# -*- coding: utf-8 -*-
"""
Task 模块完整演示
─────────────────────────────────────────────────────────────────
运行: python main.py
依赖: pip install PyQt5
─────────────────────────────────────────────────────────────────
"""

import logging
import random
import sys
import time as _time

from PyQt5.QtCore import Qt, QTimer, pyqtSlot
from PyQt5.QtGui import QColor, QFont
from PyQt5.QtWidgets import (
    QApplication, QMainWindow, QWidget,
    QVBoxLayout, QHBoxLayout, QSplitter,
    QTableWidget, QTableWidgetItem, QHeaderView,
    QGroupBox, QLabel, QPushButton, QTextEdit,
    QProgressBar, QStatusBar, QTabWidget, QTreeWidget,
    QTreeWidgetItem
)

from uas.action.action_executor import action_executor
# ── Action 模块 ────────────────────────────────────────────────────
from uas.action.action_type import ActionType
from uas.action.registry.action_registry import action_factory
# ── Event 模块 ─────────────────────────────────────────────────────
from uas.event.event_bus import event_bus
from uas.event.handlers.device_handlers import (
    DeviceErrorHandler, DeviceTimeoutHandler, EquipmentFaultHandler
)
from uas.route.base_waypoint import AirWaypoint as Waypoint
# ── 航线模块 ───────────────────────────────────────────────────────
from uas.route.routes.air_route import FlightRoute
from uas.task.task_action_plan import TriggerMoment
from uas.task.task_executor import task_executor
from uas.task.task_model import Task, TaskState, TaskArea
# ── Task 模块 ──────────────────────────────────────────────────────
from uas.task.task_type import TaskType, TaskPriority, task_type_registry

logging.basicConfig(
    level  = logging.INFO,
    format = "%(asctime)s [%(levelname)-8s] %(name)s - %(message)s",
)
logger = logging.getLogger("main")


# ─────────────────────────────────────────────────────────────────
# 构建示例航线（北京→上海，加速时间轴用于演示）
# ─────────────────────────────────────────────────────────────────

def build_demo_route() -> FlightRoute:
    """
    构建北京→上海示例航线
    为便于演示，将速度调大使总时长压缩到约 60s
    """
    route = FlightRoute(start_time=0.0, default_turn_radius=2000.0)
    waypoints = [
        Waypoint(identifier="ZBAA", latitude=40.0799, longitude=116.6031,
                 altitude=500,   speed=2000.0),
        Waypoint(identifier="WP01", latitude=39.5,   longitude=117.5,
                 altitude=8000,  speed=2200.0),
        Waypoint(identifier="WP02", latitude=37.0,   longitude=118.8,
                 altitude=10000, speed=2400.0),
        Waypoint(identifier="WP03", latitude=34.0,   longitude=120.0,
                 altitude=8000,  speed=2200.0),
        Waypoint(identifier="ZSPD", latitude=31.1443, longitude=121.8083,
                 altitude=500,   speed=1400.0),
    ]
    route.add_waypoints(waypoints)
    return route


# ─────────────────────────────────────────────────────────────────
# 构建示例任务
# ─────────────────────────────────────────────────────────────────

def build_demo_task(route: FlightRoute) -> Task:
    """
    构建照相侦察任务：

    航线级 Actions（整条航线）：
      ├─ [串行 order=0] 系统自检        ON_ENTER
      ├─ [串行 order=1] 设备校准        ON_ENTER
      └─ [并行]         系统诊断        CONTINUOUS 每30s

    航段[0] ZBAA→WP01（爬升段）：
      ├─ [并行] 拍照                    ON_ENTER
      └─ [串行 order=0] 系统诊断        ON_ENTER

    航段[1] WP01→WP02（巡航段）：
      ├─ [并行] 目标识别                ON_ENTER
      ├─ [并行] 环境扫描                ON_ENTER
      ├─ [串行 order=0] 红外扫描        SCHEDULED 偏移5s
      └─ [串行 order=1] 拍照            SCHEDULED 偏移10s

