#include "selfdrive/ui/qt/offroad/settings.h"

#include <cassert>
#include <cmath>
#include <string>
#include <tuple>
#include <vector>

#include <QDebug>
#include <QScrollBar>

#include "selfdrive/ui/qt/network/networking.h"

#include "common/params.h"
#include "common/watchdog.h"
#include "common/util.h"
#include "system/hardware/hw.h"
#include "selfdrive/ui/qt/widgets/controls.h"
#include "selfdrive/ui/qt/widgets/input.h"
#include "selfdrive/ui/qt/widgets/scrollview.h"
#include "selfdrive/ui/qt/widgets/ssh_keys.h"
#include "selfdrive/ui/qt/widgets/toggle.h"
#include "selfdrive/ui/ui.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/qt_window.h"

#include "selfdrive/frogpilot/navigation/ui/navigation_settings.h"
#include "selfdrive/frogpilot/ui/control_settings.h"
#include "selfdrive/oscarpilot/settings/basic.h"
#include "selfdrive/frogpilot/ui/visual_settings.h"

#include "selfdrive/oscarpilot/settings/settings.h"


void OscarSettingsWindow::showEvent(QShowEvent *event) {
  setCurrentPanel(0);
}

void OscarSettingsWindow::setCurrentPanel(int index, const QString &param) {
  panel_widget->setCurrentIndex(index);
  nav_btns->buttons()[index]->setChecked(true);
  if (!param.isEmpty()) {
    emit expandToggleDescription(param);
  }
}

OscarSettingsWindow::OscarSettingsWindow(QWidget *parent) : QFrame(parent) {
  
  // setup two main layouts
  sidebar_widget = new QWidget;
  QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
  sidebar_layout->setMargin(0);
  panel_widget = new QStackedWidget();

  // close button
  QPushButton *close_btn = new QPushButton(tr("← Back"));
  close_btn->setStyleSheet(R"(
    QPushButton {
      font-size: 50px;
      padding-bottom: 0px;
      border 1px grey solid;
      border-radius: 25px;
      background-color: #292929;
      font-weight: 500;
    }
    QPushButton:pressed {
      background-color: #3B3B3B;
    }
  )");
  close_btn->setFixedSize(300, 125);
  sidebar_layout->addSpacing(10);
  sidebar_layout->addWidget(close_btn, 0, Qt::AlignRight);
  QObject::connect(close_btn, &QPushButton::clicked, [this]() {
    if (frogPilotTogglesOpen) {
      frogPilotTogglesOpen = false;
      this->closeParentToggle();
    } else {
      this->closeSettings();
    }
  }); 

  FrogPilotControlsPanel *frogpilotControls = new FrogPilotControlsPanel(this);
  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::closeParentToggle, this, [this]() {frogPilotTogglesOpen = false;});
  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::openParentToggle, this, [this]() {frogPilotTogglesOpen = true;});

  // DevicePanel *device = new DevicePanel(this);
  // QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide);
  // QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView);

  QList<QPair<QString, QWidget *>> panels = {
    {tr("Basic"), new OscarPilotBasicPanel(this)},
    {tr("Advanced"), frogpilotControls},
    {tr("Network"), new Networking(this)},
    {tr("Software"), new SoftwarePanel(this)},
    // {tr("Device"), new DevicePanel(this)},
    // FrogPilotControlsPanel 
    // {tr("OscarCloud"), basic},
    // {tr("Logging"), basic},  // Log / Upload driver cam, Routes
    // {tr("System"), new OscarPilotBasicPanel(this)},   // Debugging
    // {tr("Status"), basic},   // Report on stuff like connectivity, free space, detected features
    // {tr("Extra"), basic},    // Custom cloud services, QOL automations
  };

  nav_btns = new QButtonGroup(this);
  for (auto &[name, panel] : panels) {
    QPushButton *btn = new QPushButton(name);
    btn->setCheckable(true);
    btn->setChecked(nav_btns->buttons().size() == 0);
    btn->setStyleSheet(R"(
      QPushButton {
      color: grey;
      border: none;
      background: none;
      font-size: 65px;
      font-weight: 500;
      }
      QPushButton:checked {
      color: white;
      }
      QPushButton:pressed {
      color: #ADADAD;
      }
    )");
    btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
    nav_btns->addButton(btn);
    sidebar_layout->addWidget(btn, 0, Qt::AlignRight);

    const int lr_margin = name != tr("Network") ? 50 : 0;  // Network panel handles its own margins
    panel->setContentsMargins(lr_margin, 25, lr_margin, 25);

    ScrollView *panel_frame = new ScrollView(panel, this);
    panel_widget->addWidget(panel_frame);

    if (name == tr("Controls") || name == tr("Visuals")) {
      QScrollBar *scrollbar = panel_frame->verticalScrollBar();

      QObject::connect(scrollbar, &QScrollBar::valueChanged, this, [this](int value) {
        if (!frogPilotTogglesOpen) {
          previousScrollPosition = value;
        }
      });

      QObject::connect(scrollbar, &QScrollBar::rangeChanged, this, [this, panel_frame]() {
        panel_frame->restorePosition(previousScrollPosition);
      });
    }

    QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
      previousScrollPosition = 0;
      btn->setChecked(true);
      panel_widget->setCurrentWidget(w);
    });
  }
  sidebar_layout->setContentsMargins(50, 50, 100, 50);

  // main settings layout, sidebar + main panel
  QHBoxLayout *main_layout = new QHBoxLayout(this);

  sidebar_widget->setFixedWidth(500);
  main_layout->addWidget(sidebar_widget);
  main_layout->addWidget(panel_widget);

  setStyleSheet(R"(
    * {
      color: white;
      font-size: 50px;
    }
    OscarSettingsWindow {
      background-color: black;
    }
    QStackedWidget, ScrollView {
      background-color: #292929;
      border-radius: 30px;
    }
  )");
}