lf_mri_platform/apps/gui/src/tabs/scanning_tab.py

"""
ScanningTab - clinical MRI scanner UI simulation with real scan initiation.

Panels:
  - Left:   scrollable protocol queue  (ProtocolListWidget)
  - Centre: 3 MRI image viewers       (MriViewerWidget x 3)
  - Bottom: QTabWidget with parameter tabs; "Геометрия" tab holds rotation controls

Rotation matrix (3x3, ZYX Euler) is merged into the seq_info dict and sent
to the orchestrator's start_measurement step as "rotation_matrix".
"""
from __future__ import annotations

import math
import json
import os
import numpy as np

from PySide6.QtCore import Qt, QThread, QTimer, Signal
from PySide6.QtGui import (
    QColor, QFont, QImage, QLinearGradient, QPainter, QPen, QPolygonF,
)
from PySide6.QtCore import QPointF
from PySide6.QtWidgets import (
    QButtonGroup, QComboBox, QDoubleSpinBox, QFileDialog, QFormLayout, QFrame,
    QGridLayout, QGroupBox, QHBoxLayout, QLabel, QListWidget, QMessageBox,
    QPushButton, QSplitter, QTabWidget, QTextEdit, QVBoxLayout, QWidget,
)

try:
    import httpx as _httpx
    _HAS_HTTPX = True
except ImportError:
    _HAS_HTTPX = False

from src import i18n

# -- colour palette -------------------------------------------------------------
_BG_DARK      = "#1a1a2e"
_PANEL_BG     = "#2a2a2a"
_IMAGE_BG     = "#000000"
_ACCENT       = "#f0c040"
_ACCENT_DIM   = "#555533"
_ORANGE_SEL   = "#e65100"
_BTN_BG       = "#252535"

# -- animation -----------------------------------------------------------------
_SCAN_LINE_INTERVAL_MS = 40    # 25 fps
_SCAN_SWEEP_DURATION   = 120   # ticks per vertical sweep

# -- mouse interaction ---------------------------------------------------------
_ROT_SENSITIVITY = 0.4         # degrees per pixel for Ctrl+drag rotation

# -- default orientations (Rx, Ry, Rz in degrees) ------------------------------
_PRESETS = {
    "Axial":    (0.0,  0.0,  0.0),
    "Coronal":  (90.0, 0.0,  0.0),
    "Sagittal": (0.0,  90.0, 0.0),
}

_PROTOCOLS = [
    "FID", "SE", "TSE"
]

# Physical axes for each viewer plane: (horizontal_axis, vertical_axis)
# X=0, Y=1, Z=2 in physical space; Y is flipped to screen coords in paintEvent
_VIEWER_AXES: dict[str, tuple[int, int]] = {
    "Axial": (0, 1),
    "Cor":   (0, 2),
    "Sag":   (1, 2),
}


# ==============================================================================
def _euler_to_matrix(rx_deg: float, ry_deg: float, rz_deg: float) -> list:
    """ZYX Euler angles (degrees) -> 3x3 rotation matrix as list-of-lists."""
    rx = math.radians(rx_deg)
    ry = math.radians(ry_deg)
    rz = math.radians(rz_deg)
    cx, sx = math.cos(rx), math.sin(rx)
    cy, sy = math.cos(ry), math.sin(ry)
    cz, sz = math.cos(rz), math.sin(rz)
    Rx = np.array([[1,  0,   0 ],
                   [0,  cx, -sx],
                   [0,  sx,  cx]])
    Ry = np.array([[ cy, 0, sy],
                   [ 0,  1,  0],
                   [-sy, 0, cy]])
    Rz = np.array([[cz, -sz, 0],
                   [sz,  cz, 0],
                   [0,   0,  1]])
    R = Rz @ Ry @ Rx
    return [[round(float(v), 6) for v in row] for row in R]


def _project_slice_quad(R: list, viewer_label: str, size: float = 0.42) -> list:
    """
    Project the scan-plane square onto a viewer's 2D projection plane.

    The scan square lies in the (freq-encode, phase-encode) plane.
    freq direction = R column 0, phase direction = R column 1.

    Viewer planes:
      "Axial" -> XY  (physical axes 0, 1)
      "Cor"   -> XZ  (physical axes 0, 2)
      "Sag"   -> YZ  (physical axes 1, 2)

    Returns list of 4 (u, v) tuples in [-1, 1] space, Y-up convention.
    """
    ax0, ax1 = _VIEWER_AXES.get(viewer_label, (0, 1))

    # freq and phase unit vectors in physical space
    freq  = [R[i][0] for i in range(3)]
    phase = [R[i][1] for i in range(3)]

    corners = []
    for sf, sp in ((size, size), (-size, size), (-size, -size), (size, -size)):
        pt3 = [freq[i] * sf + phase[i] * sp for i in range(3)]
        corners.append((pt3[ax0], pt3[ax1]))
    return corners


def _generate_noise_image(w: int = 256, h: int = 256) -> QImage:
    rng  = np.random.default_rng(42)
    data = rng.integers(0, 70, (h, w), dtype=np.uint8)
    cy, cx = h / 2, w / 2
    Y, X   = np.ogrid[:h, :w]
    dist   = np.sqrt(((X - cx) / cx) ** 2 + ((Y - cy) / cy) ** 2)
    mask   = np.clip(1.0 - dist * 0.85, 0.05, 1.0)
    data   = (data * mask).astype(np.uint8)
    alpha  = np.full((h, w), 200, dtype=np.uint8)
    rgba   = np.stack([data, data, data, alpha], axis=-1)
    img    = QImage(rgba.tobytes(), w, h, 4 * w, QImage.Format_RGBA8888)
    return img.copy()


# ==============================================================================
class MriViewerWidget(QWidget):
    """
    Dark MRI image viewer - pure QPainter.

