#include "Senser.h"
#include "ui_Senser.h"

Senser::Senser(QWidget *parent) :
    QWidget(parent),
    ui(new Ui::Senser)
{
    ui->setupUi(this);
    m_parent = parent;

    QFile file(":/qss/Senser.qss");
    file.open(QFile::ReadOnly);
    QTextStream filetext(&file);
    QString stylesheet = filetext.readAll();
    this->setStyleSheet(stylesheet);
    file.close();

    this->setWindowTitle(tr("sensor"));

    ui->frame_Attitude->resize(384,234);
    ui->frame_Gyro->resize(384,234);
    ui->frame_Accelerate->resize(384,234);
    ui->frame_Servo->resize(384,234);
    ui->frame_Altitude->resize(384,234);
    ui->frame_Speed->resize(384,234);




    attChart = new Chart(ui->frame_Attitude);
    //attChart = new Chart();
    gyroChart = new Chart(ui->frame_Gyro);
    accChart = new Chart(ui->frame_Accelerate);

    servoChart = new Chart(ui->frame_Servo);
    altChart = new Chart(ui->frame_Altitude);
    speedChart = new Chart(ui->frame_Speed);


    //ui->frame_Attitude->addWidget(attChart,0,0,1,1);

    attChart->setGeometry(0,0,ui->frame_Attitude->width(),ui->frame_Attitude->height());
    gyroChart->setGeometry(0,0,ui->frame_Gyro->width(),ui->frame_Gyro->height());
    accChart->setGeometry(0,0,ui->frame_Accelerate->width(),ui->frame_Accelerate->height());

    servoChart->setGeometry(0,0,ui->frame_Servo->width(),ui->frame_Servo->height());
    altChart->setGeometry(0,0,ui->frame_Altitude->width(),ui->frame_Altitude->height());
    speedChart->setGeometry(0,0,ui->frame_Speed->width(),ui->frame_Speed->height());



    attChart->chart()->legend()->setAlignment(Qt::AlignRight);
    gyroChart->chart()->legend()->setAlignment(Qt::AlignRight);
    accChart->chart()->legend()->setAlignment(Qt::AlignRight);

    servoChart->chart()->legend()->setAlignment(Qt::AlignRight);
    altChart->chart()->legend()->setAlignment(Qt::AlignRight);
    speedChart->chart()->legend()->setAlignment(Qt::AlignRight);



    attChart->setOperation(false);
    gyroChart->setOperation(false);
    accChart->setOperation(false);

    servoChart->setOperation(false);
    altChart->setOperation(false);
    speedChart->setOperation(false);


    attChart->setRenderHint(QPainter::Antialiasing);
    gyroChart->setRenderHint(QPainter::Antialiasing);
    accChart->setRenderHint(QPainter::Antialiasing);

    servoChart->setRenderHint(QPainter::Antialiasing);
    altChart->setRenderHint(QPainter::Antialiasing);
    speedChart->setRenderHint(QPainter::Antialiasing);



    attChart->setRubberBand(QChartView::RectangleRubberBand);
    gyroChart->setRubberBand(QChartView::RectangleRubberBand);
    accChart->setRubberBand(QChartView::RectangleRubberBand);

    servoChart->setRubberBand(QChartView::RectangleRubberBand);
    altChart->setRubberBand(QChartView::RectangleRubberBand);
    speedChart->setRubberBand(QChartView::RectangleRubberBand);


    connect(attChart,&Chart::select,
            this,&Senser::chartSelect);

    connect(gyroChart,&Chart::select,
            this,&Senser::chartSelect);

    connect(accChart,&Chart::select,
            this,&Senser::chartSelect);

    connect(servoChart,&Chart::select,
            this,&Senser::chartSelect);

    connect(altChart,&Chart::select,
            this,&Senser::chartSelect);

    connect(speedChart,&Chart::select,
            this,&Senser::chartSelect);





    //StringModel = new QStringListModel(ui->listView_Data);

