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

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

    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::failure);

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


    setCheckState(6,state::failure);
    setCheckState(7,state::failure);
    setCheckState(8,state::failure);
    setCheckState(9,state::failure);
    setCheckState(10,state::failure);
    setCheckState(11,state::failure);


    Config *cfg = new Config();

    QVariant la;
    QVariant ra;
    QVariant le;
    QVariant re;
    QVariant ru;

    cfg->getServoOffset(&la,&ra,&le,&re,&ru);


    m_la = la.toFloat();
    m_ra = ra.toFloat();
    m_le = le.toFloat();
    m_re = re.toFloat();
    m_ru = ru.toFloat();

}

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


void ServoSystem::setBUMState(mavlink_bmustate_t *t)
{
     ui->label_temp_28->setText(QString::number((int16_t)t->BAT1_low_temp_degC)+ "/" + QString::number((int16_t)t->BAT1_hi_temp_degC));
     ui->label_temp_56->setText(QString::number((int16_t)t->BAT2_low_temp_degC)+ "/" + QString::number((int16_t)t->BAT2_hi_temp_degC));

     ui->label_onBoard_28V_Voltage->setText(QString::number(t->BAT1_group_voltage_mv * 0.001,'f',1));
     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;
    case 6:
        setColor(ui->checkBox_5525D,(value.toBool())?(state::success):(state::failure));
        break;
    case 7:
        setColor(ui->checkBox_5803A,(value.toBool())?(state::success):(state::failure));
        break;
    case 8:
        setColor(ui->checkBox_5607A,(value.toBool())?(state::success):(state::failure));
        break;
    case 9:
        setColor(ui->checkBox_4525D,(value.toBool())?(state::success):(state::failure));
        break;
    case 10:
        setColor(ui->checkBox_atteck,(value.toBool())?(state::success):(state::failure));
        break;
    case 11:
        setColor(ui->checkBox_slide,(value.toBool())?(state::success):(state::failure));
        break;
    }
}

void ServoSystem::setServoState(mavlink_servo_output_raw_t t)
{



}