#include "TwoMotorControl.h"

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

	ui.recordLine_tableWidget->setFocusPolicy(Qt::NoFocus);

	ui.recordLine_tableWidget->setSelectionBehavior(QAbstractItemView::SelectRows);//设置选择行为，以行为单位
	//ui.recordLine_tableWidget->setSelectionMode(QAbstractItemView::SingleSelection);//设置选择模式，选择单行
	//QHeaderView* headerView = ui.recordLine_tableWidget->verticalHeader();
	//headerView->setHidden(true);//去除左边默认自带序列号

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

    connect(ui.addRecordLine_btn, SIGNAL(clicked()), this, SLOT(onAddRecordLine_btn()));
    connect(ui.removeRecordLine_btn, SIGNAL(clicked()), this, SLOT(onRemoveRecordLine_btn()));
    connect(ui.deleteRecordLine_btn, SIGNAL(clicked()), this, SLOT(onDeleteRecordLine_btn()));
    connect(ui.saveRecordLine2File_btn, SIGNAL(clicked()), this, SLOT(onSaveRecordLine2File_btn()));
    connect(ui.readRecordLineFile_btn, SIGNAL(clicked()), this, SLOT(onReadRecordLineFile_btn()));

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

    connect(this->ui.ymotor_forward_btn, SIGNAL(pressed()), this, SLOT(onyMotorforward()));
    connect(this->ui.ymotor_forward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
    connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorbackward()));
    connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));

    connect(this->ui.move2loc_x_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
    connect(this->ui.move2loc_y_pushButton, SIGNAL(pressed()), this, SLOT(onyMove2Loc()));

    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(on_rangeMeasurement()));
}

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

void TwoMotorControl::setPosFileName(QString posFileName)
{
	isWritePosFile = true;
	m_posFileName = posFileName;
	m_posFileHandle = fopen(posFileName.toStdString().c_str(), "w+");
}

bool TwoMotorControl::getState()
{
	if (m_coordinator == nullptr)
		return false;

	QEventLoop loop;
	bool tmp = false;
	bool received = false;

	QTimer timer;
	timer.setSingleShot(true);
	connect(&timer, &QTimer::timeout, &loop, &QEventLoop::quit);

	QMetaObject::Connection conn = QObject::connect(
		m_coordinator, &TwoMotionCaptureCoordinator::recordState,
		[&](bool state) {
			tmp = state;
			received = true;
			loop.quit();
		});

	QMetaObject::invokeMethod(m_coordinator, "getRecordState", Qt::QueuedConnection);
	timer.start(3000);

	loop.exec();

	disconnect(conn);

	return tmp;
}

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

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

	m_darkCaptureCoordinator->startStepMotion(s);
}

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

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

	m_whiteCaptureCoordinator->startStepMotion(s);
}

void TwoMotorControl::run2(SingleLensReflexCameraWindow* window)
{
	int rowCount = ui.recordLine_tableWidget->rowCount();
	if (rowCount == 0)
	{
		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));

		emit sequenceComplete(0);
		return;
	}

	m_coordinator_TimedDataCollection = new TwoMotionCaptureCoordinator(m_multiAxisController);
	connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator_TimedDataCollection, SLOT(start(QVector<PathLine>)));

	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::startRecordLineNumSignal, this, &TwoMotorControl::receiveStartRecordLineNum);
	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::finishRecordLineNumSignal, this, &TwoMotorControl::receiveFinishRecordLineNum);

	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::startRecordLineNumSignal, window, &SingleLensReflexCameraWindow::onStartTimedDataCollection);
	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, window, &SingleLensReflexCameraWindow::onStopTimedDataCollection);
	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, this, &TwoMotorControl::sequenceComplete);

	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin2);