    Ctrl + left-drag moves the slice square within the viewer plane.
    The widget emits slice_offset_changed(ax0, ax1, d0, d1) so ScanningTab
    can accumulate a shared 3-D offset vector and push it back to all viewers.
    """

    # slice_offset_changed(physical_axis_u, physical_axis_v, delta_u, delta_v)
    slice_offset_changed = Signal(int, int, float, float)
    # rotation_delta(drx_deg, dry_deg) - Ctrl+drag gamedev-style rotation
    rotation_delta = Signal(float, float)

    _IDENTITY = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]

    def __init__(self, label: str = "Axial", parent: QWidget | None = None) -> None:
        super().__init__(parent)
        self._label        = label
        self._scan_y       = 0
        self._active_scan  = False
        self._rot_matrix   = [row[:] for row in self._IDENTITY]
        self._slice_offset = [0.0, 0.0, 0.0]   # 3-D offset in logical [-1, 1] space
        self._drag_pos     = None               # QPointF while dragging
        self._drag_mode    = None               # 'move' | 'rotate'
        self._noise        = _generate_noise_image()
        self.setMinimumSize(120, 120)
        self.setMouseTracking(True)             # needed for cursor updates without button

    # -- public API ---------------------------------------------------------
    def set_scanning(self, active: bool) -> None:
        self._active_scan = active
        self.update()

    def set_rotation_matrix(self, R: list) -> None:
        self._rot_matrix = R
        self.update()

    def set_slice_offset(self, offset: list) -> None:
        self._slice_offset = list(offset)
        self.update()

    def advance_scanline(self, phase: int) -> None:
        if self.height() == 0:
            return
        self._scan_y = int(phase / _SCAN_SWEEP_DURATION * self.height())
        self.update()

    # -- mouse interaction --------------------------------------------------
    #   LMB drag          -> move slice (translate)
    #   Ctrl + LMB drag   -> rotate slice (gamedev orbit: dx=Ry yaw, dy=Rx pitch)

    def _pixel_scale(self) -> float:
        return min(self.width(), self.height()) * 0.46

    def _hover_cursor(self, modifiers) -> Qt.CursorShape:
        return Qt.OpenHandCursor if (modifiers & Qt.ControlModifier) else Qt.SizeAllCursor

    def mousePressEvent(self, event) -> None:  # noqa: N802
        if event.button() == Qt.LeftButton:
            self._drag_pos  = event.position()
            self._drag_mode = "rotate" if (event.modifiers() & Qt.ControlModifier) else "move"
            self.setCursor(Qt.ClosedHandCursor if self._drag_mode == "rotate" else Qt.SizeAllCursor)
            event.accept()
        else:
            super().mousePressEvent(event)

    def mouseMoveEvent(self, event) -> None:  # noqa: N802
        if not (event.buttons() & Qt.LeftButton):
            self.setCursor(self._hover_cursor(event.modifiers()))

        if self._drag_pos is not None and (event.buttons() & Qt.LeftButton):
            pos = event.position()
            dx  = pos.x() - self._drag_pos.x()
            dy  = pos.y() - self._drag_pos.y()

            if self._drag_mode == "move":
                scale = self._pixel_scale()
                if scale > 0:
                    ax0, ax1 = _VIEWER_AXES[self._label]
                    self.slice_offset_changed.emit(ax0, ax1, dx / scale, -dy / scale)
            else:  # rotate - gamedev FPS orbit
                # horizontal drag -> yaw  (Ry)
                # vertical drag   -> pitch (Rx); screen-down = positive pitch
                self.rotation_delta.emit(
                    dy * _ROT_SENSITIVITY,   # drx
                    dx * _ROT_SENSITIVITY,   # dry
                )

            self._drag_pos = pos
            event.accept()
        else:
            super().mouseMoveEvent(event)

    def mouseReleaseEvent(self, event) -> None:  # noqa: N802
        if event.button() == Qt.LeftButton and self._drag_pos is not None:
            self._drag_pos  = None
            self._drag_mode = None
            self.setCursor(self._hover_cursor(event.modifiers()))
            event.accept()
        else:
            super().mouseReleaseEvent(event)

    # -- painting -----------------------------------------------------------
    def paintEvent(self, event) -> None:  # noqa: N802
        p  = QPainter(self)
        rc = self.rect()
        w, h = rc.width(), rc.height()

        # 1 - background
        p.fillRect(rc, QColor(_IMAGE_BG))

        # 2 - noise texture
        p.setOpacity(0.9)
        p.drawImage(rc, self._noise)
        p.setOpacity(1.0)

        # 3 - crosshair
        cx, cy = w // 2, h // 2
        p.setPen(QPen(QColor("#444444"), 1))
        p.drawLine(cx - int(w * 0.30), cy, cx + int(w * 0.30), cy)
        p.drawLine(cx, cy - int(h * 0.30), cx, cy + int(h * 0.30))

        # 4 - scale ticks (3 per edge at 25/50/75 %)
        p.setPen(QPen(QColor("#888888"), 1))
        tick = 8
        for frac in (0.25, 0.50, 0.75):
            tx, ty = int(w * frac), int(h * frac)
            p.drawLine(tx, 0,        tx, tick)
            p.drawLine(tx, h - tick, tx, h)
            p.drawLine(0,        ty, tick, ty)
            p.drawLine(w - tick, ty, w,    ty)

        # 5 - dim outer border
        p.setPen(QPen(QColor(_ACCENT_DIM), 1))
        p.drawRect(rc.adjusted(2, 2, -2, -2))

        # 6 - projected slice square (with 3-D offset applied)
        scale  = self._pixel_scale()
        ax0, ax1 = _VIEWER_AXES[self._label]
        off_u  = self._slice_offset[ax0]
        off_v  = self._slice_offset[ax1]
        origin_x = cx + off_u * scale
        origin_y = cy - off_v * scale    # Y-up -> Y-down

        corners_uv = _project_slice_quad(self._rot_matrix, self._label)
        pts = QPolygonF([
            QPointF(origin_x + u * scale, origin_y - v * scale)
            for u, v in corners_uv
        ])
        # semi-transparent fill
        p.setPen(Qt.NoPen)
        p.setBrush(QColor(240, 192, 64, 45))
        p.drawPolygon(pts)
        # solid border
        pen = QPen(QColor(_ACCENT), 2)
        pen.setJoinStyle(Qt.MiterJoin)
        p.setPen(pen)
        p.setBrush(Qt.NoBrush)
        p.drawPolygon(pts)

