#include "MissionUI.h"
#include "ui_MissionUI.h"

MissionUI::MissionUI(QWidget *parent) :
    QWidget(parent),
    ui(new Ui::MissionUI)
{
    ui->setupUi(this);
    setWindowTitle(tr("Mission Table"));
    //setWindowFlags(windowFlags() & ~Qt::WindowStaysOnTopHint);
    //load qss

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

    ui->pushButton_load->setFixedSize(80,40);
    ui->pushButton_save->setFixedSize(80,40);
    ui->pushButton_upload->setFixedSize(80,40);
    ui->pushButton_download->setFixedSize(80,40);
    ui->pushButton_insert->setFixedSize(80,40);
    ui->pushButton_delete->setFixedSize(80,40);
    ui->pushButton_clean->setFixedSize(80,40);
    ui->pushButton_add->setFixedSize(80,40);


    tablelist.insert(1,ui->tableWidget_1);
    tablelist.insert(3,ui->tableWidget_3);
    tablelist.insert(4,ui->tableWidget_4);
    tablelist.insert(5,ui->tableWidget_5);
    tablelist.insert(6,ui->tableWidget_6);

    ui->tabWidget->setCurrentIndex(1);

    foreach (QTableWidget *table, tablelist) {
         if(table)
         {
             table->setColumnCount(9);                     //设置列数为7
             table->setGeometry(QRect(10,455,740,95));     //设置tableWidget的大小
             table->setSelectionBehavior(QAbstractItemView::SelectRows);//设置选中模式为选中行
             table->setSelectionMode ( QAbstractItemView::SingleSelection); //设置选择模式，选择单行
             table->setAlternatingRowColors(true);
             table->setEditTriggers(QAbstractItemView::NoEditTriggers);//不能编辑
             table->setMouseTracking(true);
             table->setFocus();
             table->setFocusPolicy(Qt::StrongFocus);
             table->setStyleSheet("QTableWidget::item:selected { background-color: rgb(85, 255, 127); color: rgb(255, 255, 255); } ");

             table->setColumnWidth(0,45);                  //设置第一列的列宽(num)
             table->setColumnWidth(1,80);                  //设置第二列的列宽(cmd)
             table->setColumnWidth(2,80);                  //设置第三列的列宽(par1)
             table->setColumnWidth(3,80);                  //设置第四列的列宽(par2)
             table->setColumnWidth(4,80);                  //设置第五列的列宽(par3)
             table->setColumnWidth(5,80);                  //设置第六列的列宽(par4)
             table->setColumnWidth(6,150);                 //设置第七列的列宽(lat)
             table->setColumnWidth(7,150);                 //设置第八列的列宽(lng)
             table->setColumnWidth(8,80);                  //设置第九列的列宽(alt)


             table->setHorizontalHeaderLabels(QStringList() <<tr("number")<<tr("command")<<tr("par1")<<tr("par2")<<tr("par3")<<tr("par4")<<tr("lat")<<tr("lng")<<tr("alt"));
             QHeaderView* V_headerView = table->verticalHeader();
             V_headerView->setHidden(true);                           //行名隐藏

             QHeaderView* H_headerView = table->horizontalHeader();
             H_headerView->setDefaultAlignment(Qt::AlignLeft);        //表头信息显示居中靠左
             H_headerView->setHighlightSections(false);               //不高亮选中内容的所在列标题
             H_headerView->setStretchLastSection(true);


             connect(table,&QTableWidget::itemSelectionChanged,
                     this,&MissionUI::itemSelectionChanged);

             connect(table,&QTableWidget::itemDoubleClicked,
                     this,&MissionUI::itemDoubleClicked);

             connect(table,&QTableWidget::itemClicked,
                     this,&MissionUI::itemClicked);
/*
             connect(table,&QTableWidget::itemEntered,
                     this,&MissionUI::itemClicked);
                     */


