#include "ParameterInspector.h"
#include "ui_ParameterInspector.h"

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

    //检测文件夹,如果不存在，那么就新建一个，这里存着所有的qml文件
    QDir *Dir = new QDir;
    if(!Dir->exists("./parameters"))
    Dir->mkdir("./params");//如果文件夹不存在就新建

    setWindowTitle(tr("ParameterInspector"));
    // Set up the column headers for the message listing
    QStringList header;
    header << tr("Name");
    header << tr("Value");
    header << tr("Type");
    ui->treeWidget->setHeaderLabels(header);

    ui->treeWidget->header()->resizeSection(0,400);
    ui->treeWidget->header()->resizeSection(1,150);
    ui->treeWidget->header()->resizeSection(2,50);

    ui->CancelpushButton->setEnabled(false);
    ui->pushButton_id->setEnabled(false);
    ui->pushButton_value->setEnabled(false);
    ui->WriteButton->setEnabled(false);

    TimerRunningFlag = true;

    flushTimer = new QTimer(this);
    connect(flushTimer,SIGNAL(timeout()),
            this,SLOT(mReflush()));
    flushTimer->start(50);
}

ParameterInspector::~ParameterInspector()
{
    TimerRunningFlag = false;

    //clear 那些消息

    delete ui;
}


void ParameterInspector::keyPressEvent(QKeyEvent *event)   //键盘按下事件
{
    qDebug() << "keyPressEvent" << event;
}
void ParameterInspector::keyReleaseEvent(QKeyEvent *event) //键盘松开事件
{
    switch (event->key()) {
    case Qt::Key_Backspace:
        fineItem = fineItem.mid(0,fineItem.size() - 1);
        break;
    case Qt::Key_Delete:
        fineItem = fineItem.mid(0,fineItem.size() - 1);
        break;
    default:
        fineItem.append(event->text());
        break;
    }


    qDebug() << fineItem;
    QTreeWidgetItemIterator I(ui->treeWidget);

    //while(*Item)
    if(*I)
    {
        QTreeWidgetItem *item = *I;
        if(!item->parent())
        {
            qDebug() << "orphan" ;
            //找到最顶的项
            QList<QTreeWidgetItem *> childList = item->takeChildren();
            for(QTreeWidgetItem * child:childList)
            {
                qDebug() << child->text(0);
            }
        }
    }

    //QTreeWidgetItem *item;

    //item = ui->treeWidget

    //parentItem = item->parent()->data(0,Qt::DisplayRole).toString();

    //currentSelectType = param_gettype(item->data(2,Qt::DisplayRole));

    //触发一次查询
}


void ParameterInspector::mReflush()
{
   if(isReflush == true)
   {
       isReflush = false;

       ui->progressBar->setValue(currentpersent);

       refreshView();
   }
}



void ParameterInspector::resizeEvent(QResizeEvent * event)
{
    Q_UNUSED(event);

    ui->treeWidget->header()->resizeSection(0,ui->treeWidget->width() * 0.5);
    ui->treeWidget->header()->resizeSection(1,ui->treeWidget->width() * 0.20);
    ui->treeWidget->header()->resizeSection(2,ui->treeWidget->width() * 0.20);

}


//添加一个设备，
void ParameterInspector::addVehicles(int sysid, int compid)
{
    Q_UNUSED(compid)

    if(!vehicles.keys().contains(sysid))
    {
        //如果还没有这个设备，就添加一个
        QMap<int, mavlink_param_value_t> param;
        vehicles.insert(sysid,param);

        ui->pushButton_system->setText(tr("Vehicle %1").arg(sysid));

        //发送一次读取
        uint8_t m_type = 0;
        emit ReadCmd(sysid,compid,m_type);

    }
}

//直接接受整个msg，这个函数传来的只有param_value这一帧，因此不需要识别
void ParameterInspector::appendParameter(mavlink_message_t msg)
{
    //查找这个消息归属的设备和部件


    if(!vehicles.keys().contains(msg.sysid))
    {
        //如果还没有这个设备，就添加一个
        QMap<int, mavlink_param_value_t> param;
        vehicles.insert(msg.sysid,param);
    }