        # 7 - scan sweep stripe
        if self._active_scan:
            sy   = self._scan_y
            grad = QLinearGradient(0, sy, w, sy)
            grad.setColorAt(0.0, QColor(0, 0, 0, 0))
            grad.setColorAt(0.5, QColor(255, 255, 255, 96))
            grad.setColorAt(1.0, QColor(0, 0, 0, 0))
            p.fillRect(0, max(0, sy - 2), w, 5, grad)

        # 8 - orientation label
        font = QFont("Arial", 11, QFont.Bold)
        p.setFont(font)
        p.setPen(Qt.white)
        p.drawText(rc.adjusted(8, 4, 0, 0), Qt.AlignTop | Qt.AlignLeft, self._label)

        p.end()


# ==============================================================================
class ProtocolListWidget(QWidget):
    protocol_selected = Signal(str)

    def __init__(self, parent: QWidget | None = None) -> None:
        super().__init__(parent)
        self.setStyleSheet(f"background: {_PANEL_BG};")

        lay = QVBoxLayout(self)
        lay.setContentsMargins(4, 8, 4, 4)
        lay.setSpacing(4)

        self._header_lbl = QLabel(i18n.tr("protocols_header"))
        self._header_lbl.setStyleSheet(
            "color: #aaaaaa; font-weight: bold; font-size: 11px; background: transparent;"
        )
        lay.addWidget(self._header_lbl)

        self._list = QListWidget()
        self._list.setStyleSheet(f"""
            QListWidget {{
                background: {_PANEL_BG};
                color: #ffffff;
                border: 1px solid #3a3a3a;
                font-size: 12px;
                outline: 0;
            }}
            QListWidget::item {{
                padding: 6px 8px;
                border-bottom: 1px solid #333333;
            }}
            QListWidget::item:selected {{
                background: {_ORANGE_SEL};
                color: #ffffff;
            }}
            QListWidget::item:hover:!selected {{
                background: #3a3a3a;
            }}
        """)
        for name in _PROTOCOLS:
            self._list.addItem(name)
        self._list.setCurrentRow(0)
        self._list.currentTextChanged.connect(self.protocol_selected)
        lay.addWidget(self._list, stretch=1)

    def retranslate_ui(self) -> None:
        self._header_lbl.setText(i18n.tr("protocols_header"))


# ==============================================================================
class _ScanPipelineWorker(QThread):
    """
    Full pipeline: health-check → load scenario (with seq_file / seq_info) →
    run_all → poll → extract raw data → emit raw_data_ready.

    The orchestrator is responsible for:
      - Forwarding the .seq file to seq-interp for interpretation
      - Running the full measurement scenario (spectrometer, reconstructor, …)

    The GUI never calls seq-interp or any other microservice directly.
    """

    progress       = Signal(str)
    job_started    = Signal(str)
    finished       = Signal(str)
    error          = Signal(str)
    raw_data_ready = Signal(str)   # absolute path to temp JSON file

    def __init__(
        self,
        seq_file_path: str | None,
        seq_info: dict | None,
        orchestrator_url: str,
        scenario_id: str = "full_pipeline",
        protocol: str = "",
        parent=None,
    ) -> None:
        super().__init__(parent)
        self._seq_file    = seq_file_path
        self._seq_info    = dict(seq_info) if seq_info else {}
        self._scenario_id = scenario_id
        self._protocol    = protocol
        from src.clients.orchestrator_client import OrchestratorClient
        self._orch = OrchestratorClient(orchestrator_url)

    def run(self) -> None:
        try:
            self._run_pipeline()
        except Exception as exc:
            if not self.isInterruptionRequested():
                self.error.emit(str(exc))

    def _run_pipeline(self) -> None:
        self.progress.emit("Проверка оркестратора...")
        if not self._orch.healthcheck():
            raise RuntimeError("Оркестратор недоступен — проверьте, что сервис запущен")

        self.progress.emit(
            f"Отправка задания в оркестратор "
            f"[сценарий: {self._scenario_id}, ИП: {self._protocol or '—'}]…"
        )
        job_id = self._orch.scan(
            seq_file_path=self._seq_file or None,
            seq_info=self._seq_info or None,
            scenario_id=self._scenario_id,
            protocol=self._protocol,
        )
        self.job_started.emit(job_id)
        self.progress.emit(f"  Job {job_id[:8]}… запущен, ожидание результата…")

        def _on_status(status: str) -> None:
            self.progress.emit(f"  [{status}]")

        final = self._orch.poll_scan(
            job_id,
            timeout=300.0,
            poll_interval=2.0,
            progress_cb=_on_status,
            interrupted_fn=self.isInterruptionRequested,
        )

        steps    = final.get("steps", [])
        meas_id  = None
        raw_data = None
        for step in steps:
            name = step.get("name")
            res  = step.get("result") or {}
            if name == "start_measurement":
                meas_id = res.get("measurement_id")
            if name == "fetch_data":
                raw_data = res.get("data")

        self.progress.emit(f"  Сканирование завершено (meas_id={meas_id})")

        is_stub = str(meas_id) in ("", "None", "meas_stub") or meas_id is None
        if raw_data and not is_stub:
            raw_path = self._save_raw(raw_data, meas_id)
            if raw_path:
                self.raw_data_ready.emit(raw_path)

        self.finished.emit(f"job завершён (meas_id={meas_id})")

    def _save_raw(self, data, meas_id) -> str | None:
        import tempfile, time as _t
        fname = f"scan_raw_{meas_id}_{int(_t.time())}.json"
        fpath = os.path.join(tempfile.gettempdir(), fname)
        try:
            with open(fpath, "w", encoding="utf-8") as fh:
                json.dump(data, fh)
            self.progress.emit(f"  Данные сохранены: {fname}")
            return fpath
        except Exception as exc:
            self.progress.emit(f"  Не удалось сохранить данные: {exc}")
            return None


