#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::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();



    cfg->getServoOffset(&dir_la,&dir_ra,&dir_le,&dir_re,&dir_ru,
                        &max_la,&max_ra,&max_le,&max_re,&max_ru,
                        &scale_la,&scale_ra,&scale_le,&scale_re,&scale_ru,
                        &bias_la,&bias_ra,&bias_le,&bias_re,&bias_ru);








    ui->comboBox_Full->addItem("基准档",0x85);
    ui->comboBox_Full->addItem("1档",0x16);
    ui->comboBox_Full->addItem("2档",0x26);
    ui->comboBox_Full->addItem("3档",0x36);
    ui->comboBox_Full->addItem("4档",0x46);
    ui->comboBox_Full->addItem("5档",0x56);
    ui->comboBox_Full->addItem("6档",0x66);
    ui->comboBox_Full->addItem("7档",0x76);
    ui->comboBox_Full->addItem("8档",0x86);
    ui->comboBox_Full->addItem("9档",0x96);
    ui->comboBox_Full->setCurrentIndex(0);


    ui->comboBox_Half->addItem("基准档",0x75);
    ui->comboBox_Half->addItem("1档",0x1c);
    ui->comboBox_Half->addItem("2档",0x2c);
    ui->comboBox_Half->addItem("3档",0x3c);
    ui->comboBox_Half->addItem("4档",0x4c);
    ui->comboBox_Half->addItem("5档",0x5c);
    ui->comboBox_Half->addItem("6档",0x6c);
    ui->comboBox_Half->addItem("7档",0x7c);
    ui->comboBox_Half->addItem("8档",0x8c);
    ui->comboBox_Half->addItem("9档",0x9c);
    ui->comboBox_Half->setCurrentIndex(0);

    ui->comboBox_rate->addItem("10000",10000);
    ui->comboBox_rate->addItem("13700",13700);
    ui->comboBox_rate->addItem("15000",15000);
    ui->comboBox_rate->addItem("20000",20000);
    ui->comboBox_rate->addItem("25000",25000);
    ui->comboBox_rate->addItem("30000",30000);
    ui->comboBox_rate->addItem("35000",35000);
    ui->comboBox_rate->addItem("40000",40000);
    ui->comboBox_rate->addItem("46000",46000);
    ui->comboBox_rate->setEditable(true);
    ui->comboBox_rate->setCurrentIndex(-1);


    ui->comboBox_TestPoint->addItem("核心机主燃油泵",0x19);
    ui->comboBox_TestPoint->addItem("加力主燃油泵",0x29);
    ui->comboBox_TestPoint->addItem("加力点火燃油泵",0x49);
    ui->comboBox_TestPoint->addItem("尾喷口舵机",0x79);
    ui->comboBox_TestPoint->addItem("点火器",0x89);
    ui->comboBox_TestPoint->addItem("起动控制1",0xb9);
    ui->comboBox_TestPoint->addItem("起动控制2",0xd9);
    ui->comboBox_TestPoint->addItem("核心机点火油阀",0x1a);
    ui->comboBox_TestPoint->addItem("核心机优先油阀",0x2a);
    ui->comboBox_TestPoint->addItem("核心机清吹油阀",0x4a);
    ui->comboBox_TestPoint->addItem("核心机起动气阀",0x7a);
    ui->comboBox_TestPoint->addItem("核心机主油阀",0x8a);
    ui->comboBox_TestPoint->addItem("加力主油阀",0xba);
    ui->comboBox_TestPoint->addItem("加力清吹阀",0xda);
    ui->comboBox_TestPoint->addItem("加力点火快速阀",0xea);
    ui->comboBox_TestPoint->addItem("手动转速控制",0xd5);
    ui->comboBox_TestPoint->setCurrentIndex(-1);

    ui->comboBox_TestValue->show();
    ui->comboBox_TestValue->setCurrentIndex(-1);


