#pragma once
#include <QThread>
#include <QMessageBox>
#include <QFileDialog>

#include "ui_twoMotorControl.h"

#include "IrisMultiMotorController.h"
#include "fileOperation.h"
#include "CaptureCoordinator.h"
#include "MotorWindowBase.h"

#define PI 3.1415926

class TwoMotorControl : public QDialog, public MotorWindowBase
{
    Q_OBJECT

public:
    TwoMotorControl(QWidget* parent = nullptr);
    ~TwoMotorControl();

    void setImager(ImagerOperationBase* imager);
    void setPosFileName(QString posFileName);

    void record_dark();
    void record_white();

    bool getMotorsConnectionStatus();
    
private:
    ImagerOperationBase* m_Imager;
    bool getState();

    bool isWritePosFile = false;
    QString m_posFileName;
    FILE* m_posFileHandle;

	bool m_xMotorConnectionStatus = false;
	bool m_yMotorConnectionStatus = false;

public Q_SLOTS:
    void onConnectMotor();

    void displayRealTimeLoc(std::vector<double> loc);
    void display_motors_connectivity(std::vector<int> connectivity);
    //void onxMove2Loc();
    void zeroStart();
    void on_rangeMeasurement();

    void onxMotorRight();
    void onxMotorLeft();
    void onxMotorStop();
    void onxMove2Loc();

    void onyMotorforward();
    void onyMotorbackward();
    void onyMotorStop();
    void onyMove2Loc();

    void onAddRecordLine_btn();
    void onRemoveRecordLine_btn();
    void onDeleteRecordLine_btn();
    void onSaveRecordLine2File_btn();
    void onReadRecordLineFile_btn();

    void run();
    void stop();
    void receiveStartRecordLineNum(int lineNum);
    void receiveFinishRecordLineNum(int lineNum);
    void onSequenceComplete();

signals:
    void moveSignal(int, bool, double, int);
    void move2LocSignal(int, double, double, int);
    void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
    void stopSignal(int);

    void rangeMeasurement(int, double, int);
    void zeroStartSignal(int);
    void testConnectivitySignal(int, int);

    void start(QVector<PathLine>);
    void stopSignal();

    void startLineNumSignal(int lineNum);
    void sequenceComplete();//所有采集线正常运行完成

    void broadcastLocationSignal(std::vector<double>);

private:
    Ui::twoMotorControl_UI ui;
    QThread m_coordinatorThread;
    TwoMotionCaptureCoordinator* m_coordinator = nullptr;

    DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
    DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;

    QThread m_motorThread;
    IrisMultiMotorController* m_multiAxisController = nullptr;
};