    ItemModel = new QStandardItemModel(ui->listView_Data);

    ui->listView_Data->setModel(ItemModel);

    ui->listView_Data->scrollToBottom();


    QStandardItem *item = new QStandardItem("item1");
    ItemModel->appendRow(item);
    item = new QStandardItem("item2");
    ItemModel->appendRow(item);
    ui->listView_Data->setModel(ItemModel);

    ui->listView_Data->hide();


    ui->label_2_dynamic->hide();
    ui->label_2_static->hide();

}

Senser::~Senser()
{
    delete ui;
}

void Senser::chartSelect(bool flag)
{
    if(flag)
    {
        QObject *obj = sender();

        if(obj)
        {
            Chart *chart = qobject_cast<Chart *>(obj);
            if(chart)
            {

                if(chart == attChart)
                {
                    setColor(ui->frame_Attitude,QColor("#00FF00"));
                    setColor(ui->frame_Gyro,QColor("#FFFFFF"));
                    setColor(ui->frame_Accelerate,QColor("#FFFFFF"));
                    setColor(ui->frame_Servo,QColor("#FFFFFF"));
                    setColor(ui->frame_Altitude,QColor("#FFFFFF"));
                    setColor(ui->frame_Speed,QColor("#FFFFFF"));

                    attChart->setSelect(true);
                    gyroChart->setSelect(false);
                    accChart->setSelect(false);
                    servoChart->setSelect(false);
                    altChart->setSelect(false);
                    speedChart->setSelect(false);

                }
                else if(chart == gyroChart)
                {
                    setColor(ui->frame_Attitude,QColor("#FFFFFF"));
                    setColor(ui->frame_Gyro,QColor("#00FF00"));
                    setColor(ui->frame_Accelerate,QColor("#FFFFFF"));
                    setColor(ui->frame_Servo,QColor("#FFFFFF"));
                    setColor(ui->frame_Altitude,QColor("#FFFFFF"));
                    setColor(ui->frame_Speed,QColor("#FFFFFF"));

                    attChart->setSelect(false);
                    gyroChart->setSelect(true);
                    accChart->setSelect(false);
                    servoChart->setSelect(false);
                    altChart->setSelect(false);
                    speedChart->setSelect(false);
                }
                else if(chart == accChart)
                {
                    setColor(ui->frame_Attitude,QColor("#FFFFFF"));
                    setColor(ui->frame_Gyro,QColor("#FFFFFF"));
                    setColor(ui->frame_Accelerate,QColor("#00FF00"));
                    setColor(ui->frame_Servo,QColor("#FFFFFF"));
                    setColor(ui->frame_Altitude,QColor("#FFFFFF"));
                    setColor(ui->frame_Speed,QColor("#FFFFFF"));

                    attChart->setSelect(false);
                    gyroChart->setSelect(false);
                    accChart->setSelect(true);
                    servoChart->setSelect(false);
                    altChart->setSelect(false);
                    speedChart->setSelect(false);
                }
                else if(chart == servoChart)
                {
                    setColor(ui->frame_Attitude,QColor("#FFFFFF"));
                    setColor(ui->frame_Gyro,QColor("#FFFFFF"));
                    setColor(ui->frame_Accelerate,QColor("#FFFFFF"));
                    setColor(ui->frame_Servo,QColor("#00FF00"));
                    setColor(ui->frame_Altitude,QColor("#FFFFFF"));
                    setColor(ui->frame_Speed,QColor("#FFFFFF"));

                    attChart->setSelect(false);
                    gyroChart->setSelect(false);
                    accChart->setSelect(false);
                    servoChart->setSelect(true);
                    altChart->setSelect(false);
                    speedChart->setSelect(false);
                }
                else if(chart == altChart)
                {
                    setColor(ui->frame_Attitude,QColor("#FFFFFF"));
                    setColor(ui->frame_Gyro,QColor("#FFFFFF"));
                    setColor(ui->frame_Accelerate,QColor("#FFFFFF"));
                    setColor(ui->frame_Servo,QColor("#FFFFFF"));
                    setColor(ui->frame_Altitude,QColor("#00FF00"));
                    setColor(ui->frame_Speed,QColor("#FFFFFF"));