# ==============================================================================
class _ScanWorker(QThread):
    """Fire-and-forget: load scenario and run_all via orchestrator REST."""

    finished = Signal(str)   # job_id
    error    = Signal(str)

    def __init__(self, url: str, info: dict, parent=None) -> None:
        super().__init__(parent)
        self._url  = url.rstrip("/")
        self._info = info

    def run(self) -> None:
        try:
            if not _HAS_HTTPX:
                import urllib.request, urllib.error
                self._run_urllib()
            else:
                self._run_httpx()
        except Exception as exc:
            self.error.emit(str(exc))

    def _run_httpx(self) -> None:
        payload = {"param_overrides": {"start_measurement": {"info": self._info}}}
        with _httpx.Client(timeout=15) as client:
            r = client.post(
                f"{self._url}/scenario/load/full_pipeline",
                json=payload,
            )
            r.raise_for_status()
            job_id = r.json().get("job_id", "?")
            r2 = client.post(f"{self._url}/scenario/{job_id}/run_all")
            r2.raise_for_status()
            self.finished.emit(job_id)

    def _run_urllib(self) -> None:
        import urllib.request
        payload = {"param_overrides": {"start_measurement": {"info": self._info}}}
        data    = json.dumps(payload).encode()
        headers = {"Content-Type": "application/json"}

        req  = urllib.request.Request(
            f"{self._url}/scenario/load/full_pipeline",
            data=data, headers=headers, method="POST",
        )
        with urllib.request.urlopen(req, timeout=15) as resp:
            body   = json.loads(resp.read())
            job_id = body.get("job_id", "?")

        req2 = urllib.request.Request(
            f"{self._url}/scenario/{job_id}/run_all",
            data=b"{}", headers=headers, method="POST",
        )
        with urllib.request.urlopen(req2, timeout=15):
            pass
        self.finished.emit(job_id)


# ==============================================================================
class ScanningTab(QWidget):
    """
    Operator-facing scanning tab.

    Bottom QTabWidget tabs match Siemens syngo layout:
      Основные | Контраст | Разрешение | Геометрия | Система

    "Геометрия" holds orientation presets + Rx/Ry/Rz spinboxes + live 3x3 matrix.
    """

    scan_job_started = Signal(str)   # job_id — emitted once the orchestrator accepts the job
    raw_data_ready   = Signal(str)   # absolute path to temp JSON file

    def __init__(self, parent: QWidget | None = None) -> None:
        super().__init__(parent)
        self.setStyleSheet(f"background: {_BG_DARK};")

        self._viewers:          list[MriViewerWidget]          = []
        self._scan_tick:        int                            = 0
        self._seq_info:         dict | None                    = None
        self._seq_file_path:    str | None                     = None
        self._orchestrator_url: str                            = "http://localhost:1717"
        self._scan_worker:      _ScanPipelineWorker | None     = None
        self._active_protocol:  str                            = _PROTOCOLS[0]
        self._scenario_id:      str                            = "full_pipeline"
        self._slice_offset:     list[float]                    = [0.0, 0.0, 0.0]

        root = QVBoxLayout(self)
        root.setContentsMargins(0, 0, 0, 0)
        root.setSpacing(0)

        vsplit = QSplitter(Qt.Vertical)
        vsplit.setStyleSheet("QSplitter::handle { background: #333344; height: 3px; }")
        vsplit.addWidget(self._build_upper_area())
        vsplit.addWidget(self._build_bottom_panel())
        vsplit.setSizes([700, 140])
        vsplit.setChildrenCollapsible(False)
        root.addWidget(vsplit, stretch=1)

        self._setup_animation()
        self._update_matrix_display()
        self._update_slice_display()
        self._update_scan_ready_state()

    # -- public API ---------------------------------------------------------

    def apply_seq_info(self, info_dict: dict) -> None:
        """Receive exported sequence info from SeqInterpTab and auto-start scan."""
        self._seq_info = dict(info_dict)
        self._seq_file_path = None
        self._update_scan_ready_state()
        label = info_dict.get("infostr") or "sequence"
        self._log(f"Получены параметры последовательности: {label}", "INFO")
        if not self._btn_scan.isChecked():
            self._btn_scan.setChecked(True)

    def set_orchestrator_url(self, url: str) -> None:
        self._orchestrator_url = url

    def retranslate_ui(self) -> None:
        self._protocol_list.retranslate_ui()
        # param tabs: 0-3 = placeholders, 4 = geometry
        _keys = ["tab_main", "tab_contrast", "tab_resolution", "tab_system", "tab_geometry"]
        for idx, key in enumerate(_keys):
            self._param_tabs.setTabText(idx, i18n.tr(key))
        self._preset_group.setTitle(i18n.tr("grp_orientation"))
        self._rot_group.setTitle(i18n.tr("grp_rotation"))
        self._matrix_group.setTitle(i18n.tr("grp_rot_matrix"))
        # scan button: keep text in sync with current scan state
        if self._scan_timer.isActive():
            self._btn_scan.setText(i18n.tr("btn_stop_scan"))
        else:
            self._btn_scan.setText(i18n.tr("btn_scan"))
        self._update_scan_ready_state()

