#include "CommandBox.h"
#include "ui_CommandBox.h"

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

    m_parent = parent;

    ui->comboBox_Full->addItem("基准档",0x85);
    ui->comboBox_Full->addItem("1档",0x16);
    ui->comboBox_Full->addItem("2档",0x26);
    ui->comboBox_Full->addItem("3档",0x36);
    ui->comboBox_Full->addItem("4档",0x46);
    ui->comboBox_Full->addItem("5档",0x56);
    ui->comboBox_Full->addItem("6档",0x66);
    ui->comboBox_Full->addItem("7档",0x76);
    ui->comboBox_Full->addItem("8档",0x86);
    ui->comboBox_Full->addItem("9档",0x96);
    ui->comboBox_Full->setCurrentIndex(0);


    ui->comboBox_Half->addItem("基准档",0x75);
    ui->comboBox_Half->addItem("1档",0x1c);
    ui->comboBox_Half->addItem("2档",0x2c);
    ui->comboBox_Half->addItem("3档",0x3c);
    ui->comboBox_Half->addItem("4档",0x4c);
    ui->comboBox_Half->addItem("5档",0x5c);
    ui->comboBox_Half->addItem("6档",0x6c);
    ui->comboBox_Half->addItem("7档",0x7c);
    ui->comboBox_Half->addItem("8档",0x8c);
    ui->comboBox_Half->addItem("9档",0x9c);
    ui->comboBox_Half->setCurrentIndex(0);

    ui->comboBox_rate->addItem("10000",10000);
    ui->comboBox_rate->addItem("15000",15000);
    ui->comboBox_rate->addItem("20000",20000);
    ui->comboBox_rate->addItem("25000",25000);
    ui->comboBox_rate->addItem("30000",30000);
    ui->comboBox_rate->addItem("35000",35000);
    ui->comboBox_rate->addItem("40000",40000);
    ui->comboBox_rate->addItem("46000",46000);
    ui->comboBox_rate->setEditable(true);
    ui->comboBox_rate->setCurrentIndex(-1);


    ui->comboBox_TestPoint->addItem("核心机主燃油泵",0x19);
    ui->comboBox_TestPoint->addItem("加力主燃油泵",0x29);
    ui->comboBox_TestPoint->addItem("加力点火燃油泵",0x49);
    ui->comboBox_TestPoint->addItem("尾喷口舵机",0x79);
    ui->comboBox_TestPoint->addItem("点火器",0x89);
    ui->comboBox_TestPoint->addItem("起动控制1",0xb9);
    ui->comboBox_TestPoint->addItem("起动控制2",0xd9);
    ui->comboBox_TestPoint->addItem("核心机点火油阀",0x1a);
    ui->comboBox_TestPoint->addItem("核心机优先油阀",0x2a);
    ui->comboBox_TestPoint->addItem("核心机轻吹油阀",0x4a);
    ui->comboBox_TestPoint->addItem("核心机起动气阀",0x7a);
    ui->comboBox_TestPoint->addItem("核心机主油阀",0x8a);
    ui->comboBox_TestPoint->addItem("加力主油阀",0xba);
    ui->comboBox_TestPoint->addItem("加力轻吹阀",0xda);
    ui->comboBox_TestPoint->addItem("加力点火快速阀",0xea);
    ui->comboBox_TestPoint->addItem("手动转速控制",0xd5);
    ui->comboBox_TestPoint->setCurrentIndex(-1);

    ui->comboBox_TestValue->show();
    ui->comboBox_TestValue->setCurrentIndex(-1);


    //use_ext_ins参数名称
    ui->comboBox_IMU->addItem("内置惯导",0x00);
    ui->comboBox_IMU->addItem("SBG",0x01);
    ui->comboBox_IMU->setCurrentIndex(0);

    ui->comboBox_ServoType->addItem("左副翼",0x01);
    ui->comboBox_ServoType->addItem("右副翼",0x02);
    ui->comboBox_ServoType->addItem("左升降",0x03);
    ui->comboBox_ServoType->addItem("右升降",0x04);
    ui->comboBox_ServoType->addItem("方向舵",0x05);
    ui->comboBox_ServoType->setCurrentIndex(0);



}

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



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

void CommandBox::contextMenuEvent(QContextMenuEvent *event)
{
    if(floatflag)
    {
        QMenu *menu = new QMenu(this);

        QAction *pAction = new QAction("float",this);

        connect(pAction,SIGNAL(triggered(bool)),
                this,SLOT(setFloat()));

         menu->addAction(pAction);
         menu->move(cursor().pos());
         menu->show();
    }
}


void CommandBox::setFloat(void)
{
    if(floatflag)
        {
        if(this->parent())
        {
            this->setParent(nullptr);
            this->show();
        }
        else
        {
            this->setParent(m_parent);
            this->move(0,0);
            this->hide();
        }