    //use_ext_ins参数名称
    ui->comboBox_IMU->addItem("内置惯导",0);
    ui->comboBox_IMU->addItem("SBG",1);
    ui->comboBox_IMU->setCurrentIndex(0);

    ui->comboBox_ServoType->addItem("左副翼",0x01);
    ui->comboBox_ServoType->addItem("右副翼",0x02);
    ui->comboBox_ServoType->addItem("左升降",0x03);
    ui->comboBox_ServoType->addItem("右升降",0x04);
    ui->comboBox_ServoType->addItem("方向舵",0x05);
    ui->comboBox_ServoType->setCurrentIndex(0);

    /*
    ui->comboBox_sel_ch->addItem("关闭",0x00);
    ui->comboBox_sel_ch->addItem("左副翼",0x01);
    ui->comboBox_sel_ch->addItem("右副翼",0x02);
    ui->comboBox_sel_ch->addItem("左升降",0x03);
    ui->comboBox_sel_ch->addItem("右升降",0x04);
    ui->comboBox_sel_ch->addItem("方向舵",0x05);
    ui->comboBox_sel_ch->setCurrentIndex(0);
    */


    //ui->pushButton_AirHeatOff->hide();
    //ui->pushButton_AirHeatOn->hide();
    //ui->pushButton_HeatOn3->hide();
    //ui->pushButton_HeatOn4->hide();



    m_ra = 0;
    m_la = 0;
    m_ru = 0;
    m_re = 0;
    m_le = 0;


}

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();
        this->show();
        this->resize(m_parent->size());
    }
    //
}

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_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;




    }

    //qDebug() << pos << value;


}

void ServoSystem::setServoState(mavlink_servo_output_raw_t *t)
{

    /*
    statusui->setServo(1,QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo14_raw)/32767.0 * 35.0 - m_la,'f',2),
                         QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo4_raw) /32767.0 * 35.0 - m_la,'f',2));
    statusui->setServo(2,QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo11_raw)/32767.0 * 35.0 - m_ra,'f',2),
                         QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo5_raw) /32767.0 * 35.0 - m_ra,'f',2));
    statusui->setServo(3,QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo15_raw)/32767.0 * 25.0 - m_le,'f',2),
                         QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo1_raw) /32767.0 * 25.0 - m_le,'f',2));
    statusui->setServo(4,QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo12_raw)/32767.0 * 25.0 - m_re,'f',2),
                         QString::number( ((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo2_raw) /32767.0 * 25.0 - m_re,'f',2));
    statusui->setServo(5,QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo13_raw)/32767.0 * 25.0 - m_ru,'f',2),
                         QString::number(-((int16_t)dlink->mavlinknode->vehicle.servo_output_raw.servo3_raw) /32767.0 * 25.0 - m_ru,'f',2));
                         */

     ui->label_rud_curr->setText(  QString::number(dir_ru.toInt() * ((int16_t)t->servo13_raw)/32767.0 * max_ru.toDouble()/scale_ru.toDouble() - bias_ru.toDouble(),'f',2));
     ui->label_ele_l_curr->setText(QString::number(dir_le.toInt() * ((int16_t)t->servo15_raw)/32767.0 * max_le.toDouble()/scale_le.toDouble() - bias_le.toDouble(),'f',2));
     ui->label_ele_r_curr->setText(QString::number(dir_re.toInt() * ((int16_t)t->servo12_raw)/32767.0 * max_re.toDouble()/scale_re.toDouble() - bias_re.toDouble(),'f',2));
     ui->label_ail_l_curr->setText(QString::number(dir_la.toInt() * ((int16_t)t->servo14_raw)/32767.0 * max_la.toDouble()/scale_la.toDouble() - bias_la.toDouble(),'f',2));
     ui->label_ail_r_curr->setText(QString::number(dir_ra.toInt() * ((int16_t)t->servo11_raw)/32767.0 * max_ra.toDouble()/scale_ra.toDouble() - bias_ra.toDouble(),'f',2));