    # -- layout builders ----------------------------------------------------

    def _build_upper_area(self) -> QWidget:
        container = QWidget()
        container.setStyleSheet(f"background: {_BG_DARK};")
        lay = QVBoxLayout(container)
        lay.setContentsMargins(0, 0, 0, 0)
        lay.setSpacing(0)

        hsplit = QSplitter(Qt.Horizontal)
        hsplit.setStyleSheet("QSplitter::handle { background: #333344; width: 3px; }")
        hsplit.addWidget(self._build_protocol_panel())
        hsplit.addWidget(self._build_image_grid())
        hsplit.setSizes([220, 980])
        hsplit.setChildrenCollapsible(False)
        lay.addWidget(hsplit)
        return container

    def _build_protocol_panel(self) -> QWidget:
        container = QWidget()
        container.setStyleSheet(f"background: {_PANEL_BG};")
        lay = QVBoxLayout(container)
        lay.setContentsMargins(0, 0, 0, 0)
        lay.setSpacing(0)

        self._protocol_list = ProtocolListWidget()
        self._protocol_list.protocol_selected.connect(self._on_protocol_selected)
        lay.addWidget(self._protocol_list, stretch=1)

        sep = QFrame()
        sep.setFrameShape(QFrame.HLine)
        sep.setFixedHeight(1)
        sep.setStyleSheet("background: #3a3a4a; border: none;")
        lay.addWidget(sep)

        # Scenario selector
        sc_container = QWidget()
        sc_container.setStyleSheet(f"background: {_PANEL_BG};")
        sc_lay = QVBoxLayout(sc_container)
        sc_lay.setContentsMargins(6, 6, 6, 4)
        sc_lay.setSpacing(4)

        sc_header = QLabel("Сценарий оркестратора")
        sc_header.setStyleSheet(
            "color: #7777aa; font-size: 10px; font-weight: bold; background: transparent;"
        )
        sc_lay.addWidget(sc_header)

        sc_row = QHBoxLayout()
        sc_row.setSpacing(4)

        _combo_style = (
            "QComboBox {"
            f"  background: {_BTN_BG}; color: #ccccee;"
            "  border: 1px solid #444466; border-radius: 3px;"
            "  font-size: 11px; padding: 3px 6px;"
            "}"
            "QComboBox::drop-down { border: none; width: 16px; }"
            "QComboBox QAbstractItemView {"
            f"  background: {_BTN_BG}; color: #ccccee; border: 1px solid #444466;"
            "  selection-background-color: #e65100;"
            "}"
        )
        self._scenario_combo = QComboBox()
        self._scenario_combo.setStyleSheet(_combo_style)
        self._scenario_combo.setToolTip("Тип сценария, который будет запущен в оркестраторе")
        self._scenario_combo.addItem("full_pipeline")
        self._scenario_combo.currentTextChanged.connect(self._on_scenario_selected)
        sc_row.addWidget(self._scenario_combo, stretch=1)

        btn_refresh_sc = QPushButton("↻")
        btn_refresh_sc.setFixedSize(24, 24)
        btn_refresh_sc.setToolTip("Получить список сценариев из оркестратора")
        btn_refresh_sc.setStyleSheet(
            f"QPushButton {{ background: {_BTN_BG}; color: #7777aa;"
            "  border: 1px solid #444466; border-radius: 3px; font-size: 13px; }"
            "QPushButton:hover { color: #ffffff; background: #303050; }"
        )
        btn_refresh_sc.clicked.connect(self._on_refresh_scenarios)
        sc_row.addWidget(btn_refresh_sc)
        sc_lay.addLayout(sc_row)
        lay.addWidget(sc_container)

        sep2 = QFrame()
        sep2.setFrameShape(QFrame.HLine)
        sep2.setFixedHeight(1)
        sep2.setStyleSheet("background: #3a3a4a; border: none;")
        lay.addWidget(sep2)

        # .seq file loader
        btn_load = QPushButton("Загрузить .seq…")
        btn_load.setToolTip("Выбрать готовый .seq файл для запуска полного пайплайна")
        btn_load.setStyleSheet(
            "QPushButton {"
            f"  background: {_BTN_BG}; color: #aaaacc;"
            "  border: 1px solid #444466; border-radius: 3px;"
            "  font-size: 11px; padding: 5px 8px; margin: 6px 6px 2px 6px;"
            "}"
            "QPushButton:hover { background: #303050; color: #ffffff; }"
        )
        btn_load.clicked.connect(self._on_load_seq_clicked)
        lay.addWidget(btn_load)

        self._lbl_seq_file = QLabel("Файл не выбран")
        self._lbl_seq_file.setWordWrap(True)
        self._lbl_seq_file.setStyleSheet(
            "color: #555577; font-size: 10px; background: transparent;"
            "padding: 0 8px 6px 8px;"
        )
        lay.addWidget(self._lbl_seq_file)

        return container

    def _build_image_grid(self) -> QWidget:
        container = QWidget()
        container.setStyleSheet(f"background: {_BG_DARK};")
        grid = QGridLayout(container)
        grid.setContentsMargins(6, 6, 6, 6)
        grid.setSpacing(6)
        for col, lbl in enumerate(("Axial", "Cor", "Sag")):
            viewer = MriViewerWidget(label=lbl)
            viewer.slice_offset_changed.connect(self._on_slice_offset_changed)
            viewer.rotation_delta.connect(self._on_rotation_delta)
            grid.addWidget(viewer, 0, col)
            grid.setColumnStretch(col, 1)
            self._viewers.append(viewer)
        grid.setRowStretch(0, 1)
        return container

    def _build_bottom_panel(self) -> QWidget:
        panel = QWidget()
        panel.setStyleSheet("background: #16162a; border-top: 1px solid #333355;")

        outer = QVBoxLayout(panel)
        outer.setContentsMargins(0, 0, 0, 0)
        outer.setSpacing(0)

        # -- parameter tabs -------------------------------------------------
        self._param_tabs = QTabWidget()
        self._param_tabs.setStyleSheet("""
            QTabWidget::pane  { border: none; background: #16162a; }
            QTabBar::tab {
                background: #1e1e38; color: #aaaacc;
                padding: 5px 14px; border: 1px solid #333355;
                border-bottom: none; margin-right: 2px; font-size: 11px;
            }
            QTabBar::tab:selected { background: #252545; color: #ffffff; }
            QTabBar::tab:hover:!selected { background: #222240; }
        """)

