"""
main_window
PC 側のメインウィンドウを定義するモジュール
Pi からのテレメトリをリアルタイム表示し，
モード切替・パラメータ調整・手動操作のコマンドを送信する
"""

from PySide6.QtCore import Qt, QTimer
from PySide6.QtGui import QKeyEvent
from PySide6.QtWidgets import (
    QHBoxLayout,
    QLabel,
    QMainWindow,
    QPushButton,
    QScrollArea,
    QVBoxLayout,
    QWidget,
)

from common import config
from pc.comm.zmq_client import PcZmqClient
from pc.gui.command_sender import CommandSender
from pc.gui.manual_controller import ManualController
from pc.gui.panels import (
    ControlParamPanel,
    ImageParamPanel,
    IntersectionPanel,
    OverlayPanel,
    RecoveryPanel,
)
from pc.gui.telemetry_display import TelemetryDisplay
from pc.steering.auto_params import (
    load_control,
    load_detect_params,
    load_overlay,
    load_pursuit,
    load_recovery,
    load_ts_pd,
    save_control,
    save_overlay,
    save_pursuit,
    save_recovery,
    save_ts_pd,
)
from common.steering.pd_control import PdParams
from common.steering.pursuit_control import PursuitParams
from common.steering.recovery import RecoveryParams
from common.steering.ts_pd_control import TsPdParams
from common.vision.line_detector import ImageParams

# 映像更新間隔 (ms)
FRAME_INTERVAL_MS: int = 33

# コマンド送信間隔 (ms)
COMMAND_INTERVAL_MS: int = int(
    1000 / config.CONTROL_PUBLISH_HZ
)

# 映像表示のスケール倍率（40x30 → 640x480 相当）
DISPLAY_SCALE: float = config.DISPLAY_SCALE


class MainWindow(QMainWindow):
    """PC 側のメインウィンドウ

    Pi からテレメトリを受信して映像・状態を表示し，
    コマンドを Pi に送信する
    """

    def __init__(self) -> None:
        super().__init__()
        self._zmq_client = PcZmqClient()
        self._is_connected = False
        self._is_auto = False

        # 分割されたコンポーネント
        self._manual = ManualController()
        self._cmd_sender = CommandSender(
            self._zmq_client,
        )

        # 前回のパラメータを復元
        pd_params, last_method, last_steering = (
            load_control()
        )
        image_params = load_detect_params(last_method)
        self._image_params = image_params
        self._pd_params = pd_params
        pursuit_params = load_pursuit()
        self._pursuit_params = pursuit_params
        ts_pd_params = load_ts_pd()
        self._ts_pd_params = ts_pd_params
        self._steering_method: str = last_steering

        # 復帰パラメータ
        recovery_params = load_recovery()
        self._recovery_params = recovery_params

        self._setup_ui()

        # TelemetryDisplay はウィジェット生成後に初期化
        self._telemetry = TelemetryDisplay(
            self._zmq_client,
            self._video_label,
            self._detect_info_label,
            self._perf_label,
        )

        self._setup_timers()

    def _setup_ui(self) -> None:
        """UI を構築する"""
        self.setWindowTitle("RobotCar Controller")

        central = QWidget()
        self.setCentralWidget(central)
        root_layout = QHBoxLayout(central)

        # 左側: 映像表示 + 検出情報
        left_layout = QVBoxLayout()

        self._video_label = QLabel("カメラ映像待機中...")
        self._video_label.setAlignment(
            Qt.AlignmentFlag.AlignCenter,
        )
        self._video_label.setMinimumSize(
            int(config.FRAME_WIDTH * DISPLAY_SCALE),
            int(config.FRAME_HEIGHT * DISPLAY_SCALE),
        )
        self._video_label.setStyleSheet(
            "background-color: #222;"
            " color: #aaa; font-size: 16px;"
        )
        left_layout.addWidget(self._video_label)