    //解码
    mavlink_param_value_t param_value;//
    mavlink_msg_param_value_decode(&msg,&param_value);


    //如果当前是航点0，那么设置状态条
    if(param_value.param_index == 0)
    {
        isNew = true;
        ui->progressBar->setMaximum(0);
        ui->progressBar->setMaximum(param_value.param_count - 1);
    }


    if(isNew)
    {
        currentpersent = param_value.param_index;
    }


    if(param_value.param_index == (param_value.param_count - 1))
    {
        isNew = false;
    }


    //这里可能有bug,程序会死机
    //ui->progressBar->setValue((int)param_value.param_index);



    //检查是否包含了该参数，如果没有，那么添加
    QMap<int, mavlink_param_value_t> ParameterStorage;
    ParameterStorage = vehicles.value(msg.sysid);

    ParameterStorage.insert(param_value.param_index,param_value);
    vehicles.insert(msg.sysid,ParameterStorage);

    //需要刷新一次

    isReflush = true;
}

void ParameterInspector::refreshView()//来一个参数更新一次
{
    QMap<int,QMap<int,mavlink_param_value_t>>::iterator ite;

    for(ite=vehicles.begin(); ite!=vehicles.end();++ite)//每一个key下面都是一个设备的所有参数
    {
        //查找参数的index
        QMap<int,mavlink_param_value_t> params = ite.value();//得到所有参数item
        QMap<int,mavlink_param_value_t>::iterator param_ite;


        QMap<int, QTreeWidgetItem* > widgetitems;//获取单独一个设备的参数显示条
        widgetitems = uasParamTreeItems.value(ite.key());

        for(param_ite=params.begin(); param_ite!=params.end();++param_ite)//历遍每一个参数
        {
             mavlink_param_value_t param = param_ite.value();//每一个value
             QString paraName = param_id(param.param_id); //得到名称

             //qDebug() << paraName;//ok

             //查找这个value是不是已经存，存在更新，不存在则建立
             bool paramFound = false;

             foreach (QTreeWidgetItem* Item, widgetitems.values()) {
                 if(Item->data(0,Qt::DisplayRole) == param_id(param.param_id))
                 {
                     //这个设备已经存在
                     paramFound = true;
                     //更新该参数
                     Item->setData(1,Qt::DisplayRole,param_value(param));
                     widgetitems.insert(param.param_index,Item);
                 }
             }

             if(!paramFound)//没有找到
             {
                 //没有找到，新建一个组
                 QTreeWidgetItem* paraItem = new QTreeWidgetItem();
                 paraItem->setData(0,Qt::DisplayRole,param_id(param.param_id));
                 paraItem->setData(1,Qt::DisplayRole,param_value(param));
                 paraItem->setData(2,Qt::DisplayRole,param_type(param));
                 widgetitems.insert(param.param_index,paraItem);
             }
        }

        uasParamTreeItems.insert(ite.key(),widgetitems);//保存一整个设备的参数



        //得到一个vehicle
        bool VehicleFound = false;
        foreach (QTreeWidgetItem* Item, uasTopLevelItems.values()) {
            if(Item->data(0,Qt::DisplayRole) == tr("Vehicle %1").arg(ite.key()))
            {
                //这个设备已经存在
                VehicleFound = true;
                //存在测更新
                Item->addChildren(uasParamTreeItems.value(ite.key()).values());
                uasTopLevelItems.insert(ite.key(),Item);
            }
        }

        if(!VehicleFound)//没有找到
        {
            //没有找到，新建一个组
            QTreeWidgetItem* TopItem = new QTreeWidgetItem();
            TopItem->setData(0,Qt::DisplayRole,tr("Vehicle %1").arg(ite.key()));

            TopItem->addChildren(uasParamTreeItems.value(ite.key()).values());

            uasTopLevelItems.insert(ite.key(),TopItem);
        }

       ui->treeWidget->addTopLevelItems(uasTopLevelItems.values());

       ui->treeWidget->expandAll();
       if(isNew)
       {
            ui->treeWidget->scrollToBottom();
       }
    }
}


void ParameterInspector::clearview(void)
{
    QMap<int, QMap<int, QTreeWidgetItem*>>::iterator ite;
    for (ite=uasParamTreeItems.begin(); ite!=uasParamTreeItems.end();++ite)
    {
        QMap<int, QTreeWidgetItem*> param_ite = ite.value();

