#include "widget.h"
#include "ui_widget.h"
#include <iostream>
#include <QTcpSocket>
#include <QPushButton>
#include <QTimer>
#include <QEventLoop>
#include <QElapsedTimer>
// #include <windows.h>
#include <QApplication>
#include <QLabel>
#include <QImage>
#include <QPixmap>
#include <QDateTime>
#include <QTabBar>
#include <img_utils.h>
#include <detectionworker.h>
#include <Qstring>
#include <QFile>
#include <QTextStream>
#include <QDebug>
#include <algorithm>
#include <cctype>
#include <warning.h>
#include <QMessageBox>

using namespace std;


// 硬编码参数值
int file_delay = 1180;    // 延迟时间（毫秒）
int file_encoder = 12000; // 行频
int file_valve = 200;     // 喷阀触发频率

//下位机参数
int lowmac_dp = 350;      //偏振延迟时间
int lowmac_sm = 1200;     //吹气量  valve/12 = 吹气时间ms
int lowmac_ts = 10;       //模板匹配阈值
int lowmac_sg = 65;       //偏振绿色通道大小阈值
int lowmac_td = 7;       //偏振红色通道差值

Widget::Widget(QWidget *parent)
    : QWidget(parent)
    , ui(new Ui::Widget)
{
    this->isCamRunning = false;
    ui->setupUi(this);

    // 确认 tabWidget 是 QTabWidget 类型
    QTabWidget* tab = qobject_cast<QTabWidget*>(ui->tabWidget);
    if (tab) {
        QTabBar* tabBar = tab->tabBar();
        if (tabBar) {
            tabBar->hide(); // 隐藏 TabBar
        } else {
            qWarning() << "tabBar() 返回 nullptr！";
        }
    } else {
        qWarning() << "ui->tabWidget 不是 QTabWidget 类型！";
    }

    ui->camera_0_img->setScaledContents(false);
    ui->camera_1_img->setScaledContents(false);

    iniOnnx();
    // iniColor();
    loadConfig(getConfigDirectory()+"/color_range_config.txt");  // 读取配置文件
    iniLowMac();
    iniCamera();
    update_machine_num();
    update_colorlist();  // 更新色彩列表
    update_polar();  // 更新偏振相机界面
    // 初始化存储工作者和线程
    storageWorker = new StorageWorker();
    storageWorker->moveToThread(&storageThread);

    connect(&storageThread, &QThread::started, storageWorker, &StorageWorker::process);
    connect(this, &Widget::destroyed, &storageThread, &QThread::quit);
    connect(&storageThread, &QThread::finished, storageWorker, &QObject::deleteLater);

    storageThread.start();

    // 启动显示定时器，每秒检查一次
    QTimer* timer = new QTimer(this);
    connect(timer, &QTimer::timeout, this, &Widget::refreshImage);
    timer->start(40); // 每40毫秒秒刷新一次界面

    ui->tabWidget->setCurrentIndex(1);
    // on_btn_start_clicked();
    // 显示启动倒计时
    showStartupCountdown();
}

void Widget::showStartupCountdown()
{
    CountdownDialog* countdown = new CountdownDialog(10, this);
    countdown->setAttribute(Qt::WA_DeleteOnClose); // 对话框关闭后自动删除

    // 连接倒计时完成信号
    connect(countdown, &CountdownDialog::countdownFinished, this, &Widget::onCountdownFinished);

    // 连接对话框的关闭事件，以处理用户提前关闭
    connect(countdown, &QDialog::rejected, this, &Widget::onCountdownCancelled);

    countdown->show(); // 非模态显示，允许用户在倒计时期间与主窗口交互
}


void Widget::onCountdownCancelled()
{
    qDebug() << "用户取消了启动倒计时。";
    // 根据需求处理取消后的操作，例如不启动识别任务
    // 可以选择什么都不做，或者提供提示
}


void Widget::onCountdownFinished()
{
    qDebug() << "启动倒计时结束，继续执行开机操作。";
    on_btn_start_clicked();
}

Widget::~Widget()
{
    // 停止存储线程
    g_storageQueue.stop();
    storageThread.quit();
    storageThread.wait();

    // 现有清理代码...
    DestoryCamera();
    DestoryLowMac();

    delete ui;

