#include "CheckUI.h"
#include "ui_CheckUI.h"




const char* CheckUI::_versionJsonKey            = "version";
const char* CheckUI::_spacingJsonKey            = "spacing";

const char* CheckUI::_commentJsonKey            = "comment";
const char* CheckUI::_vehicleJsonKey            = "vehicle";


const char* CheckUI::_ButtonJsonKey             = "Button";

const char* CheckUI::_WidthJsonKey              = "Width";
const char* CheckUI::_HeightJsonKey             = "Height";

const char* CheckUI::_TextJsonKey               = "Text";
const char* CheckUI::_rowJsonKey                = "row";
const char* CheckUI::_descriptionJsonKey        = "description";
const char* CheckUI::_columnJsonKey             = "column";


const char* CheckUI::_param1JsonKey             = "param1";
const char* CheckUI::_param2JsonKey             = "param2";
const char* CheckUI::_param3JsonKey             = "param3";
const char* CheckUI::_param4JsonKey             = "param4";
const char* CheckUI::_param5JsonKey             = "param5";
const char* CheckUI::_param6JsonKey             = "param6";
const char* CheckUI::_param7JsonKey             = "param7";
const char* CheckUI::_commandJsonKey            = "command";
const char* CheckUI::_confirmJsonKey            = "confirm";



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

    //检测文件夹,如果不存在，那么就新建一个
    QDir *Dir = new QDir;
    if(!Dir->exists("./checks"))
    Dir->mkdir("./checks");//如果文件夹不存在就新建

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

    //载入json

    LoadCheckFiles("./checks");

    //loadCommandJson(":/json/Check.json");
    //loadCommandJson("./json/Check.json");





}

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


void CheckUI::reBuild(void)
{
    //将旧的按键全部删除
    QObjectList olist = ui->frame_check->children();

    foreach (QObject *obj, olist) {
         QPushButton *btn = qobject_cast<QPushButton *>(obj);
         if(btn)
         {
             disconnect(btn,SIGNAL(clicked(bool)),
                        this,SLOT(on_commandClicked()));
             delete btn;
         }

         QLabel *lab = qobject_cast<QLabel *>(obj);
         if(lab)
         {
             delete lab;
         }
    }




    //添加新的按键
    ui->gridLayout_Check->setSpacing(spacing);
    for(QJsonValue info: infoArray) {
        if (!info.isObject()) {
            return;
        }

        QPushButton *btn = new QPushButton(ui->frame_check);

        btn->setText(info.toObject().find(_TextJsonKey).value().toString());

        btn->setFixedSize(width,height);

        ui->gridLayout_Check->addWidget(btn,
                                        info.toObject().find(_rowJsonKey).value().toInt(),
                                        info.toObject().find(_columnJsonKey).value().toInt());


        btn->setProperty("CheckState",CheckState::Init);
        btn->style()->unpolish(btn);
        btn->style()->polish(btn);


        QLabel *lab = new QLabel(ui->frame_check);

        lab->adjustSize();
        lab->setWordWrap(true);

        lab->setText(info.toObject().find(_descriptionJsonKey).value().toString());

        ui->gridLayout_Check->addWidget(lab,
                                        info.toObject().find(_rowJsonKey).value().toInt(),
                                        info.toObject().find(_columnJsonKey).value().toInt() + 1);

        connect(btn,SIGNAL(clicked(bool)),
                this,SLOT(on_commandClicked()));
    }
}

void CheckUI::loadCommandJson(QJsonObject json)
{
    version = json.value(_versionJsonKey).toInt();
    qDebug() << "check version :" << version;


    spacing = json.value(_spacingJsonKey).toInt();
    width = json.value(_WidthJsonKey).toInt();
    height = json.value(_HeightJsonKey).toInt();


    QJsonValue jsonValue = json.value(_ButtonJsonKey);

    if (!jsonValue.isArray()) {
        qWarning() << "Button not array";
        return;
    }

    infoArray = jsonValue.toArray();

    for(QJsonValue info: infoArray) {
        if (!info.isObject()) {
            qWarning() << "Array should contain objects";
            return;
        }
    }
}

 void CheckUI::on_commandClicked()
 {
     //找到消息的发送者
     QPushButton *btn = qobject_cast<QPushButton *>(sender());

     for(QJsonValue info: infoArray) {
         if (!info.isObject()) {
             return;
         }

         //找到id或者名字一样的按键，找到参数，发出去

         QString _name = info.toObject().find(_TextJsonKey).value().toString();
         QString _text = btn->text();

         if(_name == _text)
         {
              float param1 = info.toObject().find(_param1JsonKey).value().toDouble();
              float param2 = info.toObject().find(_param2JsonKey).value().toDouble();
              float param3 = info.toObject().find(_param3JsonKey).value().toDouble();
              float param4 = info.toObject().find(_param4JsonKey).value().toDouble();
              float param5 = info.toObject().find(_param5JsonKey).value().toDouble();
              float param6 = info.toObject().find(_param6JsonKey).value().toDouble();
              float param7 = info.toObject().find(_param7JsonKey).value().toDouble();
          uint16_t command = info.toObject().find(_commandJsonKey).value().toInt();
           uint8_t confirm = info.toObject().find(_confirmJsonKey).value().toInt();

              emit cmd_long(param1,param2, param3,param4,param5,param6,param7,command,confirm);