        QList<int> groupKeys = param_ite.uniqueKeys();
        QList<int>::iterator listKeys;
        for (listKeys=groupKeys.begin();listKeys!=groupKeys.end();++listKeys)
        {
            delete param_ite.take(*listKeys);
        }
    }
    uasParamTreeItems.clear();

    QMap<int, QTreeWidgetItem* >::iterator iteTree;
    for(iteTree=uasTopLevelItems.begin(); iteTree!=uasTopLevelItems.end();++iteTree)
    {
        delete iteTree.value();
        iteTree.value() = NULL;
    }
    uasTopLevelItems.clear();


    QMap<int,QMap<int,mavlink_param_value_t>>::iterator vehicle_ite;//删除这个
    for (vehicle_ite=vehicles.begin(); vehicle_ite!=vehicles.end();++vehicle_ite)
    {

        vehicle_ite.value().clear();
        //delete vehicle_ite.value();
        //vehicle_ite.value() = NULL;
    }
    vehicles.clear();


    ui->treeWidget->clear();
}


QVariant ParameterInspector::param_value(mavlink_param_value_t param)
{
        QVariant value;

        switch (param.param_type)
        {
        case MAV_PARAM_TYPE_UINT8:
        {
            value = ((uint8_t *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_INT8:
        {
            value = ((int8_t *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_UINT16:
        {
            value = ((uint16_t *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_INT16:
        {
            value = ((int16_t *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_UINT32:
        {
            value = ((uint32_t *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_INT32:
        {
            value = ((int32_t *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_UINT64:
        {
#ifdef unix
            //value = ((ulong *)&param.param_value)[0];
#else
            value = ((uint64_t *)&param.param_value)[0];
#endif
        }break;
        case MAV_PARAM_TYPE_INT64:
        {
#ifdef unix
            //value = ((long *)&param.param_value)[0];
#else
            value = ((int64_t *)&param.param_value)[0];
#endif
        }break;
        case MAV_PARAM_TYPE_REAL32:
        {
            value = ((float *)&param.param_value)[0];
        }break;
        case MAV_PARAM_TYPE_REAL64:
        {
            value = ((double *)&param.param_value)[0];
        }break;
         default:
        {
            value = ((float *)&param.param_value)[0];
            //qDebug() << "Unsupported type " << param.param_type;
        }break;

        }

        return value;
}

float ParameterInspector::param_getvalue(QVariant param,uint8_t type)
{
        float value;
        union {
            uint8_t   u8[8];
            int8_t    i8[8];
            uint16_t  u16[4];
            int16_t   i16[4];
            uint32_t  u32[2];
            int32_t   i32[2];
            uint64_t  u64;
            int64_t   i64;
            float     f[2];
            double    d;
        }src;

        switch (type)
        {
        case MAV_PARAM_TYPE_UINT8:
        {
            src.u8[0] =  param.toUInt();
            ((uint8_t *)&value)[0] = src.u8[0];

        }break;
        case MAV_PARAM_TYPE_INT8:
        {
            src.i8[0] =  param.toUInt();
            ((int8_t *)&value)[0] = src.i8[0];
        }break;
        case MAV_PARAM_TYPE_UINT16:
        {
            src.u16[0] =  param.toUInt();
            ((uint16_t *)&value)[0] = src.u16[0];
        }break;
        case MAV_PARAM_TYPE_INT16:
        {
            src.i16[0] =  param.toUInt();
            ((int16_t *)&value)[0] = src.i16[0];
        }break;
        case MAV_PARAM_TYPE_UINT32:
        {
            src.u32[0] =  param.toUInt();
            ((uint32_t *)&value)[0] = (uint32_t)src.u32[0];
        }break;
        case MAV_PARAM_TYPE_INT32:
        {
            src.i32[0] =  param.toUInt();
            ((int32_t *)&value)[0] = (int32_t)src.i32[0];
        }break;
        case MAV_PARAM_TYPE_UINT64:
        {
            src.u64 =  param.toUInt();
            ((uint64_t *)&value)[0] = (uint64_t )src.u64;
        }break;
        case MAV_PARAM_TYPE_INT64:
        {
            src.i64 =  param.toUInt();
            ((int64_t *)&value)[0] = (int64_t)src.i64;
        }break;
        case MAV_PARAM_TYPE_REAL32:
        {
            src.f[0] =  param.toFloat();
            ((float *)&value)[0] = (float)src.f[0];
        }break;
        case MAV_PARAM_TYPE_REAL64:
        {
            src.d =  param.toDouble();
            ((double *)&value)[0]= (double)src.d;
        }break;
         default:
        {
            src.f[0] =  param.toFloat();
            ((float *)&value)[0] = (float)src.i32[0];
        }break;