                    attChart->setSelect(false);
                    gyroChart->setSelect(false);
                    accChart->setSelect(false);
                    servoChart->setSelect(false);
                    altChart->setSelect(true);
                    speedChart->setSelect(false);
                }
                else if(chart == speedChart)
                {
                    setColor(ui->frame_Attitude,QColor("#FFFFFF"));
                    setColor(ui->frame_Gyro,QColor("#FFFFFF"));
                    setColor(ui->frame_Accelerate,QColor("#FFFFFF"));
                    setColor(ui->frame_Servo,QColor("#FFFFFF"));
                    setColor(ui->frame_Altitude,QColor("#FFFFFF"));
                    setColor(ui->frame_Speed,QColor("#00FF00"));

                    attChart->setSelect(false);
                    gyroChart->setSelect(false);
                    accChart->setSelect(false);
                    servoChart->setSelect(false);
                    altChart->setSelect(false);
                    speedChart->setSelect(true);
                }
            }
        }
    }
    else
    {
        setColor(ui->frame_Attitude,QColor("#FFFFFF"));
        setColor(ui->frame_Gyro,QColor("#FFFFFF"));
        setColor(ui->frame_Accelerate,QColor("#FFFFFF"));
        setColor(ui->frame_Servo,QColor("#FFFFFF"));
        setColor(ui->frame_Altitude,QColor("#FFFFFF"));
        setColor(ui->frame_Speed,QColor("#FFFFFF"));

        attChart->setSelect(false);
        gyroChart->setSelect(false);
        accChart->setSelect(false);
        servoChart->setSelect(false);
        altChart->setSelect(false);
        speedChart->setSelect(false);
    }
}

void Senser::setColor(QWidget *w,QColor s)
{
    QString stype = "background-color: ";
    stype.append(s.name());
    stype.append(";");

    if(w)
    {
        w->setStyleSheet(stype);
        w->style()->unpolish(w);
        w->style()->polish(w);
    }
}

void Senser::setColor(QWidget *w,state s)
{
    w->setProperty("state",s);
    w->style()->unpolish(w);
    w->style()->polish(w);
}

void Senser::setValue(QLabel *w,QString s)
{
    w->setText(s);
}

void Senser::updateUI()
{
    attChart->setGeometry(0,0,ui->frame_Attitude->width(),ui->frame_Attitude->height());
    gyroChart->setGeometry(0,0,ui->frame_Gyro->width(),ui->frame_Gyro->height());
    accChart->setGeometry(0,0,ui->frame_Accelerate->width(),ui->frame_Accelerate->height());

    servoChart->setGeometry(0,0,ui->frame_Servo->width(),ui->frame_Servo->height());
    altChart->setGeometry(0,0,ui->frame_Altitude->width(),ui->frame_Altitude->height());
    speedChart->setGeometry(0,0,ui->frame_Speed->width(),ui->frame_Speed->height());
}

void Senser::resizeEvent(QResizeEvent *event)
{
    //attChart->resizeEvent(event);

    attChart->setGeometry(0,0,ui->frame_Attitude->width(),ui->frame_Attitude->height());
    gyroChart->setGeometry(0,0,ui->frame_Gyro->width(),ui->frame_Gyro->height());
    accChart->setGeometry(0,0,ui->frame_Accelerate->width(),ui->frame_Accelerate->height());

    servoChart->setGeometry(0,0,ui->frame_Servo->width(),ui->frame_Servo->height());
    altChart->setGeometry(0,0,ui->frame_Altitude->width(),ui->frame_Altitude->height());
    speedChart->setGeometry(0,0,ui->frame_Speed->width(),ui->frame_Speed->height());
}

void Senser::closeEvent(QCloseEvent *event)
{
    setFloat();
    event->ignore();
}