         }
    }

}

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

void MissionUI::closeEvent(QCloseEvent *event)
{
    event->ignore();
    this->setHidden(true);
}

void MissionUI::resizeEvent(QResizeEvent *event)
{

}

void MissionUI::pointCreate(float param1,float param2,float param3,float param4,
                            int32_t x,int32_t y,float z,
                            uint16_t seq,
                            uint16_t group,
                            uint16_t command,
                            uint8_t target_system,
                            uint8_t target_component,
                            uint8_t frame,
                            uint8_t current,
                            uint8_t autocontinue,
                            uint8_t mission_type)
{
    QTableWidget *tableWidget;

    foreach (QTableWidget *table, tablelist) {
         if(table)
         {
             if(tablelist.value(mission_type) == table)
             {
                 tableWidget = table;
                 break;
             }
         }
    }

    int idx = seq -1;

    tableWidget->setRowCount(tableWidget->rowCount()+1);                    //设置行数+1
    tableWidget->setItem(idx,0,new QTableWidgetItem(QString::number(seq))); //第一列的内容设置为index

    QString cmdName;
    switch (command) {
    case 16:
        cmdName = tr("航点");
        break;
    case 20:
        cmdName = tr("返航");
        break;
    case 21:
        cmdName = tr("降落");
        break;
    case 22:
        cmdName = tr("起飞");
        break;
    default:
        break;
    }
    tableWidget->removeCellWidget(idx,1);
    tableWidget->setItem(idx,1,new QTableWidgetItem(cmdName));

    if(command == 16)
    {
        QString par1Name;
        switch ((int)param1) {
        case 0:
            par1Name = tr("保持");
            break;
        case -1:
            par1Name = tr("表速");
            break;
        case -2:
            par1Name = tr("快升");
            break;
        case -3:
            par1Name = tr("开加力");
            break;
        case -4:
            par1Name = tr("关加力");
            break;
        default:
            break;
        }
        tableWidget->removeCellWidget(idx,2);
        tableWidget->setItem(idx,2,new QTableWidgetItem(par1Name));
    }
    else if(command == 20)
    {
        tableWidget->removeCellWidget(idx,2);
        tableWidget->setItem(idx,2,new QTableWidgetItem(QString::number(param1)));
    }
    else if(command == 21)
    {
        tableWidget->removeCellWidget(idx,2);
        tableWidget->setItem(idx,2,new QTableWidgetItem(QString::number(param1)));
    }
    else if(command == 22)
    {
        tableWidget->removeCellWidget(idx,2);
        tableWidget->setItem(idx,2,new QTableWidgetItem(QString::number(param1)));
    }

    tableWidget->removeCellWidget(idx,3);
    tableWidget->setItem(idx,3,new QTableWidgetItem(QString::number(param2)));

    tableWidget->removeCellWidget(idx,4);
    tableWidget->setItem(idx,4,new QTableWidgetItem(QString::number(param3)));

    tableWidget->removeCellWidget(idx,5);
    tableWidget->setItem(idx,5,new QTableWidgetItem(QString::number(param4)));

    tableWidget->removeCellWidget(idx,6);
    tableWidget->setItem(idx,6,new QTableWidgetItem(QString::number(x * 10e-8,'f',7)));

    tableWidget->removeCellWidget(idx,7);
    tableWidget->setItem(idx,7,new QTableWidgetItem(QString::number(y * 10e-8,'f',7)));

    tableWidget->removeCellWidget(idx,8);
    tableWidget->setItem(idx,8,new QTableWidgetItem(QString::number(z)));

    for (int i = 0;i<tableWidget->rowCount();i++)
    {
        if(tableWidget->item(i,0)==NULL||             //判断指向该cell的指针是否为空
                     (tableWidget->item(i,0)&&
                      tableWidget->item(i,0)->text()==tr("")))  //判断该cell的text是否为空
        {
            tableWidget->removeRow(i);
        }
    }
}

void MissionUI::pointDelete(int idx)
{
    /*
    if(tableWidget->rowAt(idx) != -1)
    {
        tableWidget->removeRow(idx);  //删除掉了表格信息
    }
    */
}

void MissionUI::setCurrent(int group,int idx)
{
    QTableWidget *widget = tablelist.value(group);
    if(widget)
    {
        widget->selectRow(idx - 1);
    }