        _placeholder_keys = ["tab_main", "tab_contrast", "tab_resolution", "tab_system"]
        for key in _placeholder_keys:
            w = QLabel(f"[ {i18n.tr(key)} — TODO ]")
            w.setAlignment(Qt.AlignCenter)
            w.setStyleSheet("color: #555577; background: #16162a;")
            self._param_tabs.addTab(w, i18n.tr(key))

        geo_tab = self._build_geometry_tab()
        self._param_tabs.addTab(geo_tab, i18n.tr("tab_geometry"))

        log_tab = self._build_log_tab()
        self._param_tabs.addTab(log_tab, "Лог")

        self._param_tabs.setCurrentWidget(geo_tab)

        outer.addWidget(self._param_tabs, stretch=1)

        # -- bottom action bar ----------------------------------------------
        action_bar = QWidget()
        action_bar.setStyleSheet("background: #16162a; border-top: 1px solid #2a2a4a;")
        action_lay = QHBoxLayout(action_bar)
        action_lay.setContentsMargins(12, 6, 12, 6)
        action_lay.setSpacing(12)

        self._status_label = QLabel(i18n.tr("no_data"))
        self._status_label.setStyleSheet("color: #666688; font-size: 11px;")
        action_lay.addWidget(self._status_label)
        action_lay.addStretch()

        self._btn_scan = QPushButton(i18n.tr("btn_scan"))
        self._btn_scan.setCheckable(True)
        self._btn_scan.setMinimumWidth(140)
        self._btn_scan.setStyleSheet(
            "QPushButton {"
            "  background: #1a3a1a; color: #88ee88;"
            "  border: 1px solid #336633; border-radius: 4px;"
            "  font-size: 12px; font-weight: bold; padding: 5px 16px;"
            "}"
            "QPushButton:checked {"
            "  background: #3a1a1a; color: #ee8888; border-color: #663333;"
            "}"
            "QPushButton:hover:!checked { background: #1e4a1e; }"
        )
        self._btn_scan.toggled.connect(self._on_scan_toggled)
        action_lay.addWidget(self._btn_scan)

        outer.addWidget(action_bar)
        return panel

    def _build_geometry_tab(self) -> QWidget:
        w = QWidget()
        w.setStyleSheet("background: #16162a;")
        lay = QHBoxLayout(w)
        lay.setContentsMargins(12, 8, 12, 8)
        lay.setSpacing(16)

        # -- orientation presets --------------------------------------------
        self._preset_group = QGroupBox(i18n.tr("grp_orientation"))
        preset_group = self._preset_group
        preset_group.setStyleSheet(self._group_style())
        preset_lay = QVBoxLayout(preset_group)
        preset_lay.setSpacing(4)

        self._btn_group = QButtonGroup(self)
        self._btn_group.setExclusive(True)
        self._preset_buttons: dict[str, QPushButton] = {}
        for name in ("Axial", "Coronal", "Sagittal"):
            btn = QPushButton(name)
            btn.setCheckable(True)
            btn.setStyleSheet(self._preset_btn_style())
            preset_lay.addWidget(btn)
            self._btn_group.addButton(btn)
            self._preset_buttons[name] = btn
            btn.clicked.connect(lambda checked, n=name: self._on_preset(n))
        self._preset_buttons["Axial"].setChecked(True)
        lay.addWidget(preset_group)

        # -- rotation angles ------------------------------------------------
        self._rot_group = QGroupBox(i18n.tr("grp_rotation"))
        rot_group = self._rot_group
        rot_group.setStyleSheet(self._group_style())
        form = QFormLayout(rot_group)
        form.setSpacing(6)
        form.setContentsMargins(8, 4, 8, 4)

        spin_style = (
            "QDoubleSpinBox {"
            "  background: #252540; color: #ddddff;"
            "  border: 1px solid #445; border-radius: 3px; padding: 2px 4px;"
            "}"
            "QDoubleSpinBox:focus { border-color: #f0c040; }"
        )
        lbl_style = "color: #aaaacc; font-size: 11px;"

        self._spin_rx = QDoubleSpinBox()
        self._spin_ry = QDoubleSpinBox()
        self._spin_rz = QDoubleSpinBox()
        for spin in (self._spin_rx, self._spin_ry, self._spin_rz):
            spin.setRange(-180.0, 180.0)
            spin.setSingleStep(1.0)
            spin.setDecimals(1)
            spin.setSuffix("  deg")
            spin.setStyleSheet(spin_style)
            spin.setMinimumWidth(90)
            spin.valueChanged.connect(self._on_rotation_changed)

        for lbl_text, spin in (("Rx", self._spin_rx), ("Ry", self._spin_ry), ("Rz", self._spin_rz)):
            lbl = QLabel(lbl_text)
            lbl.setStyleSheet(lbl_style)
            form.addRow(lbl, spin)
        lay.addWidget(rot_group)

        # -- rotation matrix display ----------------------------------------
        self._matrix_group = QGroupBox(i18n.tr("grp_rot_matrix"))
        matrix_group = self._matrix_group
        matrix_group.setStyleSheet(self._group_style())
        matrix_lay = QVBoxLayout(matrix_group)
        matrix_lay.setContentsMargins(8, 4, 8, 4)

        self._matrix_label = QLabel()
        self._matrix_label.setFont(QFont("Courier New", 10))
        self._matrix_label.setStyleSheet("color: #99ccff; background: transparent;")
        self._matrix_label.setAlignment(Qt.AlignLeft | Qt.AlignVCenter)
        matrix_lay.addWidget(self._matrix_label)
        lay.addWidget(matrix_group)

        lay.addStretch()
        return w

    def _build_log_tab(self) -> QWidget:
        w = QWidget()
        w.setStyleSheet("background: #16162a;")
        lay = QVBoxLayout(w)
        lay.setContentsMargins(6, 6, 6, 4)
        lay.setSpacing(4)

        self._log_view = QTextEdit()
        self._log_view.setReadOnly(True)
        self._log_view.setFont(QFont("Courier New", 9))
        self._log_view.setStyleSheet(
            "QTextEdit {"
            "  background: #0e0e1c; color: #aaaacc;"
            "  border: 1px solid #2a2a4a; border-radius: 3px;"
            "}"
        )
        lay.addWidget(self._log_view, stretch=1)

        btn_clear = QPushButton("Очистить")
        btn_clear.setFixedWidth(90)
        btn_clear.setStyleSheet(
            "QPushButton {"
            f"  background: {_BTN_BG}; color: #777799;"
            "  border: 1px solid #333355; border-radius: 3px;"
            "  font-size: 10px; padding: 3px 8px;"
            "}"
            "QPushButton:hover { color: #aaaacc; }"
        )
        btn_clear.clicked.connect(self._log_view.clear)
        lay.addWidget(btn_clear, alignment=Qt.AlignRight)
        return w