    航段[2] WP02→WP03（下降段）：
      ├─ [并行] 目标识别                ON_ENTER
      └─ [并行] 持续拍照                CONTINUOUS 每8s

    航段[3] WP03→ZSPD（进近段）：
      ├─ [串行 order=0] 系统诊断        ON_ENTER
      └─ [串行 order=1] 暂停            ON_EXIT
    """
    area = TaskArea.from_polygon(
        points  = [(40.0, 116.0), (40.0, 122.0),
                   (31.0, 122.0), (31.0, 116.0)],
        name    = "华东侦察区",
        alt_min = 500,
        alt_max = 12000,
    )

    task = Task(
        name        = "华东侦察任务-001",
        task_type   = TaskType.RECON_PHOTO,
        description = "北京至上海沿线照相侦察任务",
        target_area = area,
        priority    = TaskPriority.HIGH,
        tags        = ["reconnaissance", "photo", "east-china"],
    )

    # 配置航线
    task.set_route(route)

    # ── 航线级 Actions ────────────────────────────────────────────
    task.add_route_action(
        action_factory.create(ActionType.SYSTEM_SELF_CHECK, source="system"),
        order=0, trigger=TriggerMoment.ON_ENTER,
        description="起飞前系统自检（串行第1步）",
    )
    task.add_route_action(
        action_factory.create(ActionType.SYSTEM_CALIBRATE,
                              source="system", sensors=["imu", "gps"]),
        order=1, trigger=TriggerMoment.ON_ENTER,
        description="起飞前设备校准（串行第2步）",
    )
    task.add_route_action(
        action_factory.create(ActionType.SYSTEM_DIAGNOSE, source="system"),
        order=None, trigger=TriggerMoment.CONTINUOUS,
        interval_s=30.0,
        description="全程系统诊断（并行，每30s）",
    )

    # ── 航段[0] ZBAA→WP01 爬升段 ─────────────────────────────────
    task.add_segment_action(
        0,
        action_factory.create(ActionType.CAPTURE_PHOTO,
                              source="camera-01", resolution="4K"),
        order=None, trigger=TriggerMoment.ON_ENTER,
        description="爬升段入口拍照（并行）",
    )
    task.add_segment_action(
        0,
        action_factory.create(ActionType.SYSTEM_DIAGNOSE, source="system"),
        order=0, trigger=TriggerMoment.ON_ENTER,
        description="爬升段系统诊断（串行）",
    )

    # ── 航段[1] WP01→WP02 巡航段 ─────────────────────────────────
    task.add_segment_action(
        1,
        action_factory.create(ActionType.RECOGNIZE_TARGET,
                              source="sensor-01", model="yolov8"),
        order=None, trigger=TriggerMoment.ON_ENTER,
        description="巡航段目标识别（并行）",
    )
    task.add_segment_action(
        1,
        action_factory.create(ActionType.SCAN_ENVIRONMENT,
                              source="lidar-01", range_m=150),
        order=None, trigger=TriggerMoment.ON_ENTER,
        description="巡航段环境扫描（并行）",
    )
    task.add_segment_action(
        1,
        action_factory.create("perception.thermal_scan", source="ir-01"),
        order=0, trigger=TriggerMoment.SCHEDULED,
        time_offset_s=5.0,
        description="巡航段红外扫描（串行第1步，5s后）",
    )
    task.add_segment_action(
        1,
        action_factory.create(ActionType.CAPTURE_PHOTO,
                              source="camera-01", resolution="1080P"),
        order=1, trigger=TriggerMoment.SCHEDULED,
        time_offset_s=10.0,
        description="巡航段拍照（串行第2步，10s后）",
    )