    //settableGroup(group);//切换会引起变化事件，导致重新刷新
}

void MissionUI::settableGroup(int group)
{
    int index = 0;

    switch (group) {
    case 1:
        index = 0;
        break;
    case 3:
        index = 1;
        break;
    case 4:
        index = 2;
        break;
    case 5:
        index = 3;
        break;
    case 6:
        index = 4;
        break;
    default:
        break;
    }

    ui->tabWidget->setCurrentIndex(index);
}

void MissionUI::on_tabWidget_tabBarClicked(int index)
{
    int group = 3;

    switch (index) {
    case 0:
        group = 1;
        break;
    case 1:
        group = 3;
        break;
    case 2:
        group = 4;
        break;
    case 3:
        group = 5;
        break;
    case 4:
        group = 6;
        break;
    default:
        break;
    }

    QTableWidget *widget = tablelist.value(group);
    int idx = widget->currentRow() + 1;

    qDebug() << "tabWidget_currentChanged" << group << idx;

    emit waypointSelect(group,idx);
}


void MissionUI::on_tabWidget_currentChanged(int index)
{
    int group = 3;

    switch (index) {
    case 0:
        group = 1;
        break;
    case 1:
        group = 3;
        break;
    case 2:
        group = 4;
        break;
    case 3:
        group = 5;
        break;
    case 4:
        group = 6;
        break;
    default:
        break;
    }

    QTableWidget *widget = tablelist.value(group);
    int idx = widget->currentRow() + 1;

    qDebug() << "tabWidget_currentChanged" << group << idx;

    //emit waypointSelect(group,idx);
}

void MissionUI::on_pushButton_load_clicked()
{
    QFileDialog *dlg = new QFileDialog();
    QString fileName = dlg->getOpenFileName(this, tr("Selete Way Point File..."),
                                            "./plan/",
                                            tr("plan file (*.plan)"));
    if(!fileName.isEmpty())
    {
        emit WPLoad(fileName);
    }
}

void MissionUI::on_pushButton_save_clicked()
{
    QFileDialog *dlg = new QFileDialog();

    QString fileName = dlg->getSaveFileName(this, tr("Selete Way Point File..."),
                                            "./plan/",
                                            tr("plan file (*.plan)"));
    if(!fileName.isEmpty())
    {
        emit WPSave(fileName);
    }
}

void MissionUI::on_pushButton_upload_clicked()
{
    emit WPUpload();
}

void MissionUI::on_pushButton_download_clicked()
{
    QTableWidget *widget;
    //根据tabwidget
    int tab_idx =ui->tabWidget->currentIndex();

    switch (tab_idx) {
    case 0:
        widget = tablelist.value(1);
        break;
    case 1:
        widget = tablelist.value(3);
        break;
    case 2:
        widget = tablelist.value(4);
        break;
    case 3:
        widget = tablelist.value(5);
        break;
    case 4:
        widget = tablelist.value(6);
        break;
    default:
        break;
    }

    while (widget->rowCount() > 0) {
        widget->removeRow(widget->currentRow());
    }


    emit WPDownload();
}

void MissionUI::on_pushButton_insert_clicked()
{
    emit WPInsert();

    int group = 3;
    //根据tabwidget
    int tab_idx =ui->tabWidget->currentIndex();

    switch (tab_idx) {
    case 0:
        group = 1;
        break;
    case 1:
        group = 3;
        break;
    case 2:
        group = 4;
        break;
    case 3:
        group = 5;
        break;
    case 4:
        group = 6;
        break;
    default:
        break;
    }

    //删除完成后，刷新一次所有航点
    emit getAllPoints(group);
}

void MissionUI::on_pushButton_delete_clicked()
{

    QTableWidget *widget;
    //根据tabwidget
    int tab_idx =ui->tabWidget->currentIndex();

    switch (tab_idx) {
    case 0:
        widget = tablelist.value(1);
        break;
    case 1:
        widget = tablelist.value(3);
        break;
    case 2:
        widget = tablelist.value(4);
        break;
    case 3:
        widget = tablelist.value(5);
        break;
    case 4:
        widget = tablelist.value(6);
        break;
    default:
        break;
    }

    int idx = widget->currentRow();
    widget->removeRow(idx);

    emit WPDelete();