        self._detect_info_label = QLabel(
            "pos: ---  head: ---"
        )
        self._detect_info_label.setAlignment(
            Qt.AlignmentFlag.AlignLeft,
        )
        self._detect_info_label.setStyleSheet(
            "font-size: 14px; font-family: monospace;"
            " color: #0f0; background-color: #222;"
            " padding: 4px;"
        )
        left_layout.addWidget(self._detect_info_label)

        self._perf_label = QLabel(
            "recv FPS: ---  Pi FPS: ---"
        )
        self._perf_label.setAlignment(
            Qt.AlignmentFlag.AlignLeft,
        )
        self._perf_label.setStyleSheet(
            "font-size: 14px; font-family: monospace;"
            " color: #ff0; background-color: #222;"
            " padding: 4px;"
        )
        left_layout.addWidget(self._perf_label)
        root_layout.addLayout(left_layout, stretch=3)

        # 右側: スクロール可能なコントロールパネル
        scroll = QScrollArea()
        scroll.setWidgetResizable(True)
        scroll.setHorizontalScrollBarPolicy(
            Qt.ScrollBarPolicy.ScrollBarAlwaysOff,
        )
        control_widget = QWidget()
        control_layout = QVBoxLayout(control_widget)
        scroll.setWidget(control_widget)
        root_layout.addWidget(scroll, stretch=1)

        # 接続ボタン
        self._connect_btn = QPushButton("接続開始")
        self._connect_btn.clicked.connect(
            self._toggle_connection,
        )
        control_layout.addWidget(self._connect_btn)

        # 自動操縦ボタン
        self._auto_btn = QPushButton("自動操縦 ON")
        self._auto_btn.setEnabled(False)
        self._auto_btn.clicked.connect(self._toggle_auto)
        control_layout.addWidget(self._auto_btn)

        # ステータス表示
        self._status_label = QLabel("未接続")
        self._status_label.setAlignment(
            Qt.AlignmentFlag.AlignCenter,
        )
        control_layout.addWidget(self._status_label)

        # 操舵量表示
        self._control_label = QLabel(
            "throttle: 0.00\nsteer: 0.00"
        )
        self._control_label.setAlignment(
            Qt.AlignmentFlag.AlignCenter,
        )
        self._control_label.setStyleSheet(
            "font-size: 14px;",
        )
        control_layout.addWidget(self._control_label)

        # 二値化パラメータパネル
        self._image_panel = ImageParamPanel(
            self._image_params,
        )
        self._image_panel.image_params_changed.connect(
            self._on_image_params_changed,
        )
        self._image_panel.method_changed.connect(
            self._on_method_changed,
        )
        control_layout.addWidget(self._image_panel)

        # 十字路判定パネル
        self._intersection_panel = IntersectionPanel(
            available=True,
        )
        control_layout.addWidget(self._intersection_panel)

        # 制御パラメータパネル
        self._control_panel = ControlParamPanel(
            self._pd_params,
            self._pursuit_params,
            self._ts_pd_params,
            self._steering_method,
        )
        self._control_panel.pd_params_changed.connect(
            self._on_pd_params_changed,
        )
        self._control_panel.pursuit_params_changed.connect(
            self._on_pursuit_params_changed,
        )
        self._control_panel.ts_pd_params_changed.connect(
            self._on_ts_pd_params_changed,
        )
        self._control_panel.steering_method_changed.connect(
            self._on_steering_method_changed,
        )
        control_layout.addWidget(self._control_panel)

        # コースアウト復帰パネル
        self._recovery_panel = RecoveryPanel(
            self._recovery_params,
        )
        self._recovery_panel.recovery_params_changed.connect(
            self._on_recovery_params_changed,
        )
        control_layout.addWidget(self._recovery_panel)

        # デバッグ表示パネル
        overlay_flags = load_overlay()
        self._overlay_panel = OverlayPanel(overlay_flags)
        self._overlay_panel.overlay_flags_changed.connect(
            self._on_overlay_flags_changed,
        )
        control_layout.addWidget(self._overlay_panel)