        }

        return value;
}


QVariant ParameterInspector::param_type(mavlink_param_value_t param)
{
        QVariant value;

        switch (param.param_type)
        {
        case MAV_PARAM_TYPE_UINT8:
        {
            value = "uint8";
        }break;
        case MAV_PARAM_TYPE_INT8:
        {
            value = "int8";
        }break;
        case MAV_PARAM_TYPE_UINT16:
        {
            value = "uint16";
        }break;
        case MAV_PARAM_TYPE_INT16:
        {
            value = "int16";
        }break;
        case MAV_PARAM_TYPE_UINT32:
        {
            value = "uint32";
        }break;
        case MAV_PARAM_TYPE_INT32:
        {
            value = "int32";
        }break;
        case MAV_PARAM_TYPE_UINT64:
        {
            value = "uint64";
        }break;
        case MAV_PARAM_TYPE_INT64:
        {
            value = "int64";
        }break;
        case MAV_PARAM_TYPE_REAL32:
        {
            value = "float";
        }break;
        case MAV_PARAM_TYPE_REAL64:
        {
            value = "double";
        }break;
         default:
        {
            value = "unknow";
        }break;

        }

        return value;
}

uint8_t ParameterInspector::param_gettype(QVariant type)
{
        uint8_t value;

        if(type.toString() == "uint8")
        {
            value = MAV_PARAM_TYPE_UINT8;
        }
        else if(type.toString() == "int8")
        {
            value = MAV_PARAM_TYPE_INT8;
        }
        else if(type.toString() == "uint16")
        {
            value = MAV_PARAM_TYPE_UINT16;
        }
        else if(type.toString() == "int16")
        {
            value = MAV_PARAM_TYPE_INT16;
        }
        else if(type.toString() == "uint32")
        {
            value = MAV_PARAM_TYPE_UINT32;
        }
        else if(type.toString() == "int32")
        {
            value = MAV_PARAM_TYPE_INT32;
        }
        else if(type.toString() == "uint64")
        {
            value = MAV_PARAM_TYPE_UINT64;
        }
        else if(type.toString() == "int64")
        {
            value = MAV_PARAM_TYPE_INT64;
        }
        else if(type.toString() == "float")
        {
            value = MAV_PARAM_TYPE_REAL32;
        }
        else if(type.toString() == "double")
        {
            value = MAV_PARAM_TYPE_REAL64;
        }
        else if(type.toString() == "unknow")
        {
            value = 0;
        }

        return value;
}


//使用QString
char* ParameterInspector::param_id(char *id)//设置id,如果id小于16，那么能够找到/0，如果等于或者大于，那么会找不到，因此乱码
{
    //char str[17];
     uint8_t len = 0;
     while(len < 16)
     {
         if(id[len] != '\0')
         {
            //continue;
         }
         else
         {
             return id;
         }
         len++;
     }

     id[16] = '\0';
     return id;
}


void ParameterInspector::setsystem(QVariant vehicle)
{
    qDebug() << "set vehicle" << vehicle;
    ui->pushButton_system->setText(vehicle.toString());
}

void ParameterInspector::on_pushButton_system_clicked()
{
    if(!ui->pushButton_system->text().isEmpty())
    {
        Selector *selector = new Selector(this);
        selector->setGeometry(0,0,this->width(),this->height());

