#!/usr/bin/env python3
from PyQt6.QtWidgets import QTableWidget, QTableWidgetItem, QHeaderView, QLabel
from PyQt6.QtCore import Qt

class OverviewTable(QTableWidget):
    """總覽表格，顯示所有無人機的狀態資訊"""
    
    # 默認的資訊類型和映射
    # 「任務狀態」放最上面：閉環跑點時一眼看每台的 WP 進度 + 通訊(送出)狀態。
    # 此列不來自遙測 QLabel，由 MissionExecutor 訊號經 update_table(field='mission') 餵入。
    DEFAULT_INFO_TYPES = ["任務狀態",
                          "模式", "ARM", "電壓", "經度", "緯度", "FixType", "衛星數", "EPH", "EPV",
                          "高度", "XY位置", "XY速度", "地速", "航向", "空速", "油門", "海拔高度",
                          "爬升率", "Roll", "Pitch", "Yaw", "丟包", "延遲"]

    DEFAULT_INFO_TYPE_MAP = {
        "mission": 0,
        "mode": 1,
        "armed": 2,
        "battery": 3,
        "longitude": 4,
        "latitude": 5,
        "fix_type": 6,
        "satellites_visible": 7,
        "eph": 8,
        "epv": 9,
        "altitude": 10,
        "local": 11,
        "velocity": 12,
        "groundspeed": 13,
        "heading": 14,
        "airspeed": 15,
        "throttle": 16,
        "hud_alt": 17,
        "climb": 18,
        "roll": 19,
        "pitch": 20,
        "yaw": 21,
        "loss_rate": 22,
        "ping": 23
    }
    
    def __init__(self, info_types=None, info_type_map=None, parent=None):
        super().__init__(parent)
        
        # 使用提供的或默認的資訊類型
        self.info_types = info_types if info_types is not None else self.DEFAULT_INFO_TYPES
        self.info_type_map = info_type_map if info_type_map is not None else self.DEFAULT_INFO_TYPE_MAP
        self.drones = {}  # 存儲無人機面板的引用
        # 任務狀態不是遙測，不在 panel QLabel 內；獨立保存，避免 refresh_all 用遙測把它蓋掉
        self.mission_status = {}  # drone_id -> 任務狀態文字
        
        # 初始化表格
        self.setColumnCount(1)
        self.setRowCount(len(self.info_types))
        self.setHorizontalHeaderLabels(["資訊"])
        header = self.horizontalHeader()
        header.setSectionResizeMode(0, QHeaderView.ResizeMode.ResizeToContents)
        self.verticalHeader().setVisible(False)
        
        # 設置第一列的資訊類型
        for i, txt in enumerate(self.info_types):
            item = QTableWidgetItem(txt)
            item.setFlags(Qt.ItemFlag.ItemIsEnabled)
            item.setTextAlignment(Qt.AlignmentFlag.AlignCenter)
            self.setItem(i, 0, item)
    
    def set_drones(self, drones):
        """設置無人機面板字典的引用"""
        self.drones = drones
    
    def update_table(self, drone_id=None, field=None, value=None):
        """更新總覽表格
        
        Args:
            drone_id: 無人機 ID
            field: 欄位名稱 (如 'mode', 'altitude' 等)
            value: 要更新的值
        """
        # 更新特定儲存格
        if drone_id and field and value:
            if drone_id not in self.drones:
                return

            # 任務狀態另存一份，讓 refresh_all（用遙測重繪）不會把它清掉
            if field == 'mission':
                self.mission_status[drone_id] = value

            col = 1 + list(self.drones.keys()).index(drone_id)
            row = self.info_type_map.get(field, -1)

            if row == -1:
                return  # 無效的欄位

            item = self.item(row, col)
            if not item:
                item = QTableWidgetItem()
                self.setItem(row, col, item)

            item.setText(value)
            item.setTextAlignment(Qt.AlignmentFlag.AlignCenter)

        # 如果沒有指定更新，刷新整個表格
        if drone_id is None:
            self.refresh_all()
    
    def refresh_all(self):
        """刷新整個表格"""
        cols = 1 + len(self.drones)
        self.setColumnCount(cols)
        headers = ["資訊"] + list(self.drones.keys())
        self.setHorizontalHeaderLabels(headers)

        for col, did in enumerate(self.drones, start=1):
            panel = self.drones[did]
            for field, row in self.info_type_map.items():
                if field == 'mission':
                    # 任務狀態非遙測，取自獨立保存，避免被 "--" 蓋掉
                    val = self.mission_status.get(did, "--")
                else:
                    lbl = panel.findChild(QLabel, f"{did}_{field}")
                    val = lbl.text() if lbl else "--"
                val_item = QTableWidgetItem(val)
                val_item.setTextAlignment(Qt.AlignmentFlag.AlignCenter)
                self.setItem(row, col, val_item)
    
    def add_drone_column(self, drone_id):
        """當新增無人機時，添加一列"""
        if drone_id in self.drones:
            self.refresh_all()
    
    def remove_drone_column(self, drone_id):
        """當移除無人機時，刷新表格"""
        if drone_id in self.drones:
            self.refresh_all()