    _LOG_COLORS = {"INFO": "#aaaacc", "WARN": "#e6a817", "ERR": "#ee4444"}

    def _log(self, msg: str, level: str = "INFO") -> None:
        if not hasattr(self, "_log_view"):
            return
        from datetime import datetime
        ts    = datetime.now().strftime("%H:%M:%S")
        color = self._LOG_COLORS.get(level, "#aaaacc")
        line  = (
            f"<span style='color:#555577'>{ts}</span>"
            f"  <span style='color:{color}'>[{level}]</span>"
            f"  {msg}"
        )
        self._log_view.append(line)
        sb = self._log_view.verticalScrollBar()
        sb.setValue(sb.maximum())

    @staticmethod
    def _group_style() -> str:
        return (
            "QGroupBox {"
            "  color: #8888aa; font-size: 10px; font-weight: bold;"
            "  border: 1px solid #333355; border-radius: 4px; margin-top: 6px;"
            "}"
            "QGroupBox::title { subcontrol-origin: margin; left: 6px; top: -1px; }"
        )

    @staticmethod
    def _preset_btn_style() -> str:
        return (
            "QPushButton {"
            f"  background: {_BTN_BG}; color: #ccccee;"
            "  border: 1px solid #444466; border-radius: 3px;"
            "  font-size: 11px; padding: 4px 10px;"
            "}"
            "QPushButton:checked { background: #e65100; color: #ffffff; border-color: #ff7733; }"
            "QPushButton:hover:!checked { background: #303050; }"
        )

    # -- animation ----------------------------------------------------------

    def _setup_animation(self) -> None:
        self._scan_timer = QTimer(self)
        self._scan_timer.setInterval(_SCAN_LINE_INTERVAL_MS)
        self._scan_timer.timeout.connect(self._on_tick)

    def _on_tick(self) -> None:
        self._scan_tick += 1
        offset = _SCAN_SWEEP_DURATION // max(len(self._viewers), 1)
        for i, viewer in enumerate(self._viewers):
            phase = (self._scan_tick + i * offset) % _SCAN_SWEEP_DURATION
            viewer.advance_scanline(phase)

    # -- rotation logic -----------------------------------------------------

    def _on_preset(self, name: str) -> None:
        rx, ry, rz = _PRESETS[name]
        for spin in (self._spin_rx, self._spin_ry, self._spin_rz):
            spin.blockSignals(True)
        self._spin_rx.setValue(rx)
        self._spin_ry.setValue(ry)
        self._spin_rz.setValue(rz)
        for spin in (self._spin_rx, self._spin_ry, self._spin_rz):
            spin.blockSignals(False)
        self._on_rotation_changed()

    def _on_rotation_changed(self) -> None:
        self._update_matrix_display()
        self._update_slice_display()
        self._sync_preset_buttons()

    def _compute_rotation_matrix(self) -> list:
        return _euler_to_matrix(
            self._spin_rx.value(),
            self._spin_ry.value(),
            self._spin_rz.value(),
        )

    def _update_matrix_display(self) -> None:
        R = self._compute_rotation_matrix()
        lines = []
        for row in R:
            lines.append("  ".join(f"{v:+.3f}" for v in row))
        self._matrix_label.setText("\n".join(lines))

    def _update_slice_display(self) -> None:
        """Push current rotation matrix and offset to all viewers."""
        R = self._compute_rotation_matrix()
        for v in self._viewers:
            v.set_rotation_matrix(R)
            v.set_slice_offset(self._slice_offset)

    def _on_slice_offset_changed(self, ax0: int, ax1: int, d0: float, d1: float) -> None:
        """Accumulate drag delta from any viewer into the shared 3-D offset."""
        self._slice_offset[ax0] = max(-0.95, min(0.95, self._slice_offset[ax0] + d0))
        self._slice_offset[ax1] = max(-0.95, min(0.95, self._slice_offset[ax1] + d1))
        R = self._compute_rotation_matrix()
        for v in self._viewers:
            v.set_slice_offset(self._slice_offset)
            v.set_rotation_matrix(R)

    def _on_rotation_delta(self, drx: float, dry: float) -> None:
        """Gamedev-style Ctrl+drag: apply incremental Rx/Ry rotation from any viewer."""
        def _wrap(val: float) -> float:
            while val >  180.0: val -= 360.0
            while val < -180.0: val += 360.0
            return val

        for spin, delta in ((self._spin_rx, drx), (self._spin_ry, dry)):
            spin.blockSignals(True)
            spin.setValue(_wrap(spin.value() + delta))
            spin.blockSignals(False)

        self._on_rotation_changed()

    def _sync_preset_buttons(self) -> None:
        """Check if current angles match a known preset; highlight button if so."""
        rx = round(self._spin_rx.value(), 1)
        ry = round(self._spin_ry.value(), 1)
        rz = round(self._spin_rz.value(), 1)
        matched = None
        for name, (prx, pry, prz) in _PRESETS.items():
            if (rx, ry, rz) == (prx, pry, prz):
                matched = name
                break
        for name, btn in self._preset_buttons.items():
            btn.blockSignals(True)
            btn.setChecked(name == matched)
            btn.blockSignals(False)