     ui->label_rud_cmd->setText(  QString::number(dir_ru.toInt() * ((int16_t)t->servo3_raw)/32767.0 * max_ru.toDouble()/scale_ru.toDouble() - bias_ru.toDouble(),'f',2));//ru
     ui->label_ele_l_cmd->setText(QString::number(dir_le.toInt() * ((int16_t)t->servo1_raw)/32767.0 * max_le.toDouble()/scale_le.toDouble() - bias_le.toDouble(),'f',2));//le
     ui->label_ele_r_cmd->setText(QString::number(dir_re.toInt() * ((int16_t)t->servo2_raw)/32767.0 * max_re.toDouble()/scale_re.toDouble() - bias_re.toDouble(),'f',2));//re
     ui->label_ail_l_cmd->setText(QString::number(dir_la.toInt() * ((int16_t)t->servo4_raw)/32767.0 * max_la.toDouble()/scale_la.toDouble() - bias_la.toDouble(),'f',2));//la
     ui->label_ail_r_cmd->setText(QString::number(dir_ra.toInt() * ((int16_t)t->servo5_raw)/32767.0 * max_ra.toDouble()/scale_ra.toDouble() - bias_ra.toDouble(),'f',2));//ra

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

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

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

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

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

}

float ServoSystem::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;
}




void ServoSystem::commandAccepted(bool flag,uint16_t command,uint8_t result)
{
    bool isFundSender = false;
    QString string;
    //找到消息的发送者


    QObjectList list = ui->frame->children();

   // qDebug() << list;

    //qDebug() << CommandBox.findChildren();

    if(command == m_command)
    {
            isFundSender = true;


            switch (result) {
            case MAV_RESULT_ACCEPTED:
                string.append(tr("%1,%2 accepted and executed").arg(command).arg(m_name));
                break;
            case MAV_RESULT_TEMPORARILY_REJECTED:
                string.append(tr("%1,%2 rejected").arg(command).arg(m_name));
                break;
            case MAV_RESULT_DENIED:
                string.append(tr("%1,%2 permanently denied").arg(command).arg(m_name));
                break;
            case MAV_RESULT_UNSUPPORTED:
                string.append(tr("%1,%2 unsupported").arg(command).arg(m_name));
                break;
            case MAV_RESULT_FAILED:
                string.append(tr("%1,%2 failed").arg(command).arg(m_name));
                break;
            case MAV_RESULT_IN_PROGRESS:
                string.append(tr("%1,%2 being executed").arg(command).arg(m_name));
                break;
            case 0xFE:
                string.append(tr("%1,%2 time out").arg(command).arg(m_name));
                break;
            case 0xFF:
                string.append(tr("Please do not operate too fast, the last instruction has not been sent"));
                break;
            default:
                break;
            }

            ui->lineEdit_CommandName->clear();
            m_name.clear();
            m_param1 = 0;
            m_param2 = 0;
            m_param3 = 0;
            m_param4 = 0;
            m_param5 = 0;
            m_param6 = 0;
            m_param7 = 0;
            m_command = 0;
            m_confirm = 0;

    }

    if(string.size() > 0)
    {
        QTextToSpeech *tts = new QTextToSpeech();
        tts->say(string);
        tts->deleteLater();
        emit showMessage(string);
    }
}


void ServoSystem::on_comboBox_TestPoint_currentIndexChanged(int index)
{

    switch (index) {
    case 0:
    case 1:
    case 2:
    case 3:
    case 15:
        ui->label_TestValue->show();
        ui->label_TestValue->setText("转速");

        ui->comboBox_TestValue->show();
        ui->comboBox_TestValue->clear();
        ui->comboBox_TestValue->addItem("10000",10000);

        if(index == 2)
        {
            ui->comboBox_TestValue->addItem("13700",13700);
        }