}

void Widget::refreshImage()
{
    // refresh Image 1 and image 0
    refreshSingleImage(0, this->ui->mtx_0_overlay->isChecked(), this->ui->dl_0_overlay->isChecked(), this->ui->img_0_mirror->isChecked());
    refreshSingleImage(1, this->ui->mtx_1_overlay->isChecked(), this->ui->dl_1_overlay->isChecked(), this->ui->img_1_mirror->isChecked());
    // refresh buttons
    this->ui->btn_start->setEnabled(!this->isCamRunning);
    this->ui->btn_stop->setEnabled(this->isCamRunning);
    this->ui->btn_take_photos->setEnabled(this->isCamRunning);
    // refresh checkouts
    this->ui->dl_enable_0->setEnabled(!this->isCamRunning);
    this->ui->dl_enable_1->setEnabled(!this->isCamRunning);
    this->ui->tra_enable_0->setEnabled(!this->isCamRunning);
    this->ui->tra_enable_1->setEnabled(!this->isCamRunning);
    this->ui->btn_quit->setEnabled(!this->isCamRunning);

    // refresh settings buttons
    this->ui->btn_setColor->setEnabled(!this->isCamRunning);
    this->ui->btn_reset_color->setEnabled(!this->isCamRunning);
    this->ui->btn_del_color->setEnabled(!this->isCamRunning);
    this->ui->btn_add_color->setEnabled(!this->isCamRunning);

    this->ui->btn_reset_polar->setEnabled(!this->isCamRunning);
    this->ui->btn_save_polar->setEnabled(!this->isCamRunning);

    this->ui->btn_set_lower->setEnabled(!this->isCamRunning);
    //
    QDateTime now = QDateTime::currentDateTime();
    ui->label_currentDateTime->setText(now.toString("yyyy-MM-dd hh:mm:ss"));

    if (this->isCamRunning)
    {
        // 计算启动至今的秒数差
        qint64 elapsedSeconds = this->startTime.secsTo(now);
        // 转化为小时、分钟、秒
        qint64 hours   =  elapsedSeconds / 3600;
        qint64 minutes = (elapsedSeconds % 3600) / 60;
        qint64 seconds =  elapsedSeconds % 60;

        // 将“总运行时间”的小时/分钟分别更新到 UI
        ui->label_totalHours->setText(QString::number(hours));   // e.g. "482"
        ui->label_totalMinutes->setText(QString::number(minutes)); // e.g. "52"

        // 拼接“今日运行时长”一句话 (根据实际需求，可直接使用上面 hours、minutes、seconds)
        QString todayRunStr = QString("今日运行时长:%1小时%2分钟%3秒")
                                  .arg(hours)
                                  .arg(minutes)
                                  .arg(seconds);
        ui->label_todayRunningTime->setText(todayRunStr);
    }
    else
    {
        // 如果设备没在运行，UI可以显示默认内容或保持不变
        // 下面示例：将运行时长重置为 0
        ui->label_totalHours->setText("0");
        ui->label_totalMinutes->setText("0");
        ui->label_todayRunningTime->setText("今日运行时长:0小时0分钟0秒");
    }

    // refresh info
    QString info;
    if(this->isCamRunning)
    {
        if(SaveImg_Flag==1)
        {
            info = "存图中!!";
        }
        else
        {
            if(g_camera_error.load()){
                info = "图像问题！！！";
            } else {
                info = "运行";
            }
        };
    }else {
        info = "停止";
    };
    this->ui->lab_info->setText(info);
    ui->label_valve_actions->setText(QLocale(QLocale::English).toString(g_valveActionCount));
}

void Widget::refreshSingleImage(int camera_id, bool overlay_traditional_result, bool overlay_dl_result, bool mirror)
{
    // 验证摄像头ID的有效性
    if (camera_id < 0 || camera_id >= 2) { // 假设只有两个摄像头
        qWarning() << "Invalid Camera ID:" << camera_id;
        return;
    }

    // 定义每个摄像头对应的 QLabel
    QLabel* cameraLabels[2] = { ui->camera_0_img, ui->camera_1_img };
    // 定义每个摄像头对应的变量数组
    QMutex* dispPicMutexes[2] = { &gDispPicMutex0, &gDispPicMutex1 };
    MIL_ID dispCurrentPicIds[2] = { gDispCurrentPicId0, gDispCurrentPicId1 };

    // 获取当前摄像头的数据
    QMutex* currentDispMutex = dispPicMutexes[camera_id];
    MIL_ID current_id;

    {
        QMutexLocker locker(currentDispMutex);
        current_id = dispCurrentPicIds[camera_id];
    }

    if (current_id == 0)
        return;