        QStringList list;
        list.clear();

        QMap<int,QMap<int,mavlink_param_value_t>>::iterator ite;

        for(ite=vehicles.begin(); ite!=vehicles.end();++ite)//每一个key下面都是一个设备的所有参数
        {
            list.append(tr("Vehicle %1").arg(ite.key()));
        }

        selector->setList(list,ui->pushButton_system->text());
        connect(selector,SIGNAL(confirmValue(QVariant)),
                this,SLOT(setsystem(QVariant)));

        selector->show();
    }
}


void ParameterInspector::setvalue(QVariant value)
{
    ui->pushButton_value->setText(value.toString());
}

void ParameterInspector::on_pushButton_value_clicked()
{
    Inputter *inputter = new Inputter(this);
    inputter->setGeometry(0,0,this->width(),this->height());

    inputter->setInitValue(ui->pushButton_value->text());
    connect(inputter,SIGNAL(confirmValue(QVariant)),
            this,SLOT(setvalue(QVariant)));

    inputter->show();
}



void ParameterInspector::on_ReadButton_clicked()
{
    uint8_t m_sysid = 0;
    uint8_t m_compid = 1;
    uint8_t m_type = 0;

    QString systemStr = ui->pushButton_system->text();
    int index = systemStr.indexOf(' ');

    QString selectid = ui->pushButton_system->text().mid(index);
    m_sysid = selectid.toInt();


    emit ReadCmd(m_sysid,m_compid,m_type);
}

QVariant ParameterInspector::getParameter(QVariant id)
{
    QVariant value;


    return value;
}

void ParameterInspector::on_treeWidget_itemDoubleClicked(QTreeWidgetItem *item, int column)
{
    if(item->parent())//不是根节点才可以把数据写入框内
    {
        ui->CancelpushButton->setEnabled(true);
        ui->pushButton_id->setEnabled(true);
        ui->pushButton_value->setEnabled(true);
        ui->WriteButton->setEnabled(true);

        ui->pushButton_id->setText(item->data(0,Qt::DisplayRole).toString());

        ui->pushButton_value->setText(QString::number(item->data(1,Qt::DisplayRole).toFloat()));

        parentItem = item->parent()->data(0,Qt::DisplayRole).toString();

        currentSelectType = param_gettype(item->data(2,Qt::DisplayRole));
    }
}

void ParameterInspector::on_clearButton_clicked()
{
    //清除所有的存储数据，包括显示
    clearview();

    //vehicles.clear();

}

void ParameterInspector::on_WriteButton_clicked()
{
    QString systemStr = parentItem;
    int index = systemStr.indexOf(' ');

    QString parentid = parentItem.mid(index);
    uint8_t sysid = parentid.toInt();

    float value = param_getvalue(ui->pushButton_value->text().toFloat(),currentSelectType);

    emit WriteCmd(sysid,1,ui->pushButton_id->text().toLatin1().data(),currentSelectType,value);

    //读取是哪设备，是哪个参数，然后发送出去
}

void ParameterInspector::on_CancelpushButton_clicked()
{
    ui->pushButton_id->setText(tr(""));
    ui->pushButton_value->setText(tr(""));

    ui->CancelpushButton->setEnabled(false);
    ui->pushButton_id->setEnabled(false);
    ui->pushButton_value->setEnabled(false);
    ui->WriteButton->setEnabled(false);
}

void ParameterInspector::on_pushButton_Save_clicked()
{
    QDateTime Time = QDateTime::currentDateTime();
    QString Vehicle = ui->pushButton_system->text();

    //读取当前的参数，并且保存到文件
    QFileDialog *dlg = new QFileDialog(this);
    QString fileName = dlg->getSaveFileName(this, tr("Save Parameter File..."),
                                            QString("./params/%1%2").arg(Vehicle).arg(Time.toString("yyyyMMddHHmmss")),
                                            tr("parameters file (*.params)"));
    if(!fileName.isEmpty())
    {
        ParamsEncode(fileName);
    }
}

void ParameterInspector::on_pushButton_Load_clicked()
{
    //载入参数，跟当前飞机内参数对比，不一样的就修改
    QFileDialog *dlg = new QFileDialog(this);