        ui->comboBox_TestValue->addItem("15000",15000);
        ui->comboBox_TestValue->addItem("20000",20000);
        ui->comboBox_TestValue->addItem("25000",25000);
        ui->comboBox_TestValue->addItem("30000",30000);
        ui->comboBox_TestValue->addItem("35000",35000);
        ui->comboBox_TestValue->addItem("40000",40000);
        if(index != 3)
        {
            ui->comboBox_TestValue->addItem("45000",45000);
        }
        ui->comboBox_TestValue->setCurrentIndex(0);

        break;

    case 5:
    case 6:
    case 7:
    case 8:
    case 9:
    case 10:
    case 11:
    case 12:
    case 13:
    case 14:
        ui->label_TestValue->show();
        ui->label_TestValue->setText("电平");

        ui->comboBox_TestValue->show();
        ui->comboBox_TestValue->clear();
        ui->comboBox_TestValue->addItem("低电平",0);
        ui->comboBox_TestValue->addItem("高电平",1);
        ui->comboBox_TestValue->setEditable(true);
        ui->comboBox_TestValue->setCurrentIndex(1);

        break;

    case 4:
        ui->label_TestValue->hide();
        ui->comboBox_TestValue->hide();
        break;


    }
}

//二次确认
void ServoSystem::setSecondConfirm(QVariant value)
{
     if(value.toBool() == true)
     {
         emit cmd_long(m_param1,m_param2,m_param3,m_param4,m_param5,m_param6,m_param7,m_command,m_confirm);
     }
     else
     {
         ui->lineEdit_CommandName->clear();
         m_name.clear();
         m_param1 = 0;
         m_param2 = 0;
         m_param3 = 0;
         m_param4 = 0;
         m_param5 = 0;
         m_param6 = 0;
         m_param7 = 0;
         m_command = 0;
         m_confirm = 0;

     }
}

void ServoSystem::on_pushButton_SendCommand_clicked()
{
    if(cmdType == 0)
    {
        if(m_command == 0)
        {
            emit showMessage(tr("please set command first ,command :%1").arg(m_command));
            return;
        }
    }

    if(cmdType == 0)
    {
         emit showMessage(tr("发送指令 ") + QString::number(m_command) + " " +  m_name,5000);
         emit cmd_long(m_param1,m_param2,m_param3,m_param4,m_param5,m_param6,m_param7,m_command,m_confirm);
    }
    else if(cmdType == 1)
    {

        emit showMessage(tr("修改参数 ") + " " + m_id.toLatin1().data() +  " " + QString::number(m_value),5000);
        emit WriteCmd(m_sysid,m_compid,m_id.toLatin1().data(),m_type,param_getvalue(m_value,m_type));



    }
}

void ServoSystem::on_pushButton_Cancel_clicked()
{
    ui->lineEdit_CommandName->clear();
    m_name.clear();
        m_param1 = 0;
        m_param2 = 0;
        m_param3 = 0;
        m_param4 = 0;
        m_param5 = 0;
        m_param6 = 0;
        m_param7 = 0;
        m_command = 0;
        m_confirm = 0;
}


void ServoSystem::on_commandClicked(QString name,
                                   float param1,float param2,float param3,float param4,
                                   float param5,float param6,float param7,
                                   uint16_t command,uint8_t confirmation)
{

      m_name    = name;
      m_param1  = param1;
      m_param2  = param2;
      m_param3  = param3;
      m_param4  = param4;
      m_param5  = param5;
      m_param6  = param6;
      m_param7  = param7;
      m_command = command;
      m_confirm = confirmation;

       ui->lineEdit_CommandName->setText(name);

       cmdType = 0;
 }

void ServoSystem::on_paramClicked(uint8_t sysid, uint8_t compid , QString id, uint8_t type, float value)
{

    m_sysid = sysid;
    m_compid = compid;
    m_id = id;
    m_type = type;
    m_value = value;

    ui->lineEdit_CommandName->setText(id + " " + QString::number(value));