         }



     }
 }



void CheckUI::commandAccepted(bool flag,uint16_t command,uint8_t result)
{
     //找到消息的发送者
     QObjectList list = ui->frame_check->children();

     for(QJsonValue info: infoArray) {
         if (!info.isObject()) {
             return;
         }

         if(command == info.toObject().find(_commandJsonKey).value().toInt())
         {
             foreach (QObject *obj, list)
             {
                 QPushButton *btn = qobject_cast<QPushButton *>(obj);
                 if(btn)
                 {
                     if(btn->text() == info.toObject().find(_TextJsonKey).value().toString())
                     {
                         if(flag)
                         {
                             btn->setProperty("state",CheckState::Pass);
                         }
                         else
                         {
                             btn->setProperty("state",CheckState::Fail);
                         }
                         btn->style()->unpolish(btn);
                         btn->style()->polish(btn);
                     }
                 }
             }

         }
     }
}




void CheckUI::RecieveMsg(mavlink_message_t msg)
{
    switch (msg.msgid) {
    case MAVLINK_MSG_ID_AUTOPILOT_VERSION: {
       mavlink_msg_autopilot_version_decode(&msg,&autopilot_version);
    }break;
    case MAVLINK_MSG_ID_SYS_STATUS: {
       mavlink_msg_sys_status_decode(&msg,&sys_status);
    }break;
    case MAVLINK_MSG_ID_HEARTBEAT: {
       mavlink_msg_heartbeat_decode(&msg,&heartbeat);
    }break;
    case MAVLINK_MSG_ID_PING: {
         mavlink_msg_ping_decode(&msg,&ping);
    }break;
    case MAVLINK_MSG_ID_ATTITUDE: {
       mavlink_msg_attitude_decode(&msg,&attitude);
    }break;
    case MAVLINK_MSG_ID_GPS_RAW_INT: {
       mavlink_msg_gps_raw_int_decode(&msg,&gps_raw_int);
    }break;
    case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: {
       mavlink_msg_global_position_int_decode(&msg,&global_position_int);
    }break;
    case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: {
       mavlink_msg_servo_output_raw_decode(&msg,&servo_output_raw);
    }break;
    case MAVLINK_MSG_ID_RC_CHANNELS_RAW: {
       mavlink_msg_rc_channels_raw_decode(&msg,&rc_channels_raw);
    }break;
    case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT: {
       mavlink_msg_nav_controller_output_decode(&msg,&nav_controller_output);
    }break;
    case MAVLINK_MSG_ID_AIRSPEED_AUTOCAL: {
       mavlink_msg_airspeed_autocal_decode(&msg,&airspeed_autocal);
    }break;
    case MAVLINK_MSG_ID_RPM: {
       mavlink_msg_rpm_decode(&msg,&rpm);
    }break;
    case MAVLINK_MSG_ID_SCALED_PRESSURE: {
       mavlink_msg_scaled_pressure_decode(&msg,&scaled_pressure);
    }break;
    case MAVLINK_MSG_ID_EXTENDED_SYS_STATE: {
       mavlink_msg_extended_sys_state_decode(&msg,&extended_sys_state);
    }break;
    case MAVLINK_MSG_ID_BATTERY_STATUS: {
       mavlink_msg_battery_status_decode(&msg,&battery_status);
    }break;
    case MAVLINK_MSG_ID_VIBRATION: {
       mavlink_msg_vibration_decode(&msg,&vibration);
    }break;
    case MAVLINK_MSG_ID_EngineState: {
       mavlink_msg_enginestate_decode(&msg,&enginestate);
    }break;
    case MAVLINK_MSG_ID_VFR_HUD: {
       mavlink_msg_vfr_hud_decode(&msg,&vfr_hud);
    }break;

    }
}


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

    if(!Vehicles.keys().contains(sysid))
    {
        Vehicles.insert(sysid,tr("Vehicle %1").arg(sysid));

        if(ui->pushButton_Vehicle->text().isEmpty())
        {
            ui->pushButton_Vehicle->setText(tr("Vehicle %1").arg(sysid));

             //检查是否有专属的检查文件，如果有，那么载入，如果没有载入通用的检查文件
             if(CheckFiles.contains(sysid))
             {
                 loadCommandJson(CheckFiles.value(sysid));
                 reBuild();
             }
             else
             {
                 qDebug() << tr("not Contains special check file") << sysid;
                 if(CheckFiles.contains(0xFFFF))//默认文件
                 {
                     loadCommandJson(CheckFiles.value(0xFFFF));
                     reBuild();
                 }
                 else
                 {
                     qDebug() << tr("not Contains Default check file") << sysid;
                 }
             }