    }
}

void CommandBox::setFloatFlag(bool flag)
{
    floatflag = flag;
}

void CommandBox::commandAccepted(bool flag,uint16_t command,uint8_t result)
{
    bool isFundSender = false;
    QString string;
    //找到消息的发送者



    QObjectList list = ui->frame->children();



    //qDebug() << CommandBox.findChildren();

    if(command == m_command)
    {
        /*
        foreach (QObject *obj, list)
        {
            QPushButton *btn = qobject_cast<QPushButton *>(obj);
            if(btn)
            {
                QString btn_name = btn->text();
                qDebug() << btn_name << m_name;
                if(btn_name.contains(m_name))//查到正在等待回复的按键
                {
                    isFundSender = true;
                     */

                    switch (result) {
                    case MAV_RESULT_ACCEPTED:
                        string.append(tr("%1,%2 accepted and executed").arg(command).arg(m_name));
                        break;
                    case MAV_RESULT_TEMPORARILY_REJECTED:
                        string.append(tr("%1,%2 rejected").arg(command).arg(m_name));
                        break;
                    case MAV_RESULT_DENIED:
                        string.append(tr("%1,%2 permanently denied").arg(command).arg(m_name));
                        break;
                    case MAV_RESULT_UNSUPPORTED:
                        string.append(tr("%1,%2 unsupported").arg(command).arg(m_name));
                        break;
                    case MAV_RESULT_FAILED:
                        string.append(tr("%1,%2 failed").arg(command).arg(m_name));
                        break;
                    case MAV_RESULT_IN_PROGRESS:
                        string.append(tr("%1,%2 being executed").arg(command).arg(m_name));
                        break;
                    default:
                        break;
                    }

                    //btn->style()->unpolish(btn);
                    //btn->style()->polish(btn);
               // }
            //}
        //}

    }



    /*
    if(isFundSender == false)
    {
            switch (result) {
            case MAV_RESULT_ACCEPTED:
                string.append(tr("%1 accepted and executed").arg(command));
                break;
            case MAV_RESULT_TEMPORARILY_REJECTED:
                string.append(tr("%1 rejected").arg(command));
                break;
            case MAV_RESULT_DENIED:
                string.append(tr("%1 permanently denied").arg(command));
                break;
            case MAV_RESULT_UNSUPPORTED:
                string.append(tr("%1 unsupported").arg(command));
                break;
            case MAV_RESULT_FAILED:
                string.append(tr("%1 failed").arg(command));
                break;
            case MAV_RESULT_IN_PROGRESS:
                string.append(tr("%1 being executed").arg(command));
                break;
            default:
                break;
            }
    }
    */


    if(string.size() > 0)
    {
        QTextToSpeech *tts = new QTextToSpeech();
        tts->say(string);
        tts->deleteLater();
        emit showMessage(string);
    }
}


void CommandBox::on_comboBox_TestPoint_currentIndexChanged(int index)
{

    switch (index) {
    case 0:
    case 1:
    case 2:
    case 3:
    case 15:
        ui->label_TestValue->show();
        ui->label_TestValue->setText("转速");

        ui->comboBox_TestValue->show();
        ui->comboBox_TestValue->clear();
        ui->comboBox_TestValue->addItem("10000",10000);
        ui->comboBox_TestValue->addItem("15000",15000);
        ui->comboBox_TestValue->addItem("20000",20000);
        ui->comboBox_TestValue->addItem("25000",25000);
        ui->comboBox_TestValue->addItem("30000",30000);
        ui->comboBox_TestValue->addItem("35000",35000);
        ui->comboBox_TestValue->addItem("40000",40000);
        if(index != 3)
        {
            ui->comboBox_TestValue->addItem("45000",45000);
        }
        ui->comboBox_TestValue->setCurrentIndex(0);

        break;

    case 5:
    case 6:
    case 7:
    case 8:
    case 9:
    case 10:
    case 11:
    case 12:
    case 13:
    case 14:
        ui->label_TestValue->show();
        ui->label_TestValue->setText("电平");

        ui->comboBox_TestValue->show();
        ui->comboBox_TestValue->clear();
        ui->comboBox_TestValue->addItem("低电平",0);
        ui->comboBox_TestValue->addItem("高电平",1);
        ui->comboBox_TestValue->setEditable(true);
        ui->comboBox_TestValue->setCurrentIndex(1);

        break;

    case 4:
        ui->label_TestValue->hide();
        ui->comboBox_TestValue->hide();
        break;