    cmdType = 1;
 }


//测试指令
void ServoSystem::on_pushButton_SendTest_clicked()
{
    //判断 两个 内容是否是空，

    float testPoint = 0;
    float testValue = 0;

    if(!ui->comboBox_TestValue->isHidden())//如果显示
    {
        testPoint = ui->comboBox_TestPoint->currentData(Qt::UserRole).toFloat();
        testValue = ui->comboBox_TestValue->currentData(Qt::UserRole).toFloat();

        if((ui->comboBox_TestPoint->currentIndex() != -1)&&(ui->comboBox_TestValue->currentIndex() != -1))
        {
            on_commandClicked(ui->comboBox_TestPoint->currentText() + " " + ui->comboBox_TestValue->currentText() ,
                              103,testPoint,testValue,0,0,0,0,180,0);
        }
        else
        {
            QMessageBox *box = new QMessageBox(this);

            box->setWindowTitle(tr("警告"));
            box->setText(tr("请选择测试项和测试点"));
            box->show();
        }

    }
    else
    {
        if(ui->comboBox_TestPoint->currentIndex() != -1)
        {
        testPoint = ui->comboBox_TestPoint->currentData(Qt::UserRole).toFloat();
        on_commandClicked(ui->comboBox_TestPoint->currentText(),
                              103,testPoint,0,0,0,0,0,180,0);
        }
        else
        {
            QMessageBox *box = new QMessageBox(this);

            box->setWindowTitle(tr("警告"));
            box->setText(tr("请选择测试项和测试点"));
            box->show();
        }

    }



}





//舵机指令
void ServoSystem::on_pushButton_Servo_Check_clicked()
{
    on_commandClicked(ui->pushButton_Servo_Check->text(),
                      1,0,0,0,0,0,0,20004,0);
}

void ServoSystem::on_pushButton_Servo_Read_clicked()
{
    on_commandClicked(ui->pushButton_Servo_Read->text(),
                      2,0,0,0,0,0,0,20004,0);
}

void ServoSystem::on_pushButton_Servo_Zero_clicked()
{
    on_commandClicked(ui->pushButton_Servo_Zero->text(),
                      3,0,0,0,0,0,0,20004,0);
}

void ServoSystem::on_pushButton_Servo_Work_clicked()
{
    on_commandClicked(ui->pushButton_Servo_Work->text(),
                      4,0,0,0,0,0,0,20004,0);
}


void ServoSystem::on_pushButton_coldrun_clicked()
{
    on_commandClicked(ui->pushButton_coldrun->text(),
                      103,0x13,0,0,0,0,0,180,0);
}

void ServoSystem::on_pushButton_groundstartup_clicked()
{
    on_commandClicked(ui->pushButton_groundstartup->text(),
                      103,0x15,0,0,0,0,0,180,0);
}

void ServoSystem::on_pushButton_Afterburner_off_clicked()
{
    on_commandClicked(ui->pushButton_Afterburner_off->text(),
                      103,0xb5,20000,0,0,0,0,180,0);
}

void ServoSystem::on_pushButton_stop_clicked()
{
    on_commandClicked(ui->pushButton_stop->text(),
                      103,0x43,0,0,0,0,0,180,0);
}

void ServoSystem::on_pushButton_EmergencyStop_clicked()
{
    on_commandClicked(ui->pushButton_EmergencyStop->text(),
                      103,0x73,0,0,0,0,0,180,0);
}

void ServoSystem::on_pushButton_Afterburner_on_clicked()
{
    //根据档位选择
    float Level = ui->comboBox_Full->currentData(Qt::UserRole).toFloat();

    on_commandClicked(ui->pushButton_Afterburner_on->text() + " " + ui->comboBox_Full->currentText(),
                      103,Level,46000,0,0,0,0,180,0);
}