    # ── 航段[2] WP02→WP03 下降段 ─────────────────────────────────
    task.add_segment_action(
        2,
        action_factory.create(ActionType.RECOGNIZE_TARGET,
                              source="sensor-01", model="yolov8"),
        order=None, trigger=TriggerMoment.ON_ENTER,
        description="下降段目标识别（并行）",
    )
    task.add_segment_action(
        2,
        action_factory.create(ActionType.CAPTURE_PHOTO,
                              source="camera-02", resolution="4K"),
        order=None, trigger=TriggerMoment.CONTINUOUS,
        interval_s=8.0,
        description="下降段持续拍照（并行，每8s）",
    )

    # ── 航段[3] WP03→ZSPD 进近段 ─────────────────────────────────
    task.add_segment_action(
        3,
        action_factory.create(ActionType.SYSTEM_DIAGNOSE, source="system"),
        order=0, trigger=TriggerMoment.ON_ENTER,
        description="进近段系统诊断（串行第1步）",
    )
    task.add_segment_action(
        3,
        action_factory.create(ActionType.PAUSE, source="device-001"),
        order=1, trigger=TriggerMoment.ON_EXIT,
        description="进近段结束暂停（串行第2步）",
    )

    return task


# ─────────────────────────────────────────────────────────────────
# 主窗口
# ─────────────────────────────────────────────────────────────────

class TaskMonitorWindow(QMainWindow):

    STATE_COLORS = {
        TaskState.RUNNING:   "#2196F3",
        TaskState.COMPLETED: "#4CAF50",
        TaskState.FAILED:    "#f44336",
        TaskState.CANCELLED: "#FF9800",
        TaskState.PAUSED:    "#9E9E9E",
        TaskState.READY:     "#607D8B",
        TaskState.PLANNED:   "#795548",
        TaskState.CREATED:   "#455A64",
    }

    def __init__(self):
        super().__init__()
        self.setWindowTitle("🛰️  Task 监控系统 — PyQt5 演示")
        self.resize(1400, 860)
        self._current_task  = None
        self._action_count  = 0
        self._event_count   = 0
        self._setup_modules()
        self._setup_ui()
        self._auto_demo()

    # ── 模块初始化 ────────────────────────────────────────────────

    def _setup_modules(self):
        # EventBus 处理器
        event_bus.register_handler(DeviceErrorHandler())
        event_bus.register_handler(DeviceTimeoutHandler())
        event_bus.register_handler(EquipmentFaultHandler())
        event_bus.scan_decorators()

        # 注入依赖链：EventBus → ActionExecutor → TaskExecutor
        action_executor.set_event_bus(event_bus)
        task_executor.set_action_executor(action_executor)

        # 注册自定义 Action 类型（热成像）
        from uas.action.action_context  import ActionContext
        from uas.action.action_model    import Action
        from uas.event.event_type      import EventType
        from uas.event.event_model     import make_event

        task_type_registry.register(
            "perception.thermal_scan",
            category="perception", description="红外热成像扫描"
        )

        def handle_thermal(action: Action, ctx: ActionContext):
            import time
            ctx.report_progress(30, "预热红外传感器...")
            time.sleep(0.05)
            ctx.check_cancel()
            ctx.report_progress(80, "采集热成像数据...")
            time.sleep(0.05)
            ctx.emit_event(make_event(
                EventType.DEVICE_DATA_RECEIVED,
                source   = action.source,
                message  = "热成像采集完成",
                max_temp = round(random.uniform(20, 80), 1),
                min_temp = round(random.uniform(-10, 20), 1),
            ))
            ctx.report_progress(100, "热成像完成")
            return {"thermal": "ok"}

        action_factory.register("perception.thermal_scan", handle_thermal)

        # ── 连接 TaskExecutor 信号 ────────────────────────────────
        task_executor.task_submitted.connect(self._on_task_submitted)
        task_executor.task_started.connect(self._on_task_started)
        task_executor.task_completed.connect(self._on_task_completed)
        task_executor.task_failed.connect(self._on_task_failed)
        task_executor.task_cancelled.connect(self._on_task_cancelled)
        task_executor.task_paused.connect(self._on_task_paused)
        task_executor.task_resumed.connect(self._on_task_resumed)
        task_executor.segment_entered.connect(self._on_segment_entered)
        task_executor.segment_exited.connect(self._on_segment_exited)