void Senser::setFloat(void)
{
    if(this->parent())
    {
        this->setParent(nullptr);
        QScreen *screen=QGuiApplication::primaryScreen ();
        this->move((screen->availableGeometry().width()-this->width())/2,(screen->availableGeometry().height()-this->height())/2);
        this->show();
        this->resize(m_parent->size());
        updateUI();
    }
    else
    {
        this->setParent(m_parent);
        this->move(0,0);
        this->show();
        this->resize(m_parent->size());
        updateUI();
    }
}

void Senser::on_checkBox_att_stateChanged(int arg1)
{
    QCheckBox *chk = qobject_cast<QCheckBox *>(sender());
    if(chk)
    {
        if(arg1 == Qt::Checked)
        {
            attChart->addSeries(chk->text());
        }
        else  if(arg1 == Qt::Unchecked)
        {
            attChart->removeSerie(chk->text());
        }
        update();
    }
}

void Senser::on_checkBox_gyro_stateChanged(int arg1)
{
    QCheckBox *chk = qobject_cast<QCheckBox *>(sender());
    if(chk)
    {
        if(arg1 == Qt::Checked)
        {
            gyroChart->addSeries(chk->text());
        }
        else  if(arg1 == Qt::Unchecked)
        {
            gyroChart->removeSerie(chk->text());
        }
        update();
    }
}

void Senser::on_checkBox_acc_stateChanged(int arg1)
{
    QCheckBox *chk = qobject_cast<QCheckBox *>(sender());
    if(chk)
    {
        if(arg1 == Qt::Checked)
        {
            accChart->addSeries(chk->text());
        }
        else  if(arg1 == Qt::Unchecked)
        {
            accChart->removeSerie(chk->text());
        }
        update();
    }
}


void Senser::setINS(int source,int pos,QVariant value)
{
     if(source == 1)
     {
         switch (pos) {
         case 1:
             ui->label_1_svn->setText(value.toString());
             break;
         case 2:
             ui->label_1_BIT->setText(value.toString());
             break;
         case 3:
             ui->label_1_AttitudeStatus->setText(value.toString());
             break;
         case 4:
             ui->label_1_HeadingStatus->setText(value.toString());
             break;
         case 5:
             ui->label_1_SpeedStatus->setText(value.toString());
             break;
         case 6:
             ui->label_1_PositionStatus->setText(value.toString());
             break;
         case 7:
             ui->label_1_System->setText(value.toString());
             break;
         case 8:
             ui->label_1_COM->setText(value.toString());
             break;
         case 9:
             ui->label_1_GPS->setText(value.toString());
             break;
         case 10:
             ui->label_1_lng->setText(value.toString());
             break;
         case 11:
             ui->label_1_lat->setText(value.toString());
             break;
         case 12:
             ui->label_1_alt->setText(value.toString());
             break;
         case 13:
             ui->label_1_gs->setText(value.toString());
             break;
         case 14:
             ui->label_1_rol->setText(value.toString());
             break;
         case 15:
             ui->label_1_pit->setText(value.toString());
             break;
         case 16:
             ui->label_1_yaw->setText(value.toString());
             break;
         case 17:
             ui->label_1_heading->setText(value.toString());
             break;
         case 18:
             ui->label_1_p->setText(value.toString());
             break;
         case 19:
             ui->label_1_q->setText(value.toString());
             break;
         case 20:
             ui->label_1_r->setText(value.toString());
             break;
         case 21:
             ui->label_1_ax->setText(value.toString());
             break;
         case 22:
             ui->label_1_ay->setText(value.toString());
             break;
         case 23:
             ui->label_1_az->setText(value.toString());
             break;
         default:
             break;
         }
     }
     else if(source == 2)
     {
         switch (pos) {
         case 1:
             ui->label_2_svn->setText(value.toString());
             break;
         case 2:
             ui->label_2_BIT->setText(value.toString());
             break;
         case 3:
             ui->label_2_AttitudeStatus->setText(value.toString());
             break;
         case 4:
             ui->label_2_HeadingStatus->setText(value.toString());
             break;
         case 5:
             ui->label_2_SpeedStatus->setText(value.toString());
             break;
         case 6:
             ui->label_2_PositionStatus->setText(value.toString());
             break;
         case 7:
             ui->label_2_System->setText(value.toString());
             break;
         case 8:
             ui->label_2_COM->setText(value.toString());
             break;
         case 9:
             ui->label_2_GPS->setText(value.toString());
             break;
         case 10:
             ui->label_2_lng->setText(value.toString());
             break;
         case 11:
             ui->label_2_lat->setText(value.toString());
             break;
         case 12:
             ui->label_2_alt->setText(value.toString());
             break;
         case 13:
             ui->label_2_gs->setText(value.toString());
             break;
         case 14:
             ui->label_2_rol->setText(value.toString());
             break;
         case 15:
             ui->label_2_pit->setText(value.toString());
             break;
         case 16:
             ui->label_2_yaw->setText(value.toString());
             break;
         case 17:
             ui->label_2_heading->setText(value.toString());
             break;
         case 18:
             ui->label_2_p->setText(value.toString());
             break;
         case 19:
             ui->label_2_q->setText(value.toString());
             break;
         case 20:
             ui->label_2_r->setText(value.toString());
             break;
         case 21:
             ui->label_2_ax->setText(value.toString());
             break;
         case 22:
             ui->label_2_ay->setText(value.toString());
             break;
         case 23:
             ui->label_2_az->setText(value.toString());
             break;
         default:
             break;
         }
     }
}