        # 操作ガイド
        guide = QLabel(
            "--- キー操作 ---\n"
            "W/↑: 前進  S/↓: 後退\n"
            "A/←: 左    D/→: 右\n"
            "Space: 停止\n"
            "Q: 自動操縦 切替"
        )
        guide.setAlignment(Qt.AlignmentFlag.AlignLeft)
        guide.setStyleSheet("font-size: 12px; color: #666;")
        control_layout.addWidget(guide)

        control_layout.addStretch()

    def _setup_timers(self) -> None:
        """タイマーを設定する"""
        self._frame_timer = QTimer(self)
        self._frame_timer.timeout.connect(
            self._update_frame,
        )

        self._command_timer = QTimer(self)
        self._command_timer.timeout.connect(
            self._send_command,
        )

    # ── パネルシグナルのスロット ───────────────────────────

    def _on_image_params_changed(
        self, ip: ImageParams,
    ) -> None:
        """二値化パラメータの変更をマークする"""
        self._image_params = ip
        self._cmd_sender.mark_dirty()

    def _on_method_changed(self, method: str) -> None:
        """検出手法の変更を保存する"""
        save_control(
            self._pd_params, method,
            self._steering_method,
        )

    def _on_pd_params_changed(self, p: PdParams) -> None:
        """PD パラメータの変更を保存・マークする"""
        self._pd_params = p
        save_control(
            p, self._image_params.method,
            self._steering_method,
        )
        self._cmd_sender.mark_dirty()

    def _on_pursuit_params_changed(
        self, p: PursuitParams,
    ) -> None:
        """Pursuit パラメータの変更を保存・マークする"""
        self._pursuit_params = p
        save_pursuit(p)
        self._cmd_sender.mark_dirty()

    def _on_ts_pd_params_changed(
        self, p: TsPdParams,
    ) -> None:
        """Theil-Sen PD パラメータの変更を保存・マークする"""
        self._ts_pd_params = p
        save_ts_pd(p)
        self._cmd_sender.mark_dirty()

    def _on_recovery_params_changed(
        self, p: RecoveryParams,
    ) -> None:
        """復帰パラメータの変更を保存・マークする"""
        self._recovery_params = p
        save_recovery(p)
        self._cmd_sender.mark_dirty()

    def _on_overlay_flags_changed(self) -> None:
        """オーバーレイフラグの変更を保存する"""
        save_overlay(self._overlay_panel.get_flags())

    def _on_steering_method_changed(
        self, method: str,
    ) -> None:
        """制御手法の切替を反映して保存する"""
        self._steering_method = method
        save_control(
            self._pd_params,
            self._image_params.method,
            method,
        )
        self._cmd_sender.mark_dirty()

    # ── 接続 ──────────────────────────────────────────────

    def _toggle_connection(self) -> None:
        """接続 / 切断を切り替える"""
        if self._is_connected:
            self._disconnect()
        else:
            self._connect()

    def _connect(self) -> None:
        """ZMQ 通信を開始してテレメトリ受信を始める"""
        self._zmq_client.start()
        self._is_connected = True
        self._cmd_sender.mark_dirty()
        self._connect_btn.setText("切断")
        self._auto_btn.setEnabled(True)
        self._status_label.setText("接続中 (手動操作)")
        self._frame_timer.start(FRAME_INTERVAL_MS)
        self._command_timer.start(COMMAND_INTERVAL_MS)
        # 初回接続時に stop コマンドを送信
        self._cmd_sender.send_stop()

    def _disconnect(self) -> None:
        """ZMQ 通信を停止する"""
        self._frame_timer.stop()
        self._command_timer.stop()
        # Pi を停止
        if self._is_connected:
            self._cmd_sender.send_stop()
        if self._is_auto:
            self._is_auto = False
            self._auto_btn.setText("自動操縦 ON")
        self._zmq_client.stop()
        self._is_connected = False
        self._auto_btn.setEnabled(False)
        self._manual.reset()
        self._connect_btn.setText("接続開始")
        self._status_label.setText("未接続")
        self._video_label.setText("カメラ映像待機中...")
        self._control_label.setText(
            "throttle: 0.00\nsteer: 0.00"
        )

