_pageSubtitle = nullptr;
    QHBoxLayout *m_headerLayout = nullptr;
    QWidget *m_armHeaderControls = nullptr;
    QLabel *m_sidebarEndpointValue = nullptr;
    QLabel *m_sidebarQuicValue = nullptr;
    QLabel *m_bottomLogLevel = nullptr;
    QLabel *m_bottomLogMessage = nullptr;
    QLabel *m_bottomVersion = nullptr;

    QLabel *m_cpuValue = nullptr;
    QLabel *m_memoryValue = nullptr;
    QLabel *m_diskValue = nullptr;
    QLabel *m_deviceValue = nullptr;
    QLabel *m_systemNameValue = nullptr;
    QLabel *m_systemVersionValue = nullptr;
    QLabel *m_systemOsValue = nullptr;
    QLineEdit *m_systemTargetEdit = nullptr;
    QPushButton *m_systemRefreshButton = nullptr;
    QPushButton *m_systemStopButton = nullptr;

    QLineEdit *m_armIdEdit = nullptr;
    QComboBox *m_armSideCombo = nullptr;
    QPushButton *m_armTelemetryButton = nullptr;
    QPushButton *m_armGlobalStopButton = nullptr;
    QLabel *m_armDeviceSummary = nullptr;
    QLabel *m_servoStatusValue = nullptr;
    QLabel *m_faultStatusValue = nullptr;
    QLabel *m_poseValue = nullptr;
    QLabel *m_updatedValue = nullptr;
    TrendWidget *m_trend = nullptr;
    QTableWidget *m_jointTable = nullptr;
    QTableWidget *m_motionTable = nullptr;
    QTableWidget *m_leftMotionTable = nullptr;
    QList<QDoubleSpinBox *> m_targetSpins;
    QList<QDoubleSpinBox *> m_leftTargetSpins;
    QList<QDoubleSpinBox *> m_rightTargetSpins;
    QStringList m_leftArmJointNames;
    QStringList m_rightArmJointNames;
    QStringList m_activeArmJointNames;
    QTabWidget *m_motionCommandTabs = nullptr;
    QList<QDoubleSpinBox *> m_moveJPoseSpins;
    QComboBox *m_moveJPoseBaseLinkCombo = nullptr;
    QPushButton *m_copyCurrentPoseButton = nullptr;
    QVariantMap m_latestArmPose;
    QDoubleSpinBox *m_velocitySpin = nullptr;
    QDoubleSpinBox *m_accelerationSpin = nullptr;
    QPushButton *m_sendMoveButton = nullptr;
    QPushButton *m_torqueOnButton = nullptr;
    QPushButton *m_torqueOffButton = nullptr;
    QPushButton *m_clearFaultButton = nullptr;
    QComboBox *m_zeroJointCombo = nullptr;
    QPushButton *m_calibrateZeroButton = nullptr;
    QPushButton *m_stopButton = nullptr;
    UrdfViewerWidget *m_urdfViewer = nullptr;
    QPushButton *m_teachModeButton = nullptr;
    QPushButton *m_teachRestoreButton = nullptr;
    QPushButton *m_teachSendButton = nullptr;
    QLabel *m_teachSelectedLabel = nullptr;
    QDoubleSpinBox *m_teachPositionSpin = nullptr;
    QTableWidget *m_teachJointTable = nullptr;
    QString m_teachSelectedJoint;
    QString m_pendingUrdfPath;
    bool m_armModelLoadScheduled = false;
    struct RecordedJointPoint {
        QString name;
        QString side;
        QString deviceId;
        QStringList jointNames;
        QVector<double> positions;
    };
    struct JointFlowStep {
        QString pointName;
        double waitSeconds = 1.0;
        QString loopGroup;
        int loopCount = 1;
    };
    QList<RecordedJointPoint> m_recordedJointPoints;
    QList<JointFlowStep> m_jointFlowSteps;
    QHash<QString, double> m_latestArmJointPositions;
    QLineEdit *m_jointPointNameEdit = nullptr;
    QTableWidget *m_jointPointTable = nullptr;
    QLabel *m_jointPointDetailLabel = nullptr;
    QSpinBox *m_jointPointLoopCount = nullptr;
    QDoubleSpinBox *m_jointPointInterval = nullptr;
    QLineEdit *m_jointFlowGroupEdit = nullptr;
    QSpinBox *m_jointFlowGroupCount = nullptr;
    QTableWidget *m_jointFlowTable = nullptr;
    QPushButton *m_recordJointPointButton = nullptr;
    QPushButton *m_runJointPointButton = nullptr;
    QPushButton *m_deleteJointPointButton = nullptr;
    QPushButton *m_startJointPointLoopButton = nullptr;
    QPushButton *m_stopJointPointLoopButton = nullptr;
    QLabel *m_jointPointLoopStatus = nullptr;
    QVector<int> m_jointPointLoopRows;
    QVector<double> m_jointPointExecutionWaits;
    int m_jointPointLoopCursor = 0;
    int m_jointPointLoopsCompleted = 0;
    int m_jointPointLoopTarget = 0;
    bool m_jointPointLoopActive = false;
    bool m_jointPointMovePending = false;