void Senser::setDAS(int source,int pos,QVariant value)
{
     if(source == 1)
     {
         switch (pos) {
         case 1:
             //ui->label_1_atteck->setText(value.toString());
             break;
         case 2:
             //ui->label_1_slide->setText(value.toString());
             break;
         case 3:
             ui->label_1_rel_alt->setText(value.toString());
             break;
         case 4:
             ui->label_1_cas->setText(value.toString());
             break;
         case 5:
             ui->label_1_tas->setText(value.toString());
             break;
         case 6:
             ui->label_1_ma->setText(value.toString());
             break;
         case 7:
             ui->label_1_dynamic->setText(value.toString());
             break;
         case 8:
             ui->label_1_static->setText(value.toString());
             break;
         default:
             break;
         }
     }
     else if(source == 2)
     {
         switch (pos) {
         case 1:
             //ui->label_2_atteck->setText(value.toString());
             break;
         case 2:
             //ui->label_2_slide->setText(value.toString());
             break;
         case 3:
             //ui->label_2_pre_alt->setText(value.toString());
             break;
         case 4:
             //ui->label_2_cas->setText(value.toString());
             break;
         case 5:
             //ui->label_2_tas->setText(value.toString());
             break;
         case 6:
             //ui->label_2_ma->setText(value.toString());
             break;
         case 7:
             ui->label_2_dynamic->setText(value.toString());
             break;
         case 8:
             ui->label_2_static->setText(value.toString());
             break;
         default:
             break;
         }
     }
}