    # ── 自動操縦 ──────────────────────────────────────────

    def _toggle_auto(self) -> None:
        """自動操縦の ON / OFF を切り替える"""
        if self._is_auto:
            self._disable_auto()
        else:
            self._enable_auto()

    def _enable_auto(self) -> None:
        """自動操縦を開始する"""
        self._is_auto = True
        self._manual.reset()
        self._auto_btn.setText("自動操縦 OFF")
        self._status_label.setText("接続中 (自動操縦)")
        self._cmd_sender.mark_dirty()

    def _disable_auto(self) -> None:
        """自動操縦を停止して手動に戻る"""
        self._is_auto = False
        self._manual.reset()
        self._auto_btn.setText("自動操縦 ON")
        self._status_label.setText("接続中 (手動操作)")
        self._update_control_label()

    # ── 映像更新（テレメトリ受信） ────────────────────────

    def _update_frame(self) -> None:
        """タイマーから呼び出され，テレメトリを受信して表示する"""
        received = self._telemetry.update(
            self._overlay_panel.get_flags(),
        )
        if not received:
            return

        state = self._telemetry.state

        # 自動時は Pi の操舵量を表示
        if self._is_auto:
            self._update_control_label()

        # 十字路パネルの表示更新
        if self._intersection_panel.enabled:
            self._intersection_panel.update_result(
                state.is_intersection,
            )
        else:
            self._intersection_panel.clear_result()

        # 十字路有効時は分類器準備完了まで自動操縦を無効化
        if not self._is_auto:
            can_auto = (
                not self._intersection_panel.enabled
                or state.intersection_available
            )
            self._auto_btn.setEnabled(can_auto)

    # ── 手動操作 ──────────────────────────────────────────

    def keyPressEvent(self, event: QKeyEvent) -> None:
        """キー押下時の処理"""
        if event.isAutoRepeat():
            return

        # Q キーで自動操縦切り替え
        if event.key() == Qt.Key.Key_Q:
            if self._is_connected:
                self._toggle_auto()
            return

        # 自動操縦中はキー操作を無視
        if self._is_auto:
            return

        if self._manual.handle_key_press(event):
            if self._manual.is_emergency_stop():
                if self._is_auto:
                    self._disable_auto()
            self._update_control_label()

    def keyReleaseEvent(self, event: QKeyEvent) -> None:
        """キー離上時に操舵量を更新する"""
        if event.isAutoRepeat():
            return
        if self._is_auto:
            return
        if self._manual.handle_key_release(event):
            self._update_control_label()

    def _update_control_label(self) -> None:
        """操舵量の表示を更新する"""
        if self._is_auto:
            state = self._telemetry.state
            throttle = state.throttle
            steer = state.steer
        else:
            throttle = self._manual.throttle
            steer = self._manual.steer

        text = (
            f"throttle: {throttle:+.2f}\n"
            f"steer: {steer:+.2f}"
        )
        if self._is_auto:
            state = self._telemetry.state
            if state.is_intersection:
                text += "\n[十字路]"
            if state.is_recovering:
                text += "\n[復帰中]"
        self._control_label.setText(text)

    # ── コマンド送信 ──────────────────────────────────────

    def _send_command(self) -> None:
        """コマンドを Pi に送信する"""
        if not self._is_connected:
            return

        if self._is_auto:
            throttle = 0.0
            steer = 0.0
        else:
            throttle = self._manual.throttle
            steer = self._manual.steer

        self._cmd_sender.send(
            is_auto=self._is_auto,
            throttle=throttle,
            steer=steer,
            intersection_enabled=(
                self._intersection_panel.enabled
            ),
            intersection_throttle=(
                self._intersection_panel.throttle
            ),
            steering_method=self._steering_method,
            image_params=self._image_params,
            pd_params=self._pd_params,
            pursuit_params=self._pursuit_params,
            ts_pd_params=self._ts_pd_params,
            recovery_params=self._recovery_params,
        )

    def closeEvent(self, event) -> None:
        """ウィンドウを閉じるときに通信を停止する"""
        if self._is_connected:
            self._disconnect()
        event.accept()