    }
}

//二次确认
void CommandBox::setSecondConfirm(QVariant value)
{
     if(value.toBool() == true)
     {
         emit cmd_long(m_param1,m_param2,m_param3,m_param4,m_param5,m_param6,m_param7,m_command,m_confirm);
     }
     else
     {
         m_param1 = 0;
         m_param2 = 0;
         m_param3 = 0;
         m_param4 = 0;
         m_param5 = 0;
         m_param6 = 0;
         m_param7 = 0;
         m_command = 0;
         m_confirm = 0;
     }
}

void CommandBox::on_pushButton_SendCommand_clicked()
{
    if(cmdType == 0)
    {
         emit showMessage(tr("发送指令 ") + m_name + " " + QString::number(m_command),5000);
         emit cmd_long(m_param1,m_param2,m_param3,m_param4,m_param5,m_param6,m_param7,m_command,m_confirm);
    }
    else if(cmdType == 1)
    {
         emit showMessage(tr("修改参数 ") + " " + ui->comboBox_IMU->itemText(m_value),5000);
         emit WriteCmd(m_sysid,m_compid,m_id.toLatin1().data(),m_type,m_value);
        qDebug() << m_type << m_value;
    }


}

void CommandBox::on_pushButton_Cancel_clicked()
{
        m_param1 = 0;
        m_param2 = 0;
        m_param3 = 0;
        m_param4 = 0;
        m_param5 = 0;
        m_param6 = 0;
        m_param7 = 0;
        m_command = 0;
        m_confirm = 0;
}


void CommandBox::on_commandClicked(QString name,
                                   float param1,float param2,float param3,float param4,
                                   float param5,float param6,float param7,
                                   uint16_t command,uint8_t confirmation)
{

      m_name    = name;
      m_param1  = param1;
      m_param2  = param2;
      m_param3  = param3;
      m_param4  = param4;
      m_param5  = param5;
      m_param6  = param6;
      m_param7  = param7;
      m_command = command;
      m_confirm = confirmation;

       ui->lineEdit_CommandName->setText(name);

       cmdType = 0;
 }

void CommandBox::on_paramClicked(uint8_t sysid, uint8_t compid , QString id, uint8_t type, float value)
{

    m_sysid = sysid;
    m_compid = compid;
    m_id = id;
    m_type = type;
    m_value = value;

    ui->lineEdit_CommandName->setText(id + " " + QString::number(value));

    cmdType = 1;
 }


//测试指令
void CommandBox::on_pushButton_SendTest_clicked()
{
    //判断 两个 内容是否是空，

    float testPoint = 0;
    float testValue = 0;

    if(!ui->comboBox_TestValue->isHidden())//如果显示
    {
        testPoint = ui->comboBox_TestPoint->currentData(Qt::UserRole).toFloat();
        testValue = ui->comboBox_TestValue->currentData(Qt::UserRole).toFloat();

        if((ui->comboBox_TestPoint->currentIndex() != -1)&&(ui->comboBox_TestValue->currentIndex() != -1))
        {
            on_commandClicked(ui->comboBox_TestPoint->currentText() + " " + ui->comboBox_TestValue->currentText() ,
                              103,testPoint,testValue,0,0,0,0,180,0);
        }
        else
        {
            QMessageBox *box = new QMessageBox(this);

            box->setWindowTitle(tr("警告"));
            box->setText(tr("请选择测试项和测试点"));
            box->show();
        }

    }
    else
    {
        if(ui->comboBox_TestPoint->currentIndex() != -1)
        {
        testPoint = ui->comboBox_TestPoint->currentData(Qt::UserRole).toFloat();
        on_commandClicked(ui->comboBox_TestPoint->currentText(),
                              103,testPoint,0,0,0,0,0,180,0);
        }
        else
        {
            QMessageBox *box = new QMessageBox(this);

            box->setWindowTitle(tr("警告"));
            box->setText(tr("请选择测试项和测试点"));
            box->show();
        }

    }



}



//伺服指令
void CommandBox::on_pushButton_AirHeatOn_clicked()
{
    on_commandClicked(ui->pushButton_AirHeatOn->text(),
                      105,1,0,0,0,0,0,180,0);
}

void CommandBox::on_pushButton_AirHeatOff_clicked()
{
    on_commandClicked(ui->pushButton_AirHeatOff->text(),
                      105,0,0,0,0,0,0,180,0);
}