    //删除完成后，刷新一次所有航点
    emit getAllPoints(tablelist.key(widget));

}

void MissionUI::on_pushButton_add_clicked()
{
     emit WPAdd();

    int group = 3;
    //根据tabwidget
    int tab_idx =ui->tabWidget->currentIndex();

    switch (tab_idx) {
    case 0:
        group = 1;
        break;
    case 1:
        group = 3;
        break;
    case 2:
        group = 4;
        break;
    case 3:
        group = 5;
        break;
    case 4:
        group = 6;
        break;
    default:
        break;
    }

     //刷新一次所有航点
     emit getAllPoints(group);
}

void MissionUI::on_pushButton_clean_clicked()
{
    QTableWidget *widget;
    //根据tabwidget
    int tab_idx =ui->tabWidget->currentIndex();

    switch (tab_idx) {
    case 0:
        widget = tablelist.value(1);
        break;
    case 1:
        widget = tablelist.value(3);
        break;
    case 2:
        widget = tablelist.value(4);
        break;
    case 3:
        widget = tablelist.value(5);
        break;
    case 4:
        widget = tablelist.value(6);
        break;
    default:
        break;
    }

    while (widget->rowCount() > 0) {
        widget->removeRow(widget->currentRow());
    }

    emit WPDeleteAll();

}


void MissionUI::itemSelectionChanged()
{
    QTableWidget *widget = qobject_cast<QTableWidget *>(sender());
    int group = tablelist.key(widget);
    int idx = widget->currentRow() + 1;

    qDebug() << "itemSelectionChanged" << group << idx;

    //emit waypointSelect(group,idx);

}

void MissionUI::itemClicked(QTableWidgetItem *item)
{
    QTableWidget *widget = qobject_cast<QTableWidget *>(sender());
    int group = tablelist.key(widget);
    int idx = widget->currentRow() + 1;

    emit waypointSelect(group,idx);//告诉底层要切换航点，切换航点后，会对表格进行设置，这个有问题，会导致表格重复刷新
}


void MissionUI::itemDoubleClicked(QTableWidgetItem *item)
{
    QTableWidget *widget = qobject_cast<QTableWidget *>(sender());
    int group = tablelist.key(widget);
    int idx = widget->currentRow() + 1;

    //emit waypointSelect(group,idx);//切换过去

    int row=item->row();
    int column = item->column();

    if((column == 1)||(column == 2))//如果是第一个或者第二个，那么有操作
    {
        QVariant itemValue = item->data(Qt::DisplayRole);

        bool ok = false;
        qreal realValue = itemValue.toDouble(&ok);

        if(ok)//能够转成数字
        {
            if(column == 2)
            {
                QLineEdit *line = new QLineEdit(widget);
                line->setStyleSheet("background-color: #FFFFFF;font :15px 黑体;");
                line->setText(itemValue.toString());

                widget->removeCellWidget(row,column);
                widget->setCellWidget(row,column,line);

                opwidget = widget;
                opitem = item;
                connect(line,&QLineEdit::editingFinished,[=](){
                    if(line)
                    {
                        QString str = line->text();
                        bool ok = false;
                        str.toDouble(&ok);
                        if(ok)
                        {
                            widget->removeCellWidget(row,column);
                            emit setParam1(str);//能够正常转换成数字再修改
                        }
                    }
                });
            }
        }
        else//不能转成数字
        {
             if(column == 1)
             {
                 QComboBox *combox = new QComboBox(widget);
                 combox->addItem(tr("航点"),16);
                 combox->addItem(tr("返航"),20);
                 combox->addItem(tr("降落"),21);
                 combox->addItem(tr("起飞"),22);
                 combox->setCurrentIndex(combox->findText(itemValue.toString()));
                 combox->setStyleSheet("background-color: #FFFFFF;font :15px 黑体;");

                 widget->removeCellWidget(row,column);
                 widget->setCellWidget(row,column,combox);

                 connect(combox,&QComboBox::currentTextChanged,[=]{
                     QString str = combox->currentText();
                     widget->removeCellWidget(row,column);
                     emit setCommand(str);//直接修改底层，让底层返回数据更新到界面
                 });

