#include "mainwindow.h"
#include "ui_mainwindow.h"

using namespace cv;
using namespace std;

MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , ui(new Ui::MainWindow)
    , currentIndex(0)
    , isPlaying(false)
    , isPlayingWhiteLineMethod(false)
{
    ui->setupUi(this);
    //设置旋钮
    ui->dial->setNotchesVisible(true);
    ui->dial->setMaximum(100);
    ui->dial->setMinimum(0);
    ui->dial->setValue(0);

    // 设置定时器
//    QTimer *timer = new QTimer(this);
//    timer->start(1000);
//    connect(timer,SIGNAL(timeout()),this,SLOT(mySetCurrentDateTime()));//1s触发一次更新时间的函数

    speedTimer = new QTimer(this);
    connect(speedTimer, &QTimer::timeout, this, &MainWindow::updateImage);

    //设置progressBar
    ui->progressBar->setValue(0);

    //设置一开始白线列搜边方法的按钮为隐藏
    ui->whiteLineMethod->hide();
}

MainWindow::~MainWindow()
{
    delete ui;
}

// --------------------------一些工具函数--------------------------

/**
 * @brief 自然排序，按照ascii码
 * @param s1，某个串
 * @param s2，某个串
 * @return
 */
bool naturalSort(const QString &s1, const QString &s2)
{
    QRegularExpression re("(\\d+)");
    QRegularExpressionMatchIterator i1 = re.globalMatch(s1);
    QRegularExpressionMatchIterator i2 = re.globalMatch(s2);

    while (i1.hasNext() && i2.hasNext()) {
        int n1 = i1.next().captured(0).toInt();
        int n2 = i2.next().captured(0).toInt();
        if (n1 != n2)
            return n1 < n2;
    }

    return s1 < s2;
}


// --------------------------一些工具函数--------------------------



void MainWindow::on_dial_valueChanged(int value)
{
    ui->lcdNumber->display(value);
}




void MainWindow::on_slider_valueChanged(int value)
{
    if( isPlaying == false){
        showImage(value);
        ui->progressBar->setValue(value);
    }
}

void MainWindow::on_readSD_clicked()
{

    // 弹出文件选择对话框
    QString folderPath = QFileDialog::getExistingDirectory(this, tr("选择保存图片的文件夹"), "");

    // 判断用户是否选择了文件夹
    if (folderPath.isEmpty()) {
        QMessageBox::information(this, "Info", "未选择文件夹!");
        return;
    }
    string imgName = folderPath.toStdString() + "/hello";
    int imgNum = 1;
    int fd = open("\\\\.\\E:", O_RDONLY | O_BINARY);
    lseek64(fd, SECTOR_START * SECTOR_SIZE, SEEK_SET);//设置读取的起始位置，
    // lseek函数需要与read配合使用，
    // 每次read后会自动在前一次地址的基础上增加读取的长度
    // lseek函数传SEEK_SET可设置当前偏移地址

    do
    {
        if(fd != -1)
        {
            char imgGray_SDBuff[SECTOR_SIZE * SECTOR_NUM_IMGBUFF];
            char imgGray_buff[ROW * COL];

            /* 图像数组--->图片 */
            read(fd, imgGray_SDBuff, sizeof(imgGray_SDBuff));// 图像读取 必须读512的整数倍
            memcpy(imgGray_buff, imgGray_SDBuff, sizeof(imgGray_buff)); // 数组内容复制
            cv::Mat mat(ROW, COL, CV_8UC1, imgGray_buff); // 图像数组 转换成 8bite灰度图

            /* 文件命名 and 保存 */
            String imgNameSave = imgName + to_string(imgNum) + ".bmp"; // 文件名
            cv::imwrite(imgNameSave, mat); // 将图像保存到指定文件

            ++imgNum;
            if(imgNum > 2000){
                QMessageBox::information(this,"结束","以到达最大上限");
                break;
            }

        }
        else
        {
            qDebug() << "maybe don't have permission";
            QMessageBox info;
            info.critical(this,"Error","未查询到SD卡!");
            break;
        }
    } while(1);
}

void MainWindow::on_readBMP_clicked()
{
    folderPath = QFileDialog::getExistingDirectory(this, tr("选择BMP图片的文件夹"), "");

    if (!folderPath.isEmpty()) {
        loadImages(folderPath);
    } else {
        QMessageBox::information(this, "Info", "未选择文件夹!");
    }
}

void MainWindow::loadImages(const QString &folderPath)
{
    QDir dir(folderPath);
    bmpFiles = dir.entryList(QStringList() << "*.bmp", QDir::Files, QDir::NoSort);

