#include "OneMotorControl.h"

OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
{
    ui.setupUi(this);

    connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));

    connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
    connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
    connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
    connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));

    connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));

    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));

    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
}

OneMotorControl::~OneMotorControl()
{
    m_motorThread.quit();
    m_motorThread.wait();
}

void OneMotorControl::onConnectMotor()
{
    if (getMotorsConnectionStatus())
    {
        QMessageBox msgBox;
        msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
        msgBox.exec();

        return;
    }

    if (m_multiAxisController != nullptr)
    {
        disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
        disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
        disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
        disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
        disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
        disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
        disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
        disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));

        m_motorThread.quit();
        m_motorThread.wait();
        m_multiAxisController = nullptr;
    }

	try
	{
        FileOperation* fileOperation = new FileOperation();
        string directory = fileOperation->getDirectoryOfExe();
        QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile.cfg";

        m_multiAxisController = new IrisMultiMotorController(configFilePath);
	}
	catch (std::exception const& e)
	{
        QMessageBox msgBox;
        msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
        msgBox.exec();
        return;
	}

    m_multiAxisController->moveToThread(&m_motorThread);
    connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));

    connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));

    connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
    connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
    connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));

    connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));

    connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));

    connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
    connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));

    m_motorThread.start();
    emit testConnectivitySignal(0, 1000);
}

void OneMotorControl::display_x_loc(std::vector<double> loc)
{
    double tmp = round(loc[0] * 100) / 100;
    this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));

    emit broadcastLocationSignal(loc);
}

void OneMotorControl::display_motors_connectivity(std::vector<int> connectivity)
{
    //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
    if (connectivity[0])
    {
        m_xMotorConnectionStatus = true;

        this->ui.motor_state_label->setStyleSheet(R"(
			QLabel
			{
				background-color: #08FACE;
				border-radius: 4px;
			}
		)");
    }
    else
    {
        m_xMotorConnectionStatus = false;

        this->ui.motor_state_label->setStyleSheet(R"(
			QLabel
			{
				background-color: red;
				border-radius: 4px;
			}
		)");
    }

    if (getMotorsConnectionStatus())
    {
        this->ui.connect_btn->setText(QString::fromLocal8Bit("已连接"));
    }
    else
    {
        this->ui.connect_btn->setText(QString::fromLocal8Bit("重新连接"));
    }
}

void OneMotorControl::zeroStart()
{
    zeroStartSignal(0);
}

void OneMotorControl::onx_rangeMeasurement()
{
    double s0 = ui.speed_lineEdit->text().toDouble();
    emit rangeMeasurement(0, s0, 1000);
}

void OneMotorControl::onxMove2Loc()
{
    double s = ui.speed_lineEdit->text().toDouble();
    double l = ui.move2loc_lineEdit->text().toDouble();

    emit move2LocSignal(0, l, s, 1000);
}

void OneMotorControl::onxMotorRight()
{
    double s = ui.speed_lineEdit->text().toDouble();

    emit moveSignal(0, false, s, 1000);
}

void OneMotorControl::onxMotorLeft()
{
    double s = ui.speed_lineEdit->text().toDouble();

    emit moveSignal(0, true, s, 1000);
}

void OneMotorControl::onxMotorStop()
{
    emit stopSignal(0);
}

void OneMotorControl::setImager(ImagerOperationBase* imager)
{
    m_Imager = imager;
}

void OneMotorControl::record_dark()
{
    double s = ui.speed_lineEdit->text().toDouble();

    if (m_darkCaptureCoordinator == nullptr)
    {
        m_darkCaptureCoordinator = new DarkAndWhiteCaptureCoordinator(0, m_multiAxisController, m_Imager);
    }

    m_darkCaptureCoordinator->startStepMotion(s);
}

void OneMotorControl::record_white()
{
    double s = ui.speed_lineEdit->text().toDouble();

    if (m_whiteCaptureCoordinator == nullptr)
    {
        m_whiteCaptureCoordinator = new DarkAndWhiteCaptureCoordinator(1, m_multiAxisController, m_Imager);
    }

    m_whiteCaptureCoordinator->startStepMotion(s);
}

void OneMotorControl::run()
{
    qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
    m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
    connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
    connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));

    connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));

    OneMotionCapturePathLine tmp;
    tmp.speedRecord = ui.speed_lineEdit->text().toDouble();
    tmp.speedBack = ui.return_speed_lineEdit->text().toDouble();

    emit start(tmp);
}

void OneMotorControl::stop()
{
    emit stopStepMotionSignal();
}

void OneMotorControl::onSequenceComplete(int state)
{
    emit sequenceComplete();

    disconnect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
    disconnect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
    disconnect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));

    // Use deleteLater() instead of delete: this slot may have been called directly
    // from OneMotionCaptureCoordinator's call stack (direct connection), so deleting
    // the object here would cause a crash when execution returns to the destroyed object.
    m_coordinator->deleteLater();
    m_coordinator = nullptr;
}

bool OneMotorControl::getMotorsConnectionStatus()
{
    return m_xMotorConnectionStatus;
}