	QVector<PathLine> pathLines;
	//int columnCount = ui.recordLine_tableWidget->columnCount();
	for (size_t i = 0; i < rowCount; i++)
	{
		PathLine tmp;

		tmp.targetYPosition = ui.recordLine_tableWidget->item(i, 0)->text().toDouble();
		tmp.speedTargetYPosition = ui.recordLine_tableWidget->item(i, 1)->text().toDouble();
		tmp.targetXMinPosition = ui.recordLine_tableWidget->item(i, 2)->text().toDouble();
		tmp.speedTargetXMinPosition = ui.recordLine_tableWidget->item(i, 3)->text().toDouble();
		tmp.targetXMaxPosition = ui.recordLine_tableWidget->item(i, 4)->text().toDouble();
		tmp.speedTargetXMaxPosition = ui.recordLine_tableWidget->item(i, 5)->text().toDouble();

		pathLines.append(tmp);
	}

	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
	{
		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
		{
			ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor("#0E1C4C"));
		}
	}

	emit start(pathLines);
}

void TwoMotorControl::run3(DepthCameraWindow* window)
{
	int rowCount = ui.recordLine_tableWidget->rowCount();
	if (rowCount == 0)
	{
		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));

		emit sequenceComplete(0);
		return;
	}

	m_coordinator_TimedDataCollection = new TwoMotionCaptureCoordinator(m_multiAxisController);
	connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator_TimedDataCollection, SLOT(start(QVector<PathLine>)));

	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::startRecordLineNumSignal, this, &TwoMotorControl::receiveStartRecordLineNum);
	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::finishRecordLineNumSignal, this, &TwoMotorControl::receiveFinishRecordLineNum);

	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::startRecordLineNumSignal, window, &DepthCameraWindow::openDepthCamera);
	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, window, &DepthCameraWindow::closeDepthCamera);
	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, this, &TwoMotorControl::sequenceComplete);

	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin2);

	QVector<PathLine> pathLines;
	//int columnCount = ui.recordLine_tableWidget->columnCount();
	for (size_t i = 0; i < rowCount; i++)
	{
		PathLine tmp;

		tmp.targetYPosition = ui.recordLine_tableWidget->item(i, 0)->text().toDouble();
		tmp.speedTargetYPosition = ui.recordLine_tableWidget->item(i, 1)->text().toDouble();
		tmp.targetXMinPosition = ui.recordLine_tableWidget->item(i, 2)->text().toDouble();
		tmp.speedTargetXMinPosition = ui.recordLine_tableWidget->item(i, 3)->text().toDouble();
		tmp.targetXMaxPosition = ui.recordLine_tableWidget->item(i, 4)->text().toDouble();
		tmp.speedTargetXMaxPosition = ui.recordLine_tableWidget->item(i, 5)->text().toDouble();

		pathLines.append(tmp);
	}

	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
	{
		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
		{
			ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor("#0E1C4C"));
		}
	}

	emit start(pathLines);
}

void TwoMotorControl::onBack2Origin2()
{
	m_coordinator_TimedDataCollection->deleteLater();
	m_coordinator_TimedDataCollection = nullptr;
	emit back2OriginSignal_TimedDataCollection();
}

void TwoMotorControl::run4_ObtainTargetDepthInfo(DepthCameraWindow* window, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea)
{
	window->m_DepthCameraOperation->setAverageNumberOfTimes(averageNumberOfTimes);
	window->m_DepthCameraOperation->setPercentageOfEffectiveArea(percentageOfEffectiveArea);

	m_ObtainTargetDepthInfoCoordinator = new TwoMotor1PosCoordinator(m_multiAxisController);
	connect(m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::ArrivalSignal, window, &DepthCameraWindow::OpenDepthCamera_getDepthValue);

	connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::back2origin);
	connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, this, &TwoMotorControl::sequenceComplete);//关灯

	connect(m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin3);

	double xmotor_move_speed = ui.xmotor_move_speed_lineEdit->text().toDouble();
	double ymotor_move_speed = ui.ymotor_move_speed_lineEdit->text().toDouble();

	m_ObtainTargetDepthInfoCoordinator->moveToTarget(depthInfoX, depthInfoY, xmotor_move_speed, ymotor_move_speed);
}

void TwoMotorControl::onBack2Origin3()
{
	m_ObtainTargetDepthInfoCoordinator->deleteLater();
	m_ObtainTargetDepthInfoCoordinator = nullptr;
	emit back2OriginSignal_TimedDataCollection();
}

void TwoMotorControl::run()
{
	if (getState())
	{
		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("已经开始运行，请勿重复点击！"));
		return;
	}

	int rowCount = ui.recordLine_tableWidget->rowCount();
	if(rowCount == 0)
	{
		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));

		emit sequenceComplete(0);
		return;
	}

	qRegisterMetaType<QVector<PathLine>>("QVector<PathLine>");
	m_coordinator = new TwoMotionCaptureCoordinator(m_multiAxisController);
	m_coordinator->moveToThread(&m_coordinatorThread);
	connect(&m_coordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
	connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator, SLOT(start(QVector<PathLine>)));