    // 设置slider的一些属性
    ui->slider->setMaximum(bmpFiles.size());
    ui->slider->setMinimum(0);
    ui->slider->setValue(0);

    // 对文件名进行自然排序
    std::sort(bmpFiles.begin(), bmpFiles.end(), naturalSort);

    // 打印排序后的文件名列表
    for (const QString &file : bmpFiles) {
        qDebug() << "pictures: " << file;
    }

    if (bmpFiles.isEmpty()) {
        QMessageBox::information(this, "Info", "该文件夹内没有BMP图片!");
    } else {
        currentIndex = 0;
        showImage(currentIndex);
    }
}

void MainWindow::showImage(int index)
{
    if (!bmpFiles.isEmpty() && index >= 0 && index < bmpFiles.size()) {
        // 构建完整的图片路径
        QString filePath = QDir(folderPath).filePath(bmpFiles.at(index));

        // 使用 OpenCV 读取 BMP 图片并转换为 cv::Mat
        cv::Mat mat = cv::imread(filePath.toStdString(),IMREAD_GRAYSCALE);
        if (mat.empty()) {
            QMessageBox::warning(this, "Error", "无法加载图片: " + filePath);
            return;
        }
        int height = mat.rows;
        int weight = mat.cols;
        // 将读取的mat格式转化成图片数组
        for(int i = 0; i <height ; i++){
            for(int j =0; j < weight ; j++){
                mt9v03x_image[i][j] = mat.at<uint8_t>(i,j);
            }
        }
        //制作二值化图
        int otsuParam = otsuThreshold_fast(mt9v03x_image[0]);
        setImageTwoValue(otsuParam);
        // 判断要播放的是哪一个图片
        int whichPicture = ui->whichPicture->currentIndex();
        if( whichPicture == Original ){
            QImage imgOriginal = QImage((uchar*)mt9v03x_image[0],weight,height,QImage::Format_Grayscale8);
            ui->bmpShow->repaint();
            ui->bmpShow->setPixmap(QPixmap::fromImage(imgOriginal).scaled(ui->bmpShow->size(),Qt::KeepAspectRatio));
        }else if( whichPicture == Binary ){
            //枚举各种状态
            if( isPlayingWhiteLineMethod ){
                ui->bmpShow->clear();
                longestWhiteColumnSearchLines();
                crossDetect();
                islandDetect();
                showBoundaryOnBinaryImage();

            }else{// 最普通的情况
                QImage imgBinary = QImage((uchar*)mt9v03x_image_Binary[0],weight,height,QImage::QImage::Format_Grayscale8);
                ui->bmpShow->repaint();
                ui->bmpShow->setPixmap(QPixmap::fromImage(imgBinary).scaled(ui->bmpShow->size(),Qt::KeepAspectRatio));
            }
        }else if( whichPicture == Compress){
            cv::Mat compressedImage;
            cv::resize(mat, compressedImage, cv::Size(47, 60)); // 注意，OpenCV 的 resize 函数是以 (宽, 高) 的形式
            QImage img((uchar*)compressedImage.data, compressedImage.cols, compressedImage.rows, compressedImage.step, QImage::Format_Grayscale8);
            ui->bmpShow->setPixmap(QPixmap::fromImage(img).scaled(ui->bmpShow->size(), Qt::KeepAspectRatio));
        }

        qDebug()<< "filepath:"<< filePath << endl;
    }
}

void MainWindow::on_Play_clicked()
{
    if(!bmpFiles.isEmpty() && isPlaying == false){
        isPlaying = true;
        int interval = ui->playSpeed->currentText().toDouble() * 1000;
        speedTimer->start(static_cast<int>(interval));
    }
}

void MainWindow::on_Pause_clicked()
{
    if(isPlaying == true){
        isPlaying = false;
        speedTimer->stop();
    }
}



void MainWindow::on_Prev_clicked()// 只能在暂停的时候切换上下张
{
    if (!bmpFiles.isEmpty() && currentIndex > 0 && isPlaying == false) {
        --currentIndex;
        showImage(currentIndex);
    }
}

void MainWindow::on_Next_clicked()// 只能在暂停的时候切换上下张
{
    if (!bmpFiles.isEmpty() && currentIndex < bmpFiles.size() - 1 && isPlaying == false) {
        ++currentIndex;
        showImage(currentIndex);
    }
}

void MainWindow::updateImage()
{
    if (!bmpFiles.isEmpty()) {
        currentIndex = (currentIndex + 1) % bmpFiles.size();
        showImage(currentIndex);
        elementDetecting();