        # ── 连接 ActionExecutor 信号 ──────────────────────────────
        action_executor.action_completed.connect(self._on_action_completed)
        action_executor.action_progress.connect(self._on_action_progress)
        action_executor.events_produced.connect(self._on_events_produced)

    # ── UI 构建 ───────────────────────────────────────────────────

    def _setup_ui(self):
        central = QWidget()
        self.setCentralWidget(central)
        root = QVBoxLayout(central)
        root.setContentsMargins(6, 6, 6, 6)

        splitter = QSplitter(Qt.Horizontal)

        # ── 左侧：信息面板 ────────────────────────────────────────
        left = QWidget()
        left.setFixedWidth(330)
        ll = QVBoxLayout(left)

        # 统计卡片
        stats_box = QGroupBox("📊 实时统计")
        sl = QHBoxLayout(stats_box)
        self._lbl_tasks   = self._card("任务数", "0", "#2196F3")
        self._lbl_actions = self._card("Action", "0", "#4CAF50")
        self._lbl_events  = self._card("Event",  "0", "#9C27B0")
        for w in [self._lbl_tasks, self._lbl_actions, self._lbl_events]:
            sl.addWidget(w)
        ll.addWidget(stats_box)

        # 当前任务信息
        info_box = QGroupBox("📋 当前任务")
        il = QVBoxLayout(info_box)
        self._task_name_lbl  = QLabel("—")
        self._task_name_lbl.setStyleSheet(
            "font-weight:bold; font-size:13px; color:#569cd6;"
        )
        self._task_type_lbl  = QLabel("类型: —")
        self._task_state_lbl = QLabel("状态: —")
        self._task_prio_lbl  = QLabel("优先级: —")
        self._task_seg_lbl   = QLabel("当前航段: —")
        self._task_area_lbl  = QLabel("目标区域: —")
        self._task_elapsed   = QLabel("耗时: —")
        for w in [self._task_name_lbl, self._task_type_lbl,
                  self._task_state_lbl, self._task_prio_lbl,
                  self._task_seg_lbl,  self._task_area_lbl,
                  self._task_elapsed]:
            il.addWidget(w)
        ll.addWidget(info_box)

        # Action 进度
        prog_box = QGroupBox("⚙️ Action 进度")
        pl = QVBoxLayout(prog_box)
        self._prog_lbl = QLabel("等待任务...")
        self._prog_lbl.setStyleSheet("color:gray; font-size:11px;")
        self._prog_bar = QProgressBar()
        self._prog_bar.setRange(0, 100)
        self._prog_bar.setValue(0)
        pl.addWidget(self._prog_lbl)
        pl.addWidget(self._prog_bar)
        ll.addWidget(prog_box)

        # 控制按钮
        ctrl_box = QGroupBox("🎮 任务控制")
        cl = QVBoxLayout(ctrl_box)
        btn_defs = [
            ("🚀 启动侦察任务",  self._start_recon,  "#4CAF50"),
            ("⏸ 暂停任务",      self._pause_task,   "#607D8B"),
            ("▶️  恢复任务",     self._resume_task,  "#2196F3"),
            ("🚫 取消任务",      self._cancel_task,  "#f44336"),
        ]
        for text, slot, color in btn_defs:
            btn = QPushButton(text)
            btn.setMinimumHeight(34)
            btn.setStyleSheet(
                f"QPushButton{{background:{color};color:white;"
                f"border-radius:4px;font-weight:bold;font-size:12px;}}"
                f"QPushButton:hover{{opacity:0.85;}}"
            )
            btn.clicked.connect(slot)
            cl.addWidget(btn)
        ll.addWidget(ctrl_box)
        ll.addStretch()
        splitter.addWidget(left)

        # ── 右侧：监控面板 ────────────────────────────────────────
        right = QWidget()
        rl = QVBoxLayout(right)

        tabs = QTabWidget()