	connect(this, SIGNAL(stopSignal()), m_coordinator, SLOT(stop()));
	connect(m_coordinator, SIGNAL(startRecordLineNumSignal(int)), this, SLOT(receiveStartRecordLineNum(int)));
	connect(m_coordinator, SIGNAL(finishRecordLineNumSignal(int)), this, SLOT(receiveFinishRecordLineNum(int)));
	connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
	connect(m_coordinator, &TwoMotionCaptureCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin);

	connect(m_coordinator, &TwoMotionCaptureCoordinator::startRecordHSISignal, m_Imager, &ImagerOperationBase::start_record);
	connect(m_coordinator, &TwoMotionCaptureCoordinator::stopRecordHSISignal, this, &TwoMotorControl::stop_record);
	connect(m_Imager, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberMeet, m_coordinator, &TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);

	m_coordinatorThread.start();

	QVector<PathLine> pathLines;
	//int columnCount = ui.recordLine_tableWidget->columnCount();
	for (size_t i = 0; i < rowCount; i++)
	{
		PathLine tmp;

		tmp.targetYPosition = ui.recordLine_tableWidget->item(i, 0)->text().toDouble();
		tmp.speedTargetYPosition = ui.recordLine_tableWidget->item(i, 1)->text().toDouble();
		tmp.targetXMinPosition = ui.recordLine_tableWidget->item(i, 2)->text().toDouble();
		tmp.speedTargetXMinPosition = ui.recordLine_tableWidget->item(i, 3)->text().toDouble();
		tmp.targetXMaxPosition = ui.recordLine_tableWidget->item(i, 4)->text().toDouble();
		tmp.speedTargetXMaxPosition = ui.recordLine_tableWidget->item(i, 5)->text().toDouble();

		pathLines.append(tmp);
	}

	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
	{
		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
		{
			ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor("#0E1C4C"));
		}
	}

	emit start(pathLines);
}

void TwoMotorControl::stop_record()
{
	m_Imager->stop_record();
}

void TwoMotorControl::stop()
{
	emit stopSignal();
}

TwoMotorControl::~TwoMotorControl()
{
    m_motorThread.quit();
    m_motorThread.wait();

	m_coordinatorThread.quit();
	m_coordinatorThread.wait();
}

void TwoMotorControl::onConnectMotor()
{
	connectMotor(true);
}

void TwoMotorControl::connectMotor(bool isNotification)
{
	if (getMotorsConnectionStatus())
	{
		if (isNotification)
		{
			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(displayRealTimeLoc(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) + "\\twoMotorConfigFile.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(displayRealTimeLoc(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);
    emit testConnectivitySignal(1, 1000);
}

void TwoMotorControl::receiveStartRecordLineNum(int lineNum)
{
	emit startLineNumSignal(lineNum);
	for (size_t i = 0; i < ui.recordLine_tableWidget->columnCount(); i++)
	{
		ui.recordLine_tableWidget->item(lineNum, i)->setBackgroundColor(QColor(255, 0, 0));
	}
}

void TwoMotorControl::receiveFinishRecordLineNum(int lineNum)
{
	for (size_t i = 0; i < ui.recordLine_tableWidget->columnCount(); i++)
	{
		ui.recordLine_tableWidget->item(lineNum, i)->setBackgroundColor(QColor(0, 255, 0));
	}
}

void TwoMotorControl::onSequenceComplete(int status)
{
	isWritePosFile = false;
	fclose(m_posFileHandle);

	emit sequenceComplete(status);
}

void TwoMotorControl::onBack2Origin()
{
	m_coordinatorThread.quit();
	m_coordinatorThread.wait();
	m_coordinator = nullptr;

	emit back2OriginSignal();
	emit back2OriginSignal_TimedDataCollection();
}

bool TwoMotorControl::getMotorsConnectionStatus()
{
	return m_xMotorConnectionStatus && m_yMotorConnectionStatus;
}

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

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

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

    if (connectivity[1])
    {
		m_yMotorConnectionStatus = true;

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

		this->ui.yMotorStateLabel->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 TwoMotorControl::onxMotorRight()
{
    double s = ui.xmotor_move_speed_lineEdit->text().toDouble();