    # -- .seq file loading --------------------------------------------------

    def _on_load_seq_clicked(self) -> None:
        path, _ = QFileDialog.getOpenFileName(
            self,
            "Выбрать .seq файл",
            os.path.join(os.path.dirname(__file__), os.pardir, os.pardir),
            "Pulseq файлы (*.seq);;Все файлы (*)",
        )
        if not path:
            return
        self._seq_file_path = path
        self._seq_info = None
        fname = os.path.basename(path)
        self._lbl_seq_file.setText(fname)
        self._lbl_seq_file.setStyleSheet(
            "color: #e65100; font-size: 10px; background: transparent;"
            "padding: 0 8px 6px 8px;"
        )
        self._log(f"Загружен файл: {fname}", "INFO")
        self._update_scan_ready_state()

    # -- scan initiation ----------------------------------------------------

    def _on_scan_toggled(self, checked: bool) -> None:
        if checked:
            if self._scan_worker is not None and self._scan_worker.isRunning():
                return
            if self._seq_info is None and self._seq_file_path is None:
                QMessageBox.warning(
                    self, i18n.tr("dlg_no_data_title"),
                    i18n.tr("dlg_no_seq_msg"),
                )
                self._btn_scan.setChecked(False)
                return
            info = dict(self._seq_info) if self._seq_info else {}
            if info:
                info["rotation_matrix"] = self._compute_rotation_matrix()
                info["slice_position"]  = list(self._slice_offset)
            self._scan_worker = _ScanPipelineWorker(
                seq_file_path=self._seq_file_path,
                seq_info=info if info else None,
                orchestrator_url=self._orchestrator_url,
                scenario_id=self._scenario_id,
                protocol=self._active_protocol,
                parent=self,
            )
            self._scan_worker.job_started.connect(self.scan_job_started)
            self._scan_worker.finished.connect(self._on_scan_done)
            self._scan_worker.error.connect(self._on_scan_error)
            self._scan_worker.progress.connect(self._on_scan_progress)
            self._scan_worker.raw_data_ready.connect(self._on_raw_data_ready_log)
            self._scan_worker.raw_data_ready.connect(self.raw_data_ready)
            self._scan_worker.start()
            self._scan_timer.start()
            self._btn_scan.setText(i18n.tr("btn_stop_scan"))
            self._status_label.setText("Инициализация пайплайна…")
            self._status_label.setStyleSheet("color: #88ee88; font-size: 11px;")
            self._log("--- Запуск пайплайна сканирования ---", "INFO")
            for v in self._viewers:
                v.set_scanning(True)
            # Switch to Log tab so the user can follow progress
            log_idx = self._param_tabs.indexOf(self._log_view.parent())
            if log_idx >= 0:
                self._param_tabs.setCurrentIndex(log_idx)
        else:
            self._scan_timer.stop()
            if self._scan_worker and self._scan_worker.isRunning():
                self._scan_worker.requestInterruption()
            self._btn_scan.setText(i18n.tr("btn_scan"))
            for v in self._viewers:
                v.set_scanning(False)
            self._update_scan_ready_state()

    def _on_raw_data_ready_log(self, path: str) -> None:
        self._log(f"Данные отправлены во вкладку Spectroscopy: {os.path.basename(path)}", "INFO")

    def _on_scan_progress(self, msg: str) -> None:
        self._status_label.setText(msg[:80])
        self._status_label.setStyleSheet("color: #88ee88; font-size: 11px;")
        self._log(msg, "INFO")

    def _on_scan_done(self, msg: str) -> None:
        self._scan_timer.stop()
        self._status_label.setText("Готово")
        self._status_label.setStyleSheet("color: #66ccff; font-size: 11px;")
        self._log(msg, "INFO")
        for v in self._viewers:
            v.set_scanning(False)
        self._btn_scan.setChecked(False)

    def _on_scan_error(self, err: str) -> None:
        self._scan_timer.stop()
        self._status_label.setText(f"{i18n.tr('error_prefix')}: {err[:70]}")
        self._status_label.setStyleSheet("color: #ee4444; font-size: 11px;")
        self._log(err, "ERR")
        for v in self._viewers:
            v.set_scanning(False)
        self._btn_scan.setChecked(False)

    def _update_scan_ready_state(self) -> None:
        if self._seq_file_path:
            fname = os.path.basename(self._seq_file_path)
            self._status_label.setText(f"Файл: {fname}")
            self._status_label.setStyleSheet("color: #e65100; font-size: 11px;")
        elif self._seq_info is not None:
            self._status_label.setText(i18n.tr("ready_to_scan"))
            self._status_label.setStyleSheet("color: #e65100; font-size: 11px;")
        else:
            self._status_label.setText(i18n.tr("no_data"))
            self._status_label.setStyleSheet("color: #666688; font-size: 11px;")

    # -- scenario selection -------------------------------------------------

    def _on_scenario_selected(self, name: str) -> None:
        if name:
            self._scenario_id = name

    def _on_refresh_scenarios(self) -> None:
        import httpx
        try:
            r = httpx.get(
                f"{self._orchestrator_url}/scenario/list",
                timeout=5.0,
            )
            if r.is_success:
                scenarios: list[str] = r.json().get("scenarios", [])
                if scenarios:
                    current = self._scenario_combo.currentText()
                    self._scenario_combo.blockSignals(True)
                    self._scenario_combo.clear()
                    for s in scenarios:
                        self._scenario_combo.addItem(s)
                    idx = self._scenario_combo.findText(current)
                    self._scenario_combo.setCurrentIndex(max(idx, 0))
                    self._scenario_combo.blockSignals(False)
                    self._scenario_id = self._scenario_combo.currentText()
                    self._log(f"Сценарии загружены: {scenarios}", "INFO")
                else:
                    self._log("Оркестратор вернул пустой список сценариев", "WARN")
            else:
                self._log(f"Ошибка загрузки сценариев: HTTP {r.status_code}", "WARN")
        except Exception as exc:
            self._log(f"Не удалось подключиться к оркестратору: {exc}", "WARN")

    # -- protocol selection -------------------------------------------------

    def _on_protocol_selected(self, name: str) -> None:
        self._active_protocol = name