void ServoSystem::on_pushButton_Afterburner_half_clicked()
{
    float Level = ui->comboBox_Half->currentData(Qt::UserRole).toFloat();

    on_commandClicked(ui->pushButton_Afterburner_half->text() + " " + ui->comboBox_Half->currentText(),
                      103,Level,46000,0,0,0,0,180,0);
}

void ServoSystem::on_pushButton_setRPM_clicked()
{
    if(ui->comboBox_rate->currentIndex() != -1)
    {
        float rpm = ui->comboBox_rate->currentData(Qt::UserRole).toFloat();

        on_commandClicked(ui->pushButton_setRPM->text() + " " + ui->comboBox_rate->currentText(),
                          103,0x45,rpm,0,0,0,0,180,0);
    }
    else
    {
        QMessageBox *box = new QMessageBox(this);

        box->setWindowTitle(tr("警告"));
        box->setText(tr("请设定给定转速"));
        box->show();
    }
}



void ServoSystem::on_pushButton_IMU_clicked()
{
    if((ui->comboBox_IMU->currentIndex() != -1)&&(ui->comboBox_sys->currentIndex() != -1))
    {
        uint8_t sysid = ui->comboBox_sys->currentData(Qt::UserRole).toInt();
        uint8_t compid = 1;
        QString id;
        uint8_t type = MAV_PARAM_TYPE_INT8;

        id.clear();
        id.append("use_ext_ins");

        //float value = param_getvalue(ui->comboBox_IMU->currentData(Qt::UserRole).toInt(),type);

        on_paramClicked(sysid,compid,id,type,ui->comboBox_IMU->currentData(Qt::UserRole).toDouble());

        //emit showMessage(tr("修改参数 ") + " " + m_id.toLatin1().data() +  " " + QString::number(ui->comboBox_IMU->currentData(Qt::UserRole).toInt()),5000);

    }
    else
    {
        QMessageBox *box = new QMessageBox(this);

        box->setWindowTitle(tr("警告"));
        box->setText(tr("请设定目标"));
        box->show();
    }
}


void ServoSystem::on_pushButton_IAS_SEL_0_clicked()
{
    if(ui->comboBox_sys->currentIndex() != -1)
    {

        uint8_t sysid = ui->comboBox_sys->currentData(Qt::UserRole).toInt();
        uint8_t compid = 1;
        QString id;
        uint8_t type = MAV_PARAM_TYPE_UINT8;

        id.clear();
        id.append("IAS_SEL");


        //float value = param_getvalue(0,type);

        //emit showMessage(tr("修改参数 ") + " " + m_id.toLatin1().data() +  " " + QString::number(0),5000);

        on_paramClicked(sysid,compid,id,type,0);

    }
    else
    {
        QMessageBox *box = new QMessageBox(this);

        box->setWindowTitle(tr("警告"));
        box->setText(tr("请设定目标"));
        box->show();
    }
}

void ServoSystem::on_pushButton_IAS_SEL_1_clicked()
{
    if(ui->comboBox_sys->currentIndex() != -1)
    {

        uint8_t sysid = ui->comboBox_sys->currentData(Qt::UserRole).toInt();
        uint8_t compid = 1;
        QString id;
        uint8_t type = MAV_PARAM_TYPE_UINT8;

        id.clear();
        id.append("IAS_SEL");

        //float value = param_getvalue(1,type);

        //emit showMessage(tr("修改参数 ") + " " + m_id.toLatin1().data() +  " " + QString::number(1),5000);

        on_paramClicked(sysid,compid,id,type,1);

    }
    else
    {
        QMessageBox *box = new QMessageBox(this);

        box->setWindowTitle(tr("警告"));
        box->setText(tr("请设定目标"));
        box->show();
    }
}

void ServoSystem::on_pushButton_IAS_SEL_2_clicked()
{
    if(ui->comboBox_sys->currentIndex() != -1)
    {
        uint8_t sysid = ui->comboBox_sys->currentData(Qt::UserRole).toInt();
        uint8_t compid = 1;
        QString id;
        uint8_t type = MAV_PARAM_TYPE_UINT8;

        id.clear();
        id.append("IAS_SEL");