        # Tab1: Action 计划树
        tree_tab = QWidget()
        tree_layout = QVBoxLayout(tree_tab)
        self._action_tree = QTreeWidget()
        self._action_tree.setHeaderLabels(
            ["Action / 航段", "Action类型", "执行策略", "触发时机", "描述"]
        )
        hdr = self._action_tree.header()
        hdr.setSectionResizeMode(0, QHeaderView.Stretch)
        hdr.setSectionResizeMode(1, QHeaderView.ResizeToContents)
        hdr.setSectionResizeMode(2, QHeaderView.ResizeToContents)
        hdr.setSectionResizeMode(3, QHeaderView.ResizeToContents)
        hdr.setSectionResizeMode(4, QHeaderView.Stretch)
        self._action_tree.setAlternatingRowColors(True)
        tree_layout.addWidget(self._action_tree)
        tabs.addTab(tree_tab, "🗂️ Action 计划树")

        # Tab2: 执行日志
        log_tab = QWidget()
        log_layout = QVBoxLayout(log_tab)
        self._log_edit = QTextEdit()
        self._log_edit.setReadOnly(True)
        self._log_edit.setFont(QFont("Consolas", 10))
        self._log_edit.setStyleSheet(
            "background:#1e1e1e; color:#d4d4d4;"
            "border-radius:4px; padding:4px;"
        )
        log_layout.addWidget(self._log_edit)
        tabs.addTab(log_tab, "📝 执行日志")

        # Tab3: 执行记录表
        rec_tab = QWidget()
        rec_layout = QVBoxLayout(rec_tab)
        self._rec_table = QTableWidget(0, 4)
        self._rec_table.setHorizontalHeaderLabels(
            ["时间", "类型", "描述", "数据"]
        )
        self._rec_table.horizontalHeader().setSectionResizeMode(
            QHeaderView.Stretch
        )
        self._rec_table.setAlternatingRowColors(True)
        self._rec_table.setEditTriggers(QTableWidget.NoEditTriggers)
        self._rec_table.setSelectionBehavior(QTableWidget.SelectRows)
        rec_layout.addWidget(self._rec_table)
        tabs.addTab(rec_tab, "📋 执行记录")

        rl.addWidget(tabs)
        splitter.addWidget(right)
        root.addWidget(splitter)

        # 状态栏
        self._statusbar = QStatusBar()
        self.setStatusBar(self._statusbar)
        self._statusbar.showMessage(
            "就绪 | TaskExecutor + ActionExecutor + EventBus 运行中"
        )

        # 周期刷新定时器（刷新任务信息面板）
        self._refresh_timer = QTimer(self)
        self._refresh_timer.timeout.connect(self._refresh_task_info)
        self._refresh_timer.start(500)

    # ── Action 计划树构建 ──────────────────────────────────────────

    def _build_action_tree(self, task: Task):
        """根据 Task 的 RouteActionPlan 构建可视化树"""
        self._action_tree.clear()
        plan = task.action_plan

        # ── 航线级节点 ────────────────────────────────────────────
        route_node = QTreeWidgetItem(
            ["🛣️ 航线级 Actions", "", "", "", ""]
        )
        route_node.setForeground(0, QColor("#569cd6"))
        self._action_tree.addTopLevelItem(route_node)

        for entry in plan.route_entries:
            policy = (f"🔗 串行[{entry.order}]"
                      if entry.is_sequential else "⚡ 并行")
            child = QTreeWidgetItem([
                f"  {entry.action.type_key}",
                entry.action.type_key,
                policy,
                entry.trigger.value,
                entry.description,
            ])
            child.setForeground(1, QColor("#4ec9b0"))
            child.setForeground(2, QColor(
                "#FF9800" if entry.is_sequential else "#4CAF50"
            ))
            route_node.addChild(child)