    QLineEdit *m_cameraIdEdit = nullptr;
    VideoRenderWidget *m_videoRender = nullptr;
    QLabel *m_imageMetaLabel = nullptr;
    QPushButton *m_snapshotButton = nullptr;
    QPushButton *m_cameraStreamButton = nullptr;
    QPushButton *m_saveImageButton = nullptr;
    QComboBox *m_cameraCodecCombo = nullptr;
    QComboBox *m_cameraStreamModeCombo = nullptr;
    QLabel *m_cameraStreamStateLabel = nullptr;
    QLineEdit *m_cameraRecordPathEdit = nullptr;
    QPushButton *m_cameraRecordButton = nullptr;
    QLabel *m_cameraRecordStateLabel = nullptr;
    QWidget *m_cameraPreviewContainer = nullptr;
    QGridLayout *m_cameraPreviewGrid = nullptr;
    struct CameraPreviewTile {
        QWidget *container = nullptr;
        VideoRenderWidget *render = nullptr;
        QLabel *status = nullptr;
        QLabel *meta = nullptr;
    };
    QHash<QString, CameraPreviewTile> m_cameraPreviewTiles;
    QSet<QString> m_runningCameraIds;
    QImage m_lastImage;
    bool m_cameraStreaming = false;
    bool m_cameraRecording = false;

    QLineEdit *m_agvIdEdit = nullptr;
    QDialog *m_agvStatusDialog = nullptr;
    QCheckBox *m_agvStatusSwitch = nullptr;
    QTimer *m_agvStatusRefreshTimer = nullptr;
    QLabel *m_agvConnectionValue = nullptr;
    QLabel *m_agvPoseValue = nullptr;
    QLabel *m_agvMotionValue = nullptr;
    QLabel *m_agvBatteryValue = nullptr;
    QLabel *m_agvMapValue = nullptr;
    QLabel *m_agvNavigationValue = nullptr;
    QLabel *m_agvErrorValue = nullptr;
    QLabel *m_agvModeValue = nullptr;
    QLabel *m_agvMotionStateValue = nullptr;
    QLabel *m_agvSafetyValue = nullptr;
    QLabel *m_agvPowerValue = nullptr;
    QLabel *m_agvTimestampValue = nullptr;
    QLabel *m_agvMapOverview = nullptr;
    QLabel *m_agvMappingPreview = nullptr;
    QLabel *m_agvMappingStateLabel = nullptr;
    QProgressBar *m_agvProgress = nullptr;
    QDoubleSpinBox *m_agvXSpin = nullptr;
    QDoubleSpinBox *m_agvYSpin = nullptr;
    QDoubleSpinBox *m_agvThetaSpin = nullptr;
    QDoubleSpinBox *m_agvMaxSpeedSpin = nullptr;
    QDoubleSpinBox *m_agvVxSpin = nullptr;
    QDoubleSpinBox *m_agvVySpin = nullptr;
    QDoubleSpinBox *m_agvWzSpin = nullptr;
    QComboBox *m_agvMapCombo = nullptr;
    QComboBox *m_agvStationCombo = nullptr;
    QTableWidget *m_agvStationTable = nullptr;
    QString m_agvDownloadPath;
    QList<QPushButton *> m_serviceButtons;
    QPushButton *m_speakerStreamStartButton = nullptr;
    QPushButton *m_speakerStreamStopButton = nullptr;
    QPushButton *m_microphoneStreamStartButton = nullptr;
    QPushButton *m_microphoneStreamStopButton = nullptr;

    QLineEdit *m_quicBindEdit = nullptr;
    QSpinBox *m_quicPortSpin = nullptr;
    QLineEdit *m_quicAlpnEdit = nullptr;
    QLineEdit *m_quicCertificateEdit = nullptr;
    QLineEdit *m_quicPasswordEdit = nullptr;
    QPushButton *m_quicToggleButton = nullptr;
    QLabel *m_quicStateValue = nullptr;
    QLabel *m_quicBoundValue = nullptr;
    QLabel *m_quicClientValue = nullptr;
    QLabel *m_quicRegistrationValue = nullptr;
    QLabel *m_quicHeartbeatValue = nullptr;
    QLabel *m_quicDatagramValue = nullptr;
    QLabel *m_quicDatagramBytesValue = nullptr;
    QLabel *m_quicNodeValue = nullptr;
    QLabel *m_quicBootValue = nullptr;
    QLabel *m_quicGrpcValue = nullptr;
    QLabel *m_quicPeerValue = nullptr;
    QTextEdit *m_quicLogView = nullptr;

    QTextEdit *m_logView = nullptr;
    QLabel *m_endpointValue = nullptr;
    QLabel *m_backendValue = nullptr;
    QLabel *m_buildValue = nullptr;
    bool m_connected = false;
};