        //float value = param_getvalue(2,type);

        //emit showMessage(tr("修改参数 ") + " " + m_id.toLatin1().data() +  " " + QString::number(2),5000);

        on_paramClicked(sysid,compid,id,type,2);

    }
    else
    {
        QMessageBox *box = new QMessageBox(this);

        box->setWindowTitle(tr("警告"));
        box->setText(tr("请设定目标"));
        box->show();
    }
}




void ServoSystem::addVehicles(int sysid, int compid)
{
    Q_UNUSED(compid)

    if(ui->comboBox_sys->findData(sysid) == -1)
    {
        ui->comboBox_sys->addItem(QString::number(sysid),sysid);
    }
}

void ServoSystem::on_pushButton_ServoSet_clicked()
{
    if(ui->comboBox_ServoType->currentIndex() != -1)
    {
        switch(ui->comboBox_ServoType->currentData(Qt::UserRole).toInt())
        {
            case 1:
             {
                m_la = ui->spinBox_Servo->value();
             }break;
            case 2:
             {
                m_ra = ui->spinBox_Servo->value();
             }break;
            case 3:
             {
                m_le = ui->spinBox_Servo->value();
             }break;
            case 4:
             {
                m_re = ui->spinBox_Servo->value();
             }break;
            case 5:
             {
                m_ru = ui->spinBox_Servo->value();
             }break;
        }


        on_commandClicked(tr("设定舵机 %1 %2").arg(ui->comboBox_ServoType->currentText()).arg(ui->spinBox_Servo->value()),
                          106,m_ra,m_re,m_ru,m_la,m_le,0,180,0);

        //qDebug() << m_ra << m_re << m_ru << m_la << m_le;

    }
    else
    {
        QMessageBox *box = new QMessageBox(this);

        box->setWindowTitle(tr("警告"));
        box->setText(tr("请设定"));
        box->show();
    }
}

void ServoSystem::on_pushButton_Zero_clicked()
{
    m_ra = 0;
    m_la = 0;
    m_ru = 0;
    m_re = 0;
    m_le = 0;

    on_commandClicked(tr("设定舵机归零 %1").arg(ui->pushButton_Zero->text()),
                      106,m_ra,m_re,m_ru,m_la,m_le,0,180,0);

}

void ServoSystem::on_pushButton_setFuel_clicked()
{
    double value = ui->doubleSpinBox_Fuel->value();

    on_commandClicked(tr("%1 %2kg").arg(ui->pushButton_setFuel->text()).arg(QString::number(value)),
                      value,0,0,0,0,0,0,20009,0);
}

/*
void ServoSystem::on_pushButton_AngleZero_clicked()//动压归零
{
    on_commandClicked(tr("设定 %1").arg(ui->pushButton_AngleZero->text()),
                      0,0,1,0,0,0,0,20005,0);
}


void ServoSystem::on_pushButton_ZeroComplete_clicked()
{
    on_commandClicked(tr("设定 %1").arg(ui->pushButton_ZeroComplete->text()),
                      0,0,0,0,0,0,0,20005,0);
}
*/


void ServoSystem::on_pushButton_HeatOn1_clicked()
{
    on_commandClicked(tr("设定 %1").arg(ui->pushButton_HeatOn1->text()),
                      1,0,0,0,0,0,0,20005,0);
}


void ServoSystem::on_pushButton_HeatOn2_clicked()
{
    on_commandClicked(tr("设定 %1").arg(ui->pushButton_HeatOn2->text()),
                      0,1,0,0,0,0,0,20005,0);
}

//伺服指令
void ServoSystem::on_pushButton_AirHeatOn_clicked()
{
    on_commandClicked(ui->pushButton_AirHeatOn->text(),
                      1,1