        # ── 各航段节点 ────────────────────────────────────────────
        if task.has_route:
            for idx, seg in enumerate(task.route.segments):
                seg_plan = plan.segment_plans.get(idx)
                n_par = len(seg_plan.parallel_entries)   if seg_plan else 0
                n_seq = len(seg_plan.sequential_entries) if seg_plan else 0
                seg_label = (
                    f"✈️ 航段[{idx}]  "
                    f"{seg.wp_from.identifier} → {seg.wp_to.identifier}  "
                    f"({seg.distance/1000:.1f}km / {seg.duration:.0f}s)  "
                    f"[并行:{n_par} 串行:{n_seq}]"
                )
                seg_node = QTreeWidgetItem([seg_label, "", "", "", ""])
                seg_node.setForeground(0, QColor("#dcdcaa"))
                self._action_tree.addTopLevelItem(seg_node)

                if seg_plan and seg_plan.entries:
                    # 并行组
                    if seg_plan.parallel_entries:
                        par_node = QTreeWidgetItem(
                            ["  ⚡ 并行组", "", "", "", ""]
                        )
                        par_node.setForeground(0, QColor("#4CAF50"))
                        seg_node.addChild(par_node)
                        for entry in seg_plan.parallel_entries:
                            child = QTreeWidgetItem([
                                f"    {entry.action.type_key}",
                                entry.action.type_key,
                                "⚡ 并行",
                                entry.trigger.value,
                                entry.description,
                            ])
                            child.setForeground(1, QColor("#4ec9b0"))
                            child.setForeground(2, QColor("#4CAF50"))
                            par_node.addChild(child)

                    # 串行组
                    if seg_plan.sequential_entries:
                        seq_node = QTreeWidgetItem(
                            ["  🔗 串行组", "", "", "", ""]
                        )
                        seq_node.setForeground(0, QColor("#FF9800"))
                        seg_node.addChild(seq_node)
                        for entry in seg_plan.sequential_entries:
                            child = QTreeWidgetItem([
                                f"    [{entry.order}] {entry.action.type_key}",
                                entry.action.type_key,
                                f"🔗 串行[{entry.order}]",
                                entry.trigger.value,
                                entry.description,
                            ])
                            child.setForeground(1, QColor("#4ec9b0"))
                            child.setForeground(2, QColor("#FF9800"))
                            seq_node.addChild(child)
                else:
                    empty = QTreeWidgetItem(
                        ["  （无 Action 配置）", "", "", "", ""]
                    )
                    empty.setForeground(0, QColor("#555555"))
                    seg_node.addChild(empty)

        self._action_tree.expandAll()

    # ── 任务控制槽 ────────────────────────────────────────────────

    @pyqtSlot()
    def _start_recon(self):
        if (self._current_task and
                self._current_task.is_running):
            self._log("⚠️ 已有任务正在执行，请先取消", "#FF9800")
            return
        route = build_demo_route()
        task  = build_demo_task(route)
        self._current_task = task
        self._build_action_tree(task)
        self._rec_table.setRowCount(0)
        task_executor.submit(task)
        self._log(
            f"🚀 提交任务: {task.name} [{task.task_id[:8]}]", "#569cd6"
        )

    @pyqtSlot()
    def _pause_task(self):
        if self._current_task:
            ok = task_executor.pause(self._current_task.task_id)
            if not ok:
                self._log("⚠️ 暂停失败（任务未在运行中）", "#FF9800")

    @pyqtSlot()
    def _resume_task(self):
        if self._current_task:
            ok = task_executor.resume(self._current_task.task_id)
            if not ok:
                self._log("⚠️ 恢复失败（任务未在暂停状态）", "#FF9800")

    @pyqtSlot()
    def _cancel_task(self):
        if self._current_task:
            task_executor.cancel(self._current_task.task_id)

    # ── TaskExecutor 信号槽 ───────────────────────────────────────

    @pyqtSlot(object)
    def _on_task_submitted(self, task):
        self._log(
            f"📥 任务提交: {task.name} [{task.task_id[:8]}]", "#569cd6"
        )
        self._lbl_tasks.setText(self._card_html(
            len(task_executor.get_running_tasks()) + 1, "#2196F3", "任务数"
        ))