void Senser::setINSState(int source,int pos,state value)
{
     if(source == 1)
     {
         switch (pos) {
         case 1:
             setColor(ui->label_1_svn,value);
             break;
         case 2:
             setColor(ui->label_1_BIT,value);
             break;
         case 3:
             setColor(ui->label_1_AttitudeStatus,value);
             break;
         case 4:
             setColor(ui->label_1_HeadingStatus,value);
             break;
         case 5:
             setColor(ui->label_1_SpeedStatus,value);
             break;
         case 6:
             setColor(ui->label_1_PositionStatus,value);
             break;
         case 7:
             setColor(ui->label_1_System,value);
             break;
         case 8:
             setColor(ui->label_1_COM,value);
             break;
         case 9:
             setColor(ui->label_1_GPS,value);
             break;
         case 10:
             setColor(ui->label_1_lng,value);
             break;
         case 11:
             setColor(ui->label_1_lat,value);
             break;
         case 12:
             setColor(ui->label_1_alt,value);
             break;
         case 13:
             setColor(ui->label_1_gs,value);
             break;
         case 14:
             setColor(ui->label_1_rol,value);
             break;
         case 15:
             setColor(ui->label_1_pit,value);
             break;
         case 16:
             setColor(ui->label_1_yaw,value);
             break;
         case 17:
             setColor(ui->label_1_heading,value);
             break;
         case 18:
             setColor(ui->label_1_p,value);
             break;
         case 19:
             setColor(ui->label_1_q,value);
             break;
         case 20:
             setColor(ui->label_1_r,value);
             break;
         case 21:
             setColor(ui->label_1_ax,value);
             break;
         case 22:
             setColor(ui->label_1_ay,value);
             break;
         case 23:
             setColor(ui->label_1_az,value);
             break;
         default:
             break;
         }
     }
     else if(source == 2)
     {
         switch (pos) {
         case 1:
             setColor(ui->label_2_svn,value);
             break;
         case 2:
             setColor(ui->label_2_BIT,value);
             break;
         case 3:
             setColor(ui->label_2_AttitudeStatus,value);
             break;
         case 4:
             setColor(ui->label_2_HeadingStatus,value);
             break;
         case 5:
             setColor(ui->label_2_SpeedStatus,value);
             break;
         case 6:
             setColor(ui->label_2_PositionStatus,value);
             break;
         case 7:
             setColor(ui->label_2_System,value);
             break;
         case 8:
             setColor(ui->label_2_COM,value);
             break;
         case 9:
             setColor(ui->label_2_GPS,value);
             break;
         case 10:
             setColor(ui->label_2_lng,value);
             break;
         case 11:
             setColor(ui->label_2_lat,value);
             break;
         case 12:
             setColor(ui->label_2_alt,value);
             break;
         case 13:
             setColor(ui->label_2_gs,value);
             break;
         case 14:
             setColor(ui->label_2_rol,value);
             break;
         case 15:
             setColor(ui->label_2_pit,value);
             break;
         case 16:
             setColor(ui->label_2_yaw,value);
             break;
         case 17:
             setColor(ui->label_2_heading,value);
             break;
         case 18:
             setColor(ui->label_2_p,value);
             break;
         case 19:
             setColor(ui->label_2_q,value);
             break;
         case 20:
             setColor(ui->label_2_r,value);
             break;
         case 21:
             setColor(ui->label_2_ax,value);
             break;
         case 22:
             setColor(ui->label_2_ay,value);
             break;
         case 23:
             setColor(ui->label_2_az,value);
             break;
         default:
             break;
         }
     }
}

//设置曲线

/*
 *
    attChart->setOperation(false);
    角度

    gyroChart->setOperation(false);
    角速度

    accChart->setOperation(false);
    加速度

    servoChart->setOperation(false);
    舵机指令和反馈

    altChart->setOperation(false);
    海拔

    speedChart->setOperation(false);
    速度


    ScopeRPM->setSerieData(tr("物理"),t->RPM_mea);
    ScopeRPM->setSerieData(tr("期望"),t->RPM_des);

 *
 *
 *
 */

void Senser::setAttChart(QString name,QVariant data,int index)
{
    if(attChart)
    attChart->setSerieData(name,data,index);
}

void Senser::setGyroChart(QString name,QVariant data, int index)
{
    if(gyroChart)
    gyroChart->setSerieData(name,data,index);
}

void Senser::setAccChart(QString name,QVariant data, int index)
{
    if(accChart)
    accChart->setSerieData(name,data,index);
}

void Senser::setServoChart(QString name,QVariant data, int index)
{
    if(servoChart)
    servoChart->setSerieData(name,data,index);
}

void Senser::setAltChart(QString name,QVariant data, int index)
{
    if(altChart)
    altChart->setSerieData(name,data,index);
}

void Senser::setSpeedChart(QString name,QVariant data, int index)
{
    if(speedChart)
    speedChart->setSerieData(name,data,index);
}