#include "ServoSystem.h"
#include "ui_ServoSystem.h"

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

    setWindowTitle(tr("ServoSyste"));

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

    //========
    setColor(ui->checkBox_onBoard,state::success);
    setColor(ui->checkBox_28v,state::success);
    setColor(ui->checkBox_56v,state::success);
    setColor(ui->checkBox_AirSpeed,state::success);
    setColor(ui->checkBox_500W,state::success);

    //setColor(ui->label_LE_SBIT,state::failure);





}

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


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

void ServoSystem::contextMenuEvent(QContextMenuEvent *event)
{
    /*
    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 ServoSystem::setFloat(void)
{
    if(this->parent())
    {
        this->setParent(nullptr);
        this->show();
    }
    else
    {
        this->setParent(m_parent);
        this->move(0,0);
        this->hide();
    }
    //
}

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

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

void ServoSystem::setBUMState(mavlink_bmustate_t *t)
{
     ui->label_temp->setText(QString::number(t->BAT1_hi_temp_degC) + "℃");

     ui->label_onBoard_28V_Voltage->setText(QString::number(t->BAT1_group_voltage_mv * 0.001,'f',1) + "V");
     ui->label_onBoard_28V_Current->setText(QString::number((float)((int16_t)t->BAT1_group_current_dA) *0.1f,'f',1));

     ui->label_onBoard_56V_Voltage->setText(QString::number(t->BAT2_group_voltage_mv * 0.001,'f',1));
     ui->label_onBoard_56V_Current->setText(QString::number((float)((int16_t)t->BAT2_group_current_dA) *0.1f,'f',1));


     ui->label_28V_percent->setText(QString::number((float)(t->BAT1_remain_perc *0.1f),'f',1));
     ui->label_56V_percent->setText(QString::number((float)(t->BAT2_remain_perc *0.1f),'f',1));

}

void ServoSystem::setCheckState(uint32_t pos,QVariant value)
{
    switch (pos) {
    case 1:
        setColor(ui->checkBox_onBoard,(value.toBool())?(state::success):(state::failure));
        break;
    case 2:
        setColor(ui->checkBox_28v,(value.toBool())?(state::success):(state::failure));
        break;
    case 3:
        setColor(ui->checkBox_56v,(value.toBool())?(state::success):(state::failure));
        break;
    case 4:
        setColor(ui->checkBox_AirSpeed,(value.toBool())?(state::success):(state::failure));
        break;
    case 5:
        setColor(ui->checkBox_500W,(value.toBool())?(state::success):(state::failure));
        break;

    }

}

void ServoSystem::setServoState(mavlink_servo_output_raw_t *t)
{
     ui->label_rud_curr->setText(QString::number(((int16_t)t->servo13_raw)/32767.0 * 35.0,'f',2));
     ui->label_ele_l_curr->setText(QString::number(((int16_t)t->servo15_raw)/32767.0 * 35.0,'f',2));
     ui->label_ele_r_curr->setText(QString::number(((int16_t)t->servo12_raw)/32767.0 * 35.0,'f',2));
     ui->label_ail_l_curr->setText(QString::number(((int16_t)t->servo14_raw)/32767.0 * 35.0,'f',2));
     ui->label_ail_r_curr->setText(QString::number(((int16_t)t->servo11_raw)/32767.0 * 35.0,'f',2));

     ui->label_rud_cmd->setText(QString::number(((int16_t)t->servo3_raw)/32767.0 * 35.0,'f',2));
     ui->label_ele_l_cmd->setText(QString::number(((int16_t)t->servo1_raw)/32767.0 * 35.0,'f',2));
     ui->label_ele_r_cmd->setText(QString::number(((int16_t)t->servo2_raw)/32767.0 * 35.0,'f',2));
     ui->label_ail_l_cmd->setText(QString::number(((int16_t)t->servo4_raw)/32767.0 * 35.0,'f',2));
     ui->label_ail_r_cmd->setText(QString::number(((int16_t)t->servo5_raw)/32767.0 * 35.0,'f',2));

     /*
     sbus = feedback (ra)
     sbus = feedback (re)
     sbus = feedback (ru)
     sbus = feedback (la)
     15 sbus = feedback (le)
     health = 0 ra000 re000 ru000 la000 le000
                                GBIT zero SBIT
                                */

     uint16_t health = t->servo16_raw;

     //qDebug() << health;

     setColor(ui->label_LE_SBIT,((health&0x0001) > 0)?(state::success):(state::failure));
     setColor(ui->label_LE_ZERO,((health&0x0002) > 0)?(state::success):(state::failure));
     setColor(ui->label_LE_GBIT,((health&0x0004) > 0)?(state::success):(state::failure));

     setColor(ui->label_LA_SBIT,((health&0x0008) > 0)?(state::success):(state::failure));
     setColor(ui->label_LA_ZERO,((health&0x0010) > 0)?(state::success):(state::failure));
     setColor(ui->label_LA_GBIT,((health&0x0020) > 0)?(state::success):(state::failure));

     setColor(ui->label_RU_SBIT,((health&0x0040) > 0)?(state::success):(state::failure));
     setColor(ui->label_RU_ZERO,((health&0x0080) > 0)?(state::success):(state::failure));
     setColor(ui->label_RU_GBIT,((health&0x0100) > 0)?(state::success):(state::failure));

     setColor(ui->label_RE_SBIT,((health&0x0200) > 0)?(state::success):(state::failure));
     setColor(ui->label_RE_ZERO,((health&0x0400) > 0)?(state::success):(state::failure));
     setColor(ui->label_RE_GBIT,((health&0x0800) > 0)?(state::success):(state::failure));

     setColor(ui->label_RA_SBIT,((health&0x1000) > 0)?(state::success):(state::failure));
     setColor(ui->label_RA_ZERO,((health&0x2000) > 0)?(state::success):(state::failure));
     setColor(ui->label_RA_GBIT,((health&0x4000) > 0)?(state::success):(state::failure));

}