    // 将MIL图像转换为OpenCV Mat
    cv::Mat img = ImageUtils::mil2Mat(current_id);
    if (img.empty())
    {
        qWarning() << "Failed to convert MIL image to Mat for Camera ID:" << camera_id;
        return;
    }

    if (current_id == 0)
        return;

    std::vector<std::vector<uint8_t>> dl_mask;
    std::vector<std::vector<uint8_t>> traditional_mask;
    {
        QMutexLocker locker(&g_detection_result[camera_id].mutex);
        dl_mask = g_detection_result[camera_id].dl_mask;
        traditional_mask = g_detection_result[camera_id].traditional_mask;
    }

    // 如果需要叠加结果，处理掩码
    if (overlay_dl_result && g_dl_enable[camera_id])
    {
        if (!dl_mask.empty() && !dl_mask[0].empty())
        {
            // 将二维 vector 转换为 cv::Mat
            int rows = dl_mask.size();
            int cols = dl_mask[0].size();
            cv::Mat dl_mask_mat(rows, cols, CV_8U);
            for (int i = 0; i < rows; ++i)
            {
                if (dl_mask[i].size() != cols) {
                    qWarning() << "Inconsistent mask row size for dl_mask in Camera ID:" << camera_id;
                    dl_mask_mat.release();
                    break;
                }
                memcpy(dl_mask_mat.ptr(i), dl_mask[i].data(), cols);
            }

            if (!dl_mask_mat.empty())
            {
                // 调整掩膜尺寸以匹配图像尺寸
                if (dl_mask_mat.size() != img.size()) {
                    cv::resize(dl_mask_mat, dl_mask_mat, img.size(), 0, 0, cv::INTER_NEAREST);
                }

                // 确保掩膜为二值图像
                cv::threshold(dl_mask_mat, dl_mask_mat, 128, 255, cv::THRESH_BINARY);

                // 创建绿色掩膜
                cv::Mat green_overlay(img.size(), img.type(), cv::Scalar(0, 255, 0));
                green_overlay.setTo(cv::Scalar(0, 255, 0), dl_mask_mat);

                // 叠加掩膜到图像
                cv::addWeighted(green_overlay, 0.5, img, 1.0, 0, img);
            }
        }
    }

    if (overlay_traditional_result & g_traditional_enable[camera_id])
    {
        if (!traditional_mask.empty() && !traditional_mask[0].empty())
        {
            // 将二维 vector 转换为 cv::Mat
            int rows = traditional_mask.size();
            int cols = traditional_mask[0].size();
            cv::Mat traditional_mask_mat(rows, cols, CV_8U);
            for (int i = 0; i < rows; ++i)
            {
                if (traditional_mask[i].size() != cols) {
                    qWarning() << "Inconsistent mask row size for traditional_mask in Camera ID:" << camera_id;
                    traditional_mask_mat.release();
                    break;
                }
                memcpy(traditional_mask_mat.ptr(i), traditional_mask[i].data(), cols);
            }

            if (!traditional_mask_mat.empty())
            {
                // 调整掩膜尺寸以匹配图像尺寸
                if (traditional_mask_mat.size() != img.size()) {
                    cv::resize(traditional_mask_mat, traditional_mask_mat, img.size(), 0, 0, cv::INTER_NEAREST);
                }

                // 确保掩膜为二值图像
                cv::threshold(traditional_mask_mat, traditional_mask_mat, 128, 255, cv::THRESH_BINARY);

                // 创建红色掩膜
                cv::Mat red_overlay(img.size(), img.type(), cv::Scalar(0, 0, 255));
                red_overlay.setTo(cv::Scalar(0, 0, 255), traditional_mask_mat);

                // 叠加掩膜到图像
                cv::addWeighted(red_overlay, 0.5, img, 1.0, 0, img);
            }
        }
    }

    // 如果需要镜像处理
    if (mirror)
    {
        cv::flip(img, img, 1); // 水平翻转
    }

    // 将OpenCV Mat转换为QPixmap
    QPixmap pixmap = ImageUtils::mat2QPixmap(img);
    if (pixmap.isNull()) {
        qWarning() << "Failed to convert Mat to QPixmap for Camera ID:" << camera_id;
        return;
    }

    // 高质量缩放图像
    QSize labelSize = cameraLabels[camera_id]->size();
    QPixmap scaledPixmap = pixmap.scaled(labelSize);