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

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

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

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

void TwoMotorControl::onyMotorforward()
{
    double s = ui.ymotor_move_speed_lineEdit->text().toDouble();

    emit moveSignal(1, false, s, 1000);
}

void TwoMotorControl::onyMotorbackward()
{
    double s = ui.ymotor_move_speed_lineEdit->text().toDouble();

    emit moveSignal(1, true, s, 1000);
}

void TwoMotorControl::onyMotorStop()
{
    emit stopSignal(1);
}

void TwoMotorControl::onxMove2Loc()
{
	double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
	double l = ui.move2loc_x_lineEdit->text().toDouble();

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

void TwoMotorControl::onyMove2Loc()
{
	double s = ui.ymotor_move_speed_lineEdit->text().toDouble();
	double l = ui.move2loc_y_lineEdit->text().toDouble();

	emit move2LocSignal(1, l, s, 1000);
}

void TwoMotorControl::displayRealTimeLoc(std::vector<double> loc)
{
	double tmp = round(loc[0] * 100) / 100;
	if (isWritePosFile)
	{
		long long timeOs = getNanosecondsSinceMidnight();
		fprintf(m_posFileHandle, "%lld,%f\n", timeOs, loc[0]);
	}
    this->ui.xmotor_realTimeLoc_lineEdit->setText(QString::number(tmp));

    tmp = round(loc[1] * 100) / 100;
    this->ui.ymotor_realTimeLoc_lineEdit->setText(QString::number(tmp));

	emit broadcastLocationSignal(loc);
}

void TwoMotorControl::zeroStart()
{
    zeroStartSignal(0);
    zeroStartSignal(1);
}

void TwoMotorControl::on_rangeMeasurement()
{
    double s0 = ui.xmotor_move_speed_lineEdit->text().toDouble();
    emit rangeMeasurement(0, s0, 1000);

    s0 = ui.ymotor_move_speed_lineEdit->text().toDouble();
    emit rangeMeasurement(1, s0, 1000);
}

void TwoMotorControl::onAddRecordLine_btn()
{
	// 准备数据：获取y马达的当前位置，获取x马达的当前位置和最大位置
	double currentPosOfYmotor = 15;
	double currentPosOfXmotor = 0;
	double maxRangeOfXmotor = 50;

	PathLineManager::addRecordLine(ui.recordLine_tableWidget,
		currentPosOfYmotor, 1.0,
		currentPosOfXmotor, 1.0,
		maxRangeOfXmotor, 1.0);
}

void TwoMotorControl::onRemoveRecordLine_btn()
{
	int rowIndex = ui.recordLine_tableWidget->currentRow();
	if (rowIndex != -1)
		ui.recordLine_tableWidget->removeRow(rowIndex);
}

void TwoMotorControl::onDeleteRecordLine_btn()
{
	int rowCount = ui.recordLine_tableWidget->rowCount();
	for (size_t i = 0; i < rowCount; i++)
	{
		ui.recordLine_tableWidget->removeRow(0);
	}
}

void TwoMotorControl::onSaveRecordLine2File_btn()
{
	// 确保采集线存在
	if (ui.recordLine_tableWidget->rowCount() <= 0)
	{
		QMessageBox::information(this, QString::fromLocal8Bit("提示"),
			QString::fromLocal8Bit("请先生成轨迹！"));
		return;
	}
	FileOperation* fileOperation = new FileOperation();
	string directory = fileOperation->getDirectoryOfExe();
	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine3 File"),
		QString::fromStdString(directory),
		tr("RecordLineFile3 (*.RecordLine3)"));
	if (RecordLineFilePath.isEmpty())
	{
		return;
	}
	PathLineManager::saveToFile(RecordLineFilePath, ui.recordLine_tableWidget);
}

void TwoMotorControl::onReadRecordLineFile_btn()
{
	FileOperation* fileOperation = new FileOperation();
	string directory = fileOperation->getDirectoryOfExe();
	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine3 File"),
		QString::fromStdString(directory),
		tr("RecordLineFile (*.RecordLine3)"));
	if (RecordLineFilePath.isEmpty())
	{
		return;
	}

	readRecordLineFile(RecordLineFilePath);
}
void TwoMotorControl::readRecordLineFile(QString RecordLineFilePath)
{
	PathLineManager::readFromFile(RecordLineFilePath, ui.recordLine_tableWidget);
}