//舵机指令
void CommandBox::on_pushButton_Servo_Check_clicked()
{
    on_commandClicked(ui->pushButton_Servo_Check->text(),
                      1,0,0,0,0,0,0,20004,0);
}

void CommandBox::on_pushButton_Servo_Read_clicked()
{
    on_commandClicked(ui->pushButton_Servo_Read->text(),
                      2,0,0,0,0,0,0,20004,0);
}

void CommandBox::on_pushButton_Servo_Zero_clicked()
{
    on_commandClicked(ui->pushButton_Servo_Zero->text(),
                      3,0,0,0,0,0,0,20004,0);
}

void CommandBox::on_pushButton_Servo_Work_clicked()
{
    on_commandClicked(ui->pushButton_Servo_Work->text(),
                      4,0,0,0,0,0,0,20004,0);
}


void CommandBox::on_pushButton_coldrun_clicked()
{
    on_commandClicked(ui->pushButton_coldrun->text(),
                      103,0x13,0,0,0,0,0,180,0);
}

void CommandBox::on_pushButton_groundstartup_clicked()
{
    on_commandClicked(ui->pushButton_groundstartup->text(),
                      103,0x15,0,0,0,0,0,180,0);
}

void CommandBox::on_pushButton_Afterburner_off_clicked()
{
    on_commandClicked(ui->pushButton_Afterburner_off->text(),
                      103,0xb5,0,0,0,0,0,180,0);
}

void CommandBox::on_pushButton_stop_clicked()
{
    on_commandClicked(ui->pushButton_stop->text(),
                      103,0x43,0,0,0,0,0,180,0);
}

void CommandBox::on_pushButton_EmergencyStop_clicked()
{
    on_commandClicked(ui->pushButton_EmergencyStop->text(),
                      103,0x73,0,0,0,0,0,180,0);
}

void CommandBox::on_pushButton_Afterburner_on_clicked()
{
    //根据档位选择
    float Level = ui->comboBox_Full->currentData(Qt::UserRole).toFloat();

    on_commandClicked(ui->pushButton_Afterburner_on->text() + " " + ui->comboBox_Full->currentText(),
                      103,0x85,Level,0,0,0,0,180,0);
}

void CommandBox::on_pushButton_Afterburner_half_clicked()
{
    float Level = ui->comboBox_Half->currentData(Qt::UserRole).toFloat();

    on_commandClicked(ui->pushButton_Afterburner_half->text() + " " + ui->comboBox_Half->currentText(),
                      103,0x75,Level,0,0,0,0,180,0);
}

void CommandBox::on_pushButton_setRPM_clicked()
{
    if(ui->comboBox_rate->currentIndex() != -1)
    {
        float rpm = ui->comboBox_rate->currentData(Qt::UserRole).toFloat();

        on_commandClicked(ui->pushButton_setRPM->text() + " " + ui->comboBox_rate->currentText(),
                          103,0x45,rpm,0,0,0,0,180,0);
    }
    else
    {
        QMessageBox *box = new QMessageBox(this);

        box->setWindowTitle(tr("警告"));
        box->setText(tr("请设定给定转速"));
        box->show();
    }
}



void CommandBox::on_pushButton_IMU_clicked()
{
    if((ui->comboBox_IMU->currentIndex() != -1)&&(ui->comboBox_sys->currentIndex() != -1))
    {

        uint8_t value = ui->comboBox_IMU->currentData(Qt::UserRole).toInt();
        uint8_t sysid = ui->comboBox_sys->currentData(Qt::UserRole).toInt();
        uint8_t compid = 1;
        QString id;
        uint8_t type = MAV_PARAM_TYPE_UINT8;

        id.clear();
        id.append("use_ext_ins");

        on_paramClicked(sysid,compid,id,type,value);

    }
    else
    {
        QMessageBox *box = new QMessageBox(this);

        box->setWindowTitle(tr("警告"));
        box->setText(tr("请设定目标"));
        box->show();
    }
}


void CommandBox::addVehicles(int sysid, int compid)
{
    Q_UNUSED(compid)

    if(ui->comboBox_sys->findData(sysid) == -1)
    {
        ui->comboBox_sys->addItem(QString::number(sysid),sysid);
    }
}

void CommandBox::on_pushButton_ServoSet_clicked()
{
    float ra = 0;
    float la = 0;
    float ru = 0;
    float re = 0;
    float le = 0;

    if(ui->comboBox_ServoType->currentIndex() != -1)
    {
        switch(ui->comboBox_ServoType->currentData(Qt::UserRole).toInt())
        {
            case 1:
             {
                la = ui->spinBox_Servo->value();
             }break;
            case 2:
             {
                ra = ui->spinBox_Servo->value();
             }break;
            case 3:
             {
                le = ui->spinBox_Servo->value();
             }break;
            case 4:
             {
                re = ui->spinBox_Servo->value();
             }break;
            case 5:
             {
                ru = ui->spinBox_Servo->value();
             }break;
        }


        on_commandClicked(tr("设定舵机 %1").arg(ui->spinBox_Servo->value()),
                          106,ra,re,ru,la,le,0,180,0);

        qDebug() << ra << re << ru << la << le;

    }
    else
    {
        QMessageBox *box = new QMessageBox(this);

        box->setWindowTitle(tr("警告"));
        box->setText(tr("请设定"));
        box->show();
    }
}