    // 更新UI标签
    cameraLabels[camera_id]->setPixmap(scaledPixmap);
}



void Widget::on_pushButton_2_clicked()
{
    SaveImg_Flag = 1;
}

void Widget::on_btn_stop_clicked()
{
    DestoryLowMac();

    this->isCamRunning = false;
    // 恢复显示的图片
    {
        QMutexLocker locker(&gDispPicMutex0);
        gDispCurrentPicId0 = 0;
    }
    ui->camera_0_img->clear();
    {
        QMutexLocker locker(&gDispPicMutex1);
        gDispCurrentPicId1 = 0;
    }
    ui->camera_1_img->clear();
}


void Widget::on_btn_start_clicked()
{
    // 设置相机参数
    setLowMacParam();
    g_dl_enable[0] = !this->ui->dl_enable_0->isChecked();
    g_dl_enable[1] = !this->ui->dl_enable_0->isChecked();
    g_traditional_enable[0] = !this->ui->tra_enable_0->isChecked();
    g_traditional_enable[1] = !this->ui->tra_enable_1->isChecked();
    this->isCamRunning = true;
    this->startTime = QDateTime::currentDateTime(); // 从这里开始计算设备运行时间
    // 热身两个工作者
    for(int i = 0; i < 2; ++i)
    {
        g_runner_array[i]->warm_up();
    }
    // 启动检测工作者线程
    for(int i = 0; i < 2; ++i)
    {
        g_recognitionRunning[i]->store(true);
        g_recognitionThread[i] = new std::thread(detectionWorker, i);

        // 获取线程的本地句柄
        HANDLE hThread = static_cast<HANDLE>(g_recognitionThread[i]->native_handle());

        // 设置线程优先级为最高
        if(!SetThreadPriority(hThread, THREAD_PRIORITY_HIGHEST))
        {
            std::cerr << "SET thread " << i << " failed, error code：" << GetLastError() << std::endl;
        }
    }
    Start_camera();
}


void Widget::on_btn_take_photos_pressed()
{
    SaveImg_Flag = true;
}


void Widget::on_btn_take_photos_released()
{
    SaveImg_Flag = false;
}


void Widget::on_btn_quit_clicked()
{
    // // 停止检测工作者线程
    // for(int i = 0; i < 2; ++i)
    // {
    //     g_recognitionRunning[i]->store(false);
    //     g_img_Queue[i]->stop(); // 停止队列以唤醒线程
    // }

    // // 等待检测工作者线程结束
    // for(int i = 0; i < 2; ++i)
    // {
    //     if(g_recognitionThread[i] && g_recognitionThread[i]->joinable())
    //     {
    //         g_recognitionThread[i]->join();
    //         delete g_recognitionThread[i];
    //         g_recognitionThread[i] = nullptr;
    //     }

    //     if(g_recognitionRunning[i])
    //     {
    //         delete g_recognitionRunning[i];
    //         g_recognitionRunning[i] = nullptr;
    //     }
    // }

    DestoryCamera();
    DestoryLowMac();

    qApp->quit();
}



void Widget::on_btn_set_lower_clicked()
{
    // 硬编码参数值
    lowmac_sm = ui->spinbox_maintime->value();
    params["lowmac_sm"]=lowmac_sm;
    params["machine_num"] = ui->spinbox_machine_code->value();
    params["max_valves_together"] = ui->spinbox_max_valves_together->value();
    saveConfig(getConfigDirectory()+"/color_range_config.txt", params, colors);

    // 两个过去的参量不支持读取配置文件
    file_encoder = ui->spinbox_encoder->text().toInt(); // 编码器值++
    file_valve = ui->spinbox_valve->text().toInt();    // 阀门通道
}

void Widget::update_machine_num()
{
    ui->lab_machine_num->setText(QString("%1号机").arg(params["machine_num"]));
    ui->spinbox_machine_code->setValue(params["machine_num"]);
    ui->spinbox_maintime->setValue(params["lowmac_sm"]);
}

void Widget::on_btn_set_valve_clicked()
{
    ui->tabWidget->setCurrentIndex(2);
}


void Widget::on_btn_tab3_backtab2_clicked()
{
    ui->tabWidget->setCurrentIndex(1);
}


void Widget::on_btn_live_clicked()
{
    ui->tabWidget->setCurrentIndex(1);
}


void Widget::on_btn_tab3_backtab2_2_clicked()
{
    ui->tabWidget->setCurrentIndex(5);
}


void Widget::on_btn_settings_clicked()
{
    ui->tabWidget->setCurrentIndex(2);
}


bool Widget::saveConfig(const QString &filePath, const std::map<std::string, int>& params_to_set, const std::vector<std::string>& color_vector_to_set)
{
    QFile file(filePath);
    if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
    {
        qWarning() << "无法打开配置文件进行写入:" << filePath;
        return false;
    }