    @pyqtSlot(object)
    def _on_task_started(self, task):
        self._log(f"▶ 任务开始执行: {task.name}", "#4ec9b0")
        self._statusbar.showMessage(f"▶ 执行中: {task.name}")
        self._add_rec_row("state_change", "任务开始执行", "")

    @pyqtSlot(object)
    def _on_task_completed(self, task):
        self._log(
            f"✅ 任务完成: {task.name}  耗时={task.elapsed_s:.1f}s",
            "#4CAF50"
        )
        self._add_rec_row(
            "completed",
            f"任务完成，耗时 {task.elapsed_s:.1f}s",
            f"actions={self._action_count} events={self._event_count}",
        )
        self._statusbar.showMessage(
            f"✅ 完成: {task.name}  耗时={task.elapsed_s:.1f}s"
        )

    @pyqtSlot(object, str)
    def _on_task_failed(self, task, error):
        self._log(f"❌ 任务失败: {task.name}  {error}", "#f44747")
        self._add_rec_row("failed", f"任务失败: {error}", "")
        self._statusbar.showMessage(f"❌ 失败: {task.name}")

    @pyqtSlot(object)
    def _on_task_cancelled(self, task):
        self._log(f"🚫 任务取消: {task.name}", "#FF9800")
        self._add_rec_row("cancelled", "任务已取消", "")
        self._statusbar.showMessage(f"🚫 取消: {task.name}")

    @pyqtSlot(object)
    def _on_task_paused(self, task):
        self._log(f"⏸ 任务暂停: {task.name}", "#9E9E9E")
        self._add_rec_row("state_change", "任务已暂停", "")

    @pyqtSlot(object)
    def _on_task_resumed(self, task):
        self._log(f"▶ 任务恢复: {task.name}", "#4ec9b0")
        self._add_rec_row("state_change", "任务已恢复", "")

    @pyqtSlot(object, int)
    def _on_segment_entered(self, task, seg_index):
        if task.has_route and seg_index < len(task.route.segments):
            seg = task.route.segments[seg_index]
            msg = (f"进入航段[{seg_index}] "
                   f"{seg.wp_from.identifier}→{seg.wp_to.identifier} "
                   f"({seg.distance/1000:.1f}km)")
        else:
            msg = f"进入航段[{seg_index}]"
        self._log(f"✈️  {msg}", "#dcdcaa")
        self._add_rec_row("segment", msg, f"seg_index={seg_index}")

    @pyqtSlot(object, int)
    def _on_segment_exited(self, task, seg_index):
        self._log(f"🏁 离开航段[{seg_index}]", "#808080")

    # ── ActionExecutor 信号槽 ─────────────────────────────────────

    @pyqtSlot(object)
    def _on_action_completed(self, action):
        self._action_count += 1
        self._lbl_actions.setText(
            self._card_html(self._action_count, "#4CAF50", "Action")
        )
        self._log(
            f"  ✅ Action完成: {action.type_key}  "
            f"src={action.source}  {action.elapsed_ms:.0f}ms",
            "#6a9955",
        )
        self._add_rec_row(
            "action_done",
            f"Action完成: {action.type_key}",
            f"src={action.source} elapsed={action.elapsed_ms:.0f}ms",
        )

    @pyqtSlot(str, int, str)
    def _on_action_progress(self, action_id: str, percent: int, message: str):
        self._prog_bar.setValue(percent)
        self._prog_lbl.setText(f"[{action_id[:8]}] {message}")

    @pyqtSlot(object, list)
    def _on_events_produced(self, action, events):
        self._event_count += len(events)
        self._lbl_events.setText(
            self._card_html(self._event_count, "#9C27B0", "Event")
        )
        for ev in events:
            self._log(
                f"  ⚡ Event产生: {ev.type_key}  src={ev.source}",
                "#c586c0",
            )