    }
}

void MainWindow::showBoundaryOnBinaryImage()
{
    // 假设当前显示的是二值化图像
    cv::Mat matGray = cv::Mat(MT9V03X_H, MT9V03X_W, CV_8UC1, mt9v03x_image_Binary);
    // 将灰度图转换为彩色图（3通道）
    cv::Mat matColor;
    cv::cvtColor(matGray, matColor, cv::COLOR_GRAY2BGR);
    // 添加角点
//    int x1 = findLeftDownPoint();
//    int y1 = Left_Line[x1];

//    int x2 = findLeftUpPoint();
//    int y2 = Left_Line[x2];

//    int x3 = findRightDownPoint();
//    int y3 = Right_Line[x3];

//    int x4 = findRightUpPoint();
//    int y4 = Right_Line[x4];
//    if(x1 && x2){
//        qDebug() << "左下x:"<< x1 << ", 左下y:" << y1 << endl;
//        qDebug() << "左上x:"<< x2 << ", 左上y:" << y2 << endl;
//        qDebug() << "右下x:"<< x3 << ", 右下y:" << y3 << endl;
//        qDebug() << "右上x:"<< x4 << ", 右下y:" << y4 << endl;
//    }
//    markPoint(matColor, y1, x1);
//    markPoint(matColor, y2, x2);
//    markPoint(matColor, y3, x3);
//    markPoint(matColor, y4, x4);

//    addLeftLine(x1, y1, x2, y2);
//    addRightLine(x3, y3, x4, y4);
    // 在彩色图像上绘制左、右边界线
    for (int i = MT9V03X_H - 1; i > MT9V03X_H - Search_Stop_Line; i--) {
        //if (Left_Line_Lost[i] == 0)
            cv::circle(matColor, cv::Point(Left_Line[i], i), 1, cv::Scalar(0, 0, 255), -1);
        //if (Right_Line_Lost[i] == 0)
            cv::circle(matColor, cv::Point(Right_Line[i], i), 1, cv::Scalar(255, 0, 0), -1);
    }


    // 转换为 QImage 并显示在 QLabel 上
    QImage img((uchar*)matColor.data, matColor.cols, matColor.rows, matColor.step, QImage::Format_RGB888);
    img.rgbSwapped();
    ui->bmpShow->setPixmap(QPixmap::fromImage(img).scaled(ui->bmpShow->size(), Qt::KeepAspectRatio));
    ui->bmpShow->repaint();  // 刷新 QLabel
}

void MainWindow::on_gotoPage_clicked()// 只能在暂停的时候跳转
{
    if(isPlaying == false){
        currentIndex = ui->whichPage->text().toInt();
        showImage(currentIndex);
    }

}

void MainWindow::on_whichPicture_currentIndexChanged(const QString &arg1)
{
    if(arg1 == "二值化图"){
        ui->whiteLineMethod->show();
    }else{
        ui->whiteLineMethod->hide();
    }
}

void MainWindow::on_whiteLineMethod_clicked()
{
    isPlayingWhiteLineMethod = !isPlayingWhiteLineMethod;
    if(isPlayingWhiteLineMethod){
        ui->whiteLineMethod->setText("白线列巡线(开)"); // value == 1
    }else{
        ui->whiteLineMethod->setText("白线列巡线(关)"); // value == 0
    }
}


void MainWindow::markPoint(cv::Mat &image, int x, int y) {
    // 定义标记的颜色为绿色
    cv::Scalar color(0, 255, 0); // 绿色
    int thickness = 2;
    int radius = 5;

    // 在指定坐标处绘制一个圆形标记
    cv::circle(image, cv::Point(x, y), radius, color, thickness);
}