    QTextStream out(&file);
    // Qt 6 默认使用 UTF-8 编码，无需设置编码

    // 保存每种颜色的参数
    for (const auto &color : color_vector_to_set)
    {
        std::string color_lower = color;
        // 将颜色名称首字母小写以匹配键名
        if (!color_lower.empty())
        {
            color_lower[0] = static_cast<char>(std::tolower(color_lower[0]));
        }

        try {
            // 使用 at() 方法访问元素
            out << QString::fromStdString(color_lower) << "_L_min = " << QString::number(params_to_set.at(color_lower + "_L_min")) << "\n";
            out << QString::fromStdString(color_lower) << "_L_max = " << QString::number(params_to_set.at(color_lower + "_L_max")) << "\n";
            out << QString::fromStdString(color_lower) << "_a_min = " << QString::number(params_to_set.at(color_lower + "_a_min")) << "\n";
            out << QString::fromStdString(color_lower) << "_a_max = " << QString::number(params_to_set.at(color_lower + "_a_max")) << "\n";
            out << QString::fromStdString(color_lower) << "_b_min = " << QString::number(params_to_set.at(color_lower + "_b_min")) << "\n";
            out << QString::fromStdString(color_lower) << "_b_max = " << QString::number(params_to_set.at(color_lower + "_b_max")) << "\n\n";
        }
        catch (const std::out_of_range& e) {
            qWarning() << "缺少参数:" << QString::fromStdString(color_lower + "_L_min") << "等在颜色" << QString::fromStdString(color_lower);
            // 根据需要，您可以决定如何处理缺少的参数，例如设置默认值或跳过
            continue;
        }
    }

    // 保存其他参数（不涉及颜色参数）
    for (const auto &param : params_to_set)
    {
        std::string key = param.first;
        // 如果不是颜色参数，则保存
        if (key.find("_L_min") == std::string::npos &&
            key.find("_L_max") == std::string::npos &&
            key.find("_a_min") == std::string::npos &&
            key.find("_a_max") == std::string::npos &&
            key.find("_b_min") == std::string::npos &&
            key.find("_b_max") == std::string::npos)
        {
            out << QString::fromStdString(key) << " = " << QString::number(param.second) << "\n";
        }
    }

    file.close();

    qDebug() << "配置已成功保存到" << filePath;
    return true;
}


bool Widget::loadConfig(const QString &filePath)
{
    QFile file(filePath);
    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
    {
        qWarning() << "无法打开配置文件进行读取:" << filePath;
        return false;
    }

    QTextStream in(&file);
    // Qt 6 默认使用 UTF-8 编码，无需设置编码

    // 清空当前配置
    colors.clear();
    params.clear();

    while (!in.atEnd())
    {
        QString line = in.readLine().trimmed();

        // 跳过空行和注释行
        if (line.isEmpty() || line.startsWith("#"))
            continue;

        // 处理键值对
        QStringList keyValue = line.split("=");
        if (keyValue.size() != 2)
            continue; // 无效行

        QString key = keyValue[0].trimmed();
        QString valueStr = keyValue[1].trimmed();
        bool ok;
        int value = valueStr.toInt(&ok);
        if (!ok)
        {
            qWarning() << "无效的数值:" << valueStr << "在行:" << line;
            continue;
        }

        std::string key_std = key.toStdString();
        params[key_std] = value;
        // 检查是否为颜色参数（格式为 color_property，例如 green_L_min）
        size_t underscorePos = key_std.find('_');
        if (underscorePos != std::string::npos)
        {
            std::string colorName = key_std.substr(0, underscorePos);
            size_t second_underscore = key_std.find('_', underscorePos + 1);
            if (second_underscore != std::string::npos)
            {
                // 提取第二个部分，例如 "L"、"a"、"b"
                std::string param_type = key_std.substr(underscorePos + 1, second_underscore - underscorePos - 1);

                // 过滤不需要的参数类型
                if ((param_type != "L") && (param_type != "a") && (param_type != "b"))
                    continue;