                 connect(combox,&QComboBox::editTextChanged,[=]{
                     QString str = combox->currentText();
                     widget->removeCellWidget(row,column);
                     emit setCommand(str);//直接修改底层，让底层返回数据更新到界面
                 });
             }
             else if(column == 2)
             {
                 QComboBox *combox = new QComboBox(widget);
                 combox->addItem(tr("保持"),0);
                 combox->addItem(tr("表速"),-1);
                 combox->addItem(tr("快升"),-2);
                 combox->addItem(tr("开加力"),-3);
                 combox->addItem(tr("关加力"),-4);
                 combox->setCurrentIndex(combox->findText(itemValue.toString()));
                 combox->setStyleSheet("background-color: #FFFFFF;font :15px 黑体;");

                 widget->removeCellWidget(row,column);
                 widget->setCellWidget(row,column,combox);

                 connect(combox,&QComboBox::currentTextChanged,[=]{
                     QString str = combox->currentText();
                     widget->removeCellWidget(row,column);
                     emit setParam1(str);
                 }); 
             }
        }

        qDebug() << "clicked" << row << column << itemValue << ok;
    }
    else//后面的参数，应该都是数字
    {
        if(column == 0)//第一个不能编辑
        {
            return;
        }

        QVariant itemValue = item->data(Qt::DisplayRole);

        bool ok = false;
        qreal realValue = itemValue.toDouble(&ok);

        if(ok)//能够转成数字
        {
            QLineEdit *line = new QLineEdit(widget);
            line->setStyleSheet("background-color: #FFFFFF;font :15px 黑体;");
            line->setText(itemValue.toString());
            widget->removeCellWidget(row,column);
            widget->setCellWidget(row,column,line);

            opwidget = widget;
            opitem = item;

            if(column == 3)
            {
                connect(line,&QLineEdit::editingFinished,[=](){
                    if(line)
                    {
                        QString str = line->text();
                        bool ok = false;
                        str.toDouble(&ok);
                        if(ok)
                        {
                            widget->removeCellWidget(row,column);
                            emit setParam2(str);//能够正常转换成数字再修改
                        }
                    }
                });
            }
            else if(column == 4)
            {
                connect(line,&QLineEdit::editingFinished,[=](){
                    if(line)
                    {
                        QString str = line->text();
                        bool ok = false;
                        str.toDouble(&ok);
                        if(ok)
                        {
                            widget->removeCellWidget(row,column);
                            emit setParam3(str);//能够正常转换成数字再修改
                        }
                    }
                });
            }
            else if(column == 5)
            {
                connect(line,&QLineEdit::editingFinished,[=](){
                    if(line)
                    {
                        QString str = line->text();
                        bool ok = false;
                        str.toDouble(&ok);
                        if(ok)
                        {
                            widget->removeCellWidget(row,column);
                            emit setParam4(str);//能够正常转换成数字再修改
                        }
                    }
                });
            }
            else if(column == 6)
            {
                connect(line,&QLineEdit::editingFinished,[=](){
                    if(line)
                    {
                        QString str = line->text();
                        bool ok = false;
                        str.toDouble(&ok);
                        if(ok)
                        {
                            widget->removeCellWidget(row,column);
                            emit setParam5(str);//能够正常转换成数字再修改
                        }
                    }
                });
            }
            else if(column == 7)
            {
                connect(line,&QLineEdit::editingFinished,[=](){
                    if(line)
                    {
                        QString str = line->text();
                        bool ok = false;
                        str.toDouble(&ok);
                        if(ok)
                        {
                            widget->removeCellWidget(row,column);
                            emit setParam6(str);//能够正常转换成数字再修改
                        }
                    }
                });
            }
            else if(column == 8)
            {
                connect(line,&QLineEdit::editingFinished,[=](){
                    if(line)
                    {
                        QString str = line->text();
                        bool ok = false;
                        str.toDouble(&ok);
                        if(ok)
                        {
                            widget->removeCellWidget(row,column);
                            emit setParam7(str);//能够正常转换成数字再修改
                        }
                    }
                });
            }
        }
        else//不能转成数字
        {
            qDebug() << "input error";
        }
    }
}