    QString fileName = dlg->getOpenFileName(this, tr("Selete Parameter File..."),
                                            "./params/",
                                            tr("parameters file (*.params)"));
    if(!fileName.isEmpty())
    {
        ParamsDecode(fileName);
    }
}

void ParameterInspector::ParamsEncode(QString fileName)
{
    QString Vehicle_Id;




    QByteArray ParamsString;

    ParamsString.append("# Onboard parameters for Vehicle %1\r\n");
    ParamsString.append("#\r\n");
    ParamsString.append("# Stack: MAVLink 通用\r\n");
    ParamsString.append("# Vehicle: VTOL\r\n");
    ParamsString.append("# Version: 1.4.1 dev\r\n");
    ParamsString.append("# Git Revision: \r\n");
    ParamsString.append("#\r\n");
    ParamsString.append("# Vehicle-Id Component-Id Name Value Type\r\n");

    //读取当前按键的设备号
    QTreeWidgetItem * p;
    int Count  = ui->treeWidget->topLevelItemCount();
    qDebug() << Count;

    for(int i = 0;i < Count; i++)
    {
       if(ui->treeWidget->topLevelItem(i)->text(0) == ui->pushButton_system->text())
       {
          p = ui->treeWidget->topLevelItem(i);
          //break;
       }
       qDebug() << i << Count;
    }

    //读取参数

    int childCount = p->childCount();
    for (int i = 0; i < childCount; i++)
    {
       QTreeWidgetItem *childItem = p->child(i);
       qDebug() << childItem->text(0) << childItem->text(1);

       ParamsString.append("1\t");
       ParamsString.append("1\t");
       ParamsString.append(childItem->text(0) + "\t");
       ParamsString.append(childItem->text(1) + "\t");
       ParamsString.append(QString::number(param_gettype(childItem->data(2,Qt::DisplayRole)),'f',0) + "\r\n");

    }

    //文件读写
    QFile file(fileName);
    if(!file.open(QIODevice::ReadWrite|QFile::Truncate)) {
        qDebug() << "File open error";
    }

    file.write(ParamsString);
    file.close();

}

void ParameterInspector::ParamsDecode(QString fileName)
{
    QString systemStr = parentItem;
    int index = systemStr.indexOf(' ');

    QString parentid = parentItem.mid(index);
    uint8_t sysid = parentid.toInt();

    QByteArray ParamsString;

    //文件读写
    QFile file(fileName);
    if(!file.open(QIODevice::ReadWrite| QIODevice::Text)) {
        qDebug() << "File open error";
    }

    ParamsString = file.readAll();
    file.close();

    //参数解析
    //解析每一行
    QByteArrayList LineList = ParamsString.split('\n');

    for(QByteArray item:LineList)
    {
        if(item.at(0) == '#')
        {
            LineList.removeAt(LineList.indexOf(item));
            continue;
        }
        else
        {
            break;
        }
    }


    for(QByteArray item:LineList)
    {
        QByteArrayList ItemList = item.split('\t');


        //问题为ItemList 没有数据导致指针出现问题

        if(ItemList.size() < 5)
        {
            qDebug() << ItemList.size();
            break;
        }


        mavlink_message_t msg;

        //解码
        mavlink_param_value_t param_value;//


        char *id = ItemList[2].data();

        memcpy(param_value.param_id,param_id(id),16);

        //param_value.param_id = param_id(id);


        param_value.param_count = LineList.size();
        param_value.param_index = LineList.indexOf(item);
        param_value.param_type  = ItemList.at(4).toInt();
        param_value.param_value = param_getvalue(ItemList.at(3).toFloat(),param_value.param_type);




        mavlink_msg_param_value_encode(ItemList.at(0).toInt(),ItemList.at(1).toInt(),&msg,&param_value);

        appendParameter(msg);

        qDebug() << param_value.param_id
                 << param_value.param_count
                 << param_value.param_index
                 << param_value.param_type
                 << ItemList.at(3)
                 << ItemList.size()
                 << ItemList[2].size();
    }
}