                // 避免重复添加颜色
                if (std::find(colors.begin(), colors.end(), colorName) == colors.end())
                {
                    colors.push_back(colorName);
                }
            }
        }
    }

    file.close();
    lowmac_dp = params["lowmac_dp"];      //偏振延迟时间
    lowmac_ts = params["lowmac_ts"];       //模板匹配阈值
    lowmac_sg = params["lowmac_sg"];       //偏振绿色通道大小阈值
    lowmac_td = params["lowmac_td"];       //偏振红色通道差值
    file_delay = params["file_delay"];     // 延迟时间
    expansionRaidus = params["expansionRaidus"];  // 扩展半径
    sizeThreshold = params["sizeThreshold"];  // 大小过滤
    qDebug() << "配置已成功从" << filePath << "加载";
    // qDebug()<<colors;
    return true;
}



void Widget::initDefaultConfig()
{
    // 定义默认颜色和参数
    colors = {"green", "blue", "orange", "black", "red", "purple", "yellow"};

    params = {
        // Green
        {"green_L_min", 16}, {"green_L_max", 56},
        {"green_a_min", -33}, {"green_a_max", -11},
        {"green_b_min", -7}, {"green_b_max", 24},

        // Blue
        {"blue_L_min", 20}, {"blue_L_max", 43},
        {"blue_a_min", -13}, {"blue_a_max", 22},
        {"blue_b_min", -48}, {"blue_b_max", -8},

        // Orange
        {"orange_L_min", 63}, {"orange_L_max", 78},
        {"orange_a_min", 7}, {"orange_a_max", 14},
        {"orange_b_min", 23}, {"orange_b_max", 47},

        // Black
        {"black_L_min", 0}, {"black_L_max", 8},
        {"black_a_min", -4}, {"black_a_max", 2},
        {"black_b_min", -3}, {"black_b_max", 4},

        // Red
        {"red_L_min", 23}, {"red_L_max", 48},
        {"red_a_min", 12}, {"red_a_max", 55},
        {"red_b_min", -80}, {"red_b_max", 37},

        // Purple
        {"purple_L_min", 38}, {"purple_L_max", 54},
        {"purple_a_min", 10}, {"purple_a_max", 20},
        {"purple_b_min", -45}, {"purple_b_max", 1},

        // Yellow
        {"yellow_L_min", 45}, {"yellow_L_max", 56},
        {"yellow_a_min", -4}, {"yellow_a_max", 7},
        {"yellow_b_min", 20}, {"yellow_b_max", 21},

        // Other parameters
        {"lab_denoising", 1},
        {"saturation_threshold", 165},
        {"saturation_denoising", 1},
        {"lowmac_sg",lowmac_sg},
        {"lowmac_td",lowmac_td},
        {"lowmac_ts",lowmac_ts},
        {"lowmac_dp",lowmac_dp},

        {"lowmac_sm", lowmac_sm},
        {"machine_num", params["machine_num"]},
        {"max_valves_together", params["max_valves_together"]},

        {"sizeThreshold",4},
        {"file_delay",1180},
        {"expansionRaidus",1}

    };
}

void Widget::on_btn_setColor_clicked()
{
    std::string current_color=ui->comboBox_colorlist->currentText().toLocal8Bit().constData();
    if (!(std::find(colors.begin(), colors.end(), current_color) != colors.end()))
        return;
    // 设置当前色彩
    params[current_color+"_L_min"]=ui->spinBox_L_min->value();
    params[current_color+"_L_max"]=ui->spinBox_L_max->value();
    params[current_color+"_a_min"]=ui->spinBox_A_min->value();
    params[current_color+"_a_max"]=ui->spinBox_A_max->value();
    params[current_color+"_b_min"]=ui->spinBox_B_min->value();
    params[current_color+"_b_max"]=ui->spinBox_B_max->value();
    // 准备写入本地
    params["file_delay"]=ui->spinbox_delaytime->value();
    params["saturation_threshold"]=ui->spb_saturation->value();  // 这个参数会通过params直接被调用无需赋值给其他全局变量
    params["sizeThreshold"]=ui->spinbox_msize_color->value();
    params["expansionRaidus"]=ui->spb_expandsize->value();
    // 写入内存进行使用
    file_delay = params["file_delay"];
    sizeThreshold = params["sizeThreshold"];
    expansionRaidus = params["expansionRaidus"];
    // 存入本地
    saveConfig(getConfigDirectory()+"/color_range_config.txt",params,colors);
}

void Widget::update_colorlist()
{
    ui->comboBox_colorlist->clear();
    for(auto color :colors)
    {
        ui->comboBox_colorlist->addItem(QString::fromStdString(color));
    }