    # ── 周期刷新 ──────────────────────────────────────────────────

    @pyqtSlot()
    def _refresh_task_info(self):
        """每500ms刷新左侧任务信息面板"""
        task = self._current_task
        if not task:
            return

        self._task_name_lbl.setText(task.name)
        self._task_type_lbl.setText(f"类型: {task.type_key}")

        state_color = self.STATE_COLORS.get(task.state, "#ffffff")
        self._task_state_lbl.setText(
            f'状态: <span style="color:{state_color}; font-weight:bold;">'
            f'{task.state.value}</span>'
        )
        self._task_state_lbl.setTextFormat(Qt.RichText)

        self._task_prio_lbl.setText(f"优先级: {task.priority.name}")
        self._task_elapsed.setText(f"耗时: {task.elapsed_s:.1f}s")

        if task.target_area:
            self._task_area_lbl.setText(
                f"目标区域: {task.target_area.name}"
            )

        # 当前航段
        if task.has_route:
            cursor = task_executor._seg_cursor.get(task.task_id, -1)
            n_segs = len(task.route.segments)
            if 0 <= cursor < n_segs:
                seg = task.route.segments[cursor]
                self._task_seg_lbl.setText(
                    f"当前航段: [{cursor}] "
                    f"{seg.wp_from.identifier}→{seg.wp_to.identifier}"
                )
            elif cursor >= n_segs:
                self._task_seg_lbl.setText("当前航段: 已完成所有航段")
            else:
                self._task_seg_lbl.setText("当前航段: 等待进入")

    # ── 工具方法 ──────────────────────────────────────────────────

    def _log(self, text: str, color: str = "#d4d4d4"):
        ts = _time.strftime("%H:%M:%S")
        self._log_edit.append(
            f'<span style="color:#555555;">[{ts}]</span> '
            f'<span style="color:{color};">{text}</span>'
        )
        sb = self._log_edit.verticalScrollBar()
        sb.setValue(sb.maximum())

    def _add_rec_row(self, rec_type: str, description: str, data: str):
        ts  = _time.strftime("%H:%M:%S")
        row = self._rec_table.rowCount()
        self._rec_table.insertRow(row)
        self._rec_table.setItem(row, 0, QTableWidgetItem(ts))
        type_item = QTableWidgetItem(rec_type)
        color_map = {
            "completed":    "#4CAF50",
            "failed":       "#f44336",
            "cancelled":    "#FF9800",
            "state_change": "#2196F3",
            "segment":      "#dcdcaa",
            "action_done":  "#6a9955",
        }
        type_item.setForeground(QColor(color_map.get(rec_type, "#d4d4d4")))
        self._rec_table.setItem(row, 1, type_item)
        self._rec_table.setItem(row, 2, QTableWidgetItem(description))
        self._rec_table.setItem(row, 3, QTableWidgetItem(data))
        self._rec_table.scrollToBottom()

    def _card(self, title: str, value: str, color: str) -> QLabel:
        lbl = QLabel(self._card_html(int(value), color, title))
        lbl.setAlignment(Qt.AlignCenter)
        lbl.setMinimumWidth(80)
        return lbl

    @staticmethod
    def _card_html(value: int, color: str, title: str) -> str:
        return (f"<center>"
                f"<b style='font-size:20px;color:{color};'>{value}</b>"
                f"<br><small style='color:gray;'>{title}</small>"
                f"</center>")

    # ── 自动演示 ──────────────────────────────────────────────────

    def _auto_demo(self):
        """启动后 1s 自动开始演示任务"""
        QTimer.singleShot(1000, self._start_recon)

    def closeEvent(self, event):
        if self._current_task:
            task_executor.cancel(self._current_task.task_id)
        action_executor.wait_for_done(2000)
        event.accept()


# ─────────────────────────────────────────────────────────────────
# 入口
# ─────────────────────────────────────────────────────────────────

def main():
    app = QApplication(sys.argv)
    app.setStyle("Fusion")
    win = TaskMonitorWindow()
    win.show()
    sys.exit(app.exec_())


if __name__ == "__main__":
    main()