        }


    }
}

QJsonObject CheckUI::parseCheckfiles(const QString& jsonFilename)
{
    QJsonObject json;

    QFile jsonFile(jsonFilename);
    if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
        qWarning() << "Unable to open file" << jsonFilename << jsonFile.errorString();
        return json;
    }

    QByteArray bytes = jsonFile.readAll();

    jsonFile.close();
    QJsonParseError jsonParseError;
    QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
    if (jsonParseError.error != QJsonParseError::NoError) {
        qWarning() << jsonFilename << "Unable to open json document" << jsonParseError.errorString();
        return json;
    }

    json = doc.object();

    return json;
}

void CheckUI::LoadCheckFiles(QString path)
{
    QDir dir(path);
    QFileInfoList file_list = dir.entryInfoList(QDir::Files | QDir::Hidden | QDir::NoSymLinks);

    foreach(QFileInfo fileinfo, file_list)
    {
        QString filter;
        filter = fileinfo.suffix();    //后缀名
        if(filter == "json")
        {
            QJsonObject json = parseCheckfiles(fileinfo.absoluteFilePath());

            if(&json)
            {
                int vehicle = json.value(_vehicleJsonKey).toInt();

                CheckFiles.insert(vehicle,json);
            }
        }
    }
}


void CheckUI::setVehicle(QVariant value)
{
    ui->pushButton_Vehicle->setText(value.toString());
    //从新载入一次文件
    LoadCheckFiles("./checks");

    int index = value.toString().indexOf(' ');
    QString selectid = value.toString().mid(index);
    int vehicle = selectid.toInt();

    //检查是否有专属的检查文件，如果有，那么载入，如果没有载入通用的检查文件
    if(CheckFiles.contains(vehicle))
    {
        loadCommandJson(CheckFiles.value(vehicle));
        reBuild();
    }
    else
    {
        qDebug() << tr("not Contains special check file") << vehicle;
        if(CheckFiles.contains(0xFFFF))//默认文件
        {
            loadCommandJson(CheckFiles.value(0xFFFF));
            reBuild();
        }
        else
        {
            qDebug() << tr("not Contains Default check file") << vehicle;
        }
    }

}


void CheckUI::on_pushButton_Vehicle_clicked()
{
    if(!ui->pushButton_Vehicle->text().isEmpty())
    {
        Selector *selector = new Selector(this);

        selector->setGeometry(0,0,this->geometry().width(),this->geometry().height());
        //selector->setGeometry(0,0,this->width(),this->height());

        QStringList list;
        list.clear();

        for(QHash<int,QString>::iterator 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_Vehicle->text());
        connect(selector,SIGNAL(confirmValue(QVariant)),
                this,SLOT(setVehicle(QVariant)));

        selector->show();
    }
}

void CheckUI::on_pushButton_Previous_clicked()
{
    if(!ui->pushButton_Vehicle->text().isEmpty())
    {
        int index = ui->pushButton_Vehicle->text().indexOf(' ');
        QString selectid = ui->pushButton_Vehicle->text().mid(index);
        int vehicle = selectid.toInt();

        qDebug() << vehicle
                 << Vehicles.keys()
                 << Vehicles.values();

        bool isLast = false;
        for(QHash<int,QString>::const_iterator ite=Vehicles.begin(); ite!=Vehicles.end();(isLast)?(ite--):(ite++))//每一个key下面都是一个设备的所有参数
        {
            qDebug() << ite.value()
                     << "isLast" << isLast;
            if(isLast)
            {
                setVehicle(tr("Vehicle %1").arg(ite.key()));
                break;
            }
            else
            {
                if(ite.key() == vehicle)
                {
                    isLast = true;
                }
            }
        }
    }
}

void CheckUI::on_pushButton_Next_clicked()
{
    if(!ui->pushButton_Vehicle->text().isEmpty())
    {
        int index = ui->pushButton_Vehicle->text().indexOf(' ');
        QString selectid = ui->pushButton_Vehicle->text().mid(index);
        int vehicle = selectid.toInt();

        qDebug() << vehicle
                 << Vehicles.keys()
                 << Vehicles.values();

        bool isNext = false;
        for(QHash<int,QString>::iterator ite=Vehicles.begin(); ite!=Vehicles.end();++ite)//每一个key下面都是一个设备的所有参数
        {
            qDebug() << ite.value()
                     << "Next" << isNext;
            if(isNext)
            {

                setVehicle(tr("Vehicle %1").arg(ite.key()));
                break;
            }
            else
            {
                if(ite.key() == vehicle)
                {
                    isNext = true;
                }
            }
        }
    }
}