}


void Widget::on_comboBox_colorlist_currentIndexChanged(int index)
{
    std::string current_color=ui->comboBox_colorlist->currentText().toLocal8Bit().constData();
    if (!(std::find(colors.begin(), colors.end(), current_color) != colors.end()))
        return;
    int l_min = params[current_color+"_L_min"];
    int l_max = params[current_color+"_L_max"];
    int a_min = params[current_color+"_a_min"];
    int a_max = params[current_color+"_a_max"];
    int b_min = params[current_color+"_b_min"];
    int b_max = params[current_color+"_b_max"];
    ui->spinBox_L_max->setValue(l_max);
    ui->spinBox_L_min->setValue(l_min);
    ui->spinBox_A_max->setValue(a_max);
    ui->spinBox_A_min->setValue(a_min);
    ui->spinBox_B_max->setValue(b_max);
    ui->spinBox_B_min->setValue(b_min);
}


void Widget::on_btn_add_color_clicked()
{
    std::string current_color=ui->lineEdit_color->text().toLocal8Bit().constData();
    // 空不添加
    if(current_color== "")
    {
        QMessageBox::warning(this, "什么颜色？", "这名字起的不雅");
        return;
    }
    // 必须跟之前所有颜色都不一致
    if (!(std::find(colors.begin(), colors.end(), current_color) != colors.end()))
    {
        colors.push_back(current_color);
    }
    else
    {
        QMessageBox::warning(this, "已有名字", "这名字跟别的色撞了");
        return;
    }
    // 存盘刷界面
    params[current_color+"_L_min"]=ui->spinBox_L_min->value();
    params[current_color+"_L_max"]=ui->spinBox_L_max->value();
    params[current_color+"_a_min"]=ui->spinBox_A_min->value();
    params[current_color+"_a_max"]=ui->spinBox_A_max->value();
    params[current_color+"_b_min"]=ui->spinBox_B_min->value();
    params[current_color+"_b_max"]=ui->spinBox_B_max->value();
    saveConfig(getConfigDirectory()+"/color_range_config.txt",params,colors);
    update_colorlist();
    ui->lineEdit_color->clear();
}


void Widget::on_btn_del_color_clicked()
{

    // 获取当前选中的颜色文本
    QString currentColorQStr = ui->comboBox_colorlist->currentText();
    if (currentColorQStr.isEmpty())
    {
        QMessageBox::warning(this, "删除颜色", "当前没有选中的颜色。");
        return;
    }

    std::string currentColor = currentColorQStr.toStdString();
    std::string color_lower = currentColor;
    if (!color_lower.empty())
    {
        color_lower[0] = static_cast<char>(std::tolower(color_lower[0]));
    }

    // 确认删除
    QMessageBox::StandardButton reply;
    reply = QMessageBox::question(this, "删除颜色",
                                  QString("确定要删除颜色 '%1' 吗？").arg(currentColorQStr),
                                  QMessageBox::Yes | QMessageBox::No);
    if (reply != QMessageBox::Yes)
        return;

    // 查找颜色在 colors 向量中的位置
    auto it = std::find(colors.begin(), colors.end(), currentColor);
    if (it != colors.end())
    {
        // 计算索引
        size_t index = std::distance(colors.begin(), it);

        // 从 colors 向量中删除
        colors.erase(it);

        // 从 params 映射中删除相关参数
        params.erase(color_lower + "_L_min");
        params.erase(color_lower + "_L_max");
        params.erase(color_lower + "_a_min");
        params.erase(color_lower + "_a_max");
        params.erase(color_lower + "_b_min");
        params.erase(color_lower + "_b_max");

        // 更新配置文件
        saveConfig(getConfigDirectory()+"/color_range_config.txt",params,colors);

        // 更新 UI
        update_colorlist();

        // 如果还有颜色，选择被删除颜色后的第一个颜色
        if (!colors.empty())
        {
            if (index >= colors.size())
                index = colors.size() - 1;
            ui->comboBox_colorlist->setCurrentIndex(static_cast<int>(index));
        }
        else
        {
            // 如果没有颜色，重置所有 spinBox
            ui->spinBox_L_min->setValue(0);
            ui->spinBox_L_max->setValue(0);
            ui->spinBox_A_min->setValue(0);
            ui->spinBox_A_max->setValue(0);
            ui->spinBox_B_min->setValue(0);
            ui->spinBox_B_max->setValue(0);
        }

        QMessageBox::information(this, "删除颜色", QString("颜色 '%1' 已成功删除。").arg(currentColorQStr));
    }
    else
    {
        QMessageBox::warning(this, "删除颜色", "未找到选中的颜色。");
    }


}


void Widget::on_btn_reset_color_clicked()
{
    // 新增全部还原槽

    // 确认重置
    QMessageBox::StandardButton reply;
    reply = QMessageBox::question(this, "全部还原", "确定要将配置还原为默认设置吗？",
                                  QMessageBox::Yes | QMessageBox::No);
    if (reply != QMessageBox::Yes)
        return;

    // 初始化默认配置
    initDefaultConfig();

    saveConfig(getConfigDirectory()+"/color_range_config.txt",params,colors);
    // 更新 UI
    update_colorlist();

    // 选择第一个颜色（如果有）
    if (!colors.empty())
    {
        ui->comboBox_colorlist->setCurrentIndex(0);
    }
    else
    {
        // 如果没有颜色，重置所有 spinBox
        ui->spinBox_L_min->setValue(0);
        ui->spinBox_L_max->setValue(0);
        ui->spinBox_A_min->setValue(0);
        ui->spinBox_A_max->setValue(0);
        ui->spinBox_B_min->setValue(0);
        ui->spinBox_B_max->setValue(0);
    }

    QMessageBox::information(this, "全部还原", "配置已成功还原为默认设置。");

}


void Widget::on_btn_tab_color_clicked()
{
    ui->tabWidget->setCurrentIndex(3);
}


void Widget::on_btn_tab3_backtab2_3_clicked()
{
    ui->tabWidget->setCurrentIndex(5);
}


void Widget::on_btn_tab3_backtab2_5_clicked()
{
    ui->tabWidget->setCurrentIndex(1);
}


void Widget::on_btn_tab_color_2_clicked()
{
    ui->tabWidget->setCurrentIndex(3);
}


void Widget::on_btn_tab3_backtab2_6_clicked()
{
    ui->tabWidget->setCurrentIndex(4);
}


void Widget::on_btn_tab3_backtab2_7_clicked()
{
    ui->tabWidget->setCurrentIndex(5);
}


void Widget::on_btn_tab3_backtab2_8_clicked()
{
    ui->tabWidget->setCurrentIndex(1);
}


void Widget::on_btn_tab_color_3_clicked()
{
    ui->tabWidget->setCurrentIndex(3);
}


void Widget::on_btn_tab3_backtab2_9_clicked()
{
    ui->tabWidget->setCurrentIndex(4);

}


void Widget::on_btn_tab3_backtab2_4_clicked()
{
    ui->tabWidget->setCurrentIndex(4);
}


void Widget::on_btn_save_polar_clicked()
{
    QMessageBox::StandardButton reply;
    reply = QMessageBox::question(this, "确定保存", "确定要将偏振配置保存吗？",
        QMessageBox::Yes | QMessageBox::No);
    if (reply != QMessageBox::Yes)
        return;

    params["lowmac_td"]=ui->spb_diff->value();
    params["lowmac_sg"]=ui->spb_green->value();
    params["lowmac_dp"]=ui->spb_delay_polar->value();
    params["lowmac_ts"]=ui->spb_msize_polar->value();
    lowmac_dp = params["lowmac_dp"];      //偏振延迟时间
    lowmac_ts = params["lowmac_ts"];       //模板匹配阈值
    lowmac_sg = params["lowmac_sg"];       //偏振绿色通道大小阈值
    lowmac_td = params["lowmac_td"];       //偏振红色通道差值
    saveConfig(getConfigDirectory()+"/color_range_config.txt",params,colors);

}


void Widget::on_btn_reset_polar_clicked()
{
    QMessageBox::StandardButton reply;
    reply = QMessageBox::question(this, "确定重置", "确定要将偏振部分配置重置吗？",
                                  QMessageBox::Yes | QMessageBox::No);
    if (reply != QMessageBox::Yes)
        return;

    params["lowmac_td"]= 7;
    params["lowmac_sg"]= 65;
    params["lowmac_dp"]= 350;
    params["lowmac_ts"]= 10;
    lowmac_dp = params["lowmac_dp"];      //偏振延迟时间
    lowmac_ts = params["lowmac_ts"];       //模板匹配阈值
    lowmac_sg = params["lowmac_sg"];       //偏振绿色通道大小阈值
    lowmac_td = params["lowmac_td"];       //偏振红色通道差值
    saveConfig(getConfigDirectory()+"/color_range_config.txt",params,colors);
    update_polar();
}

void Widget::update_polar()
{
    ui->spb_green->setValue(lowmac_sg);
    ui->spb_diff->setValue(lowmac_td);
    ui->spb_delay_polar->setValue(lowmac_dp);
    ui->spb_msize_polar->setValue(lowmac_ts);
}


void Widget::on_tabWidget_currentChanged(int index)
{
    update_machine_num();
    update_colorlist();  // 更新色彩列表
    update_polar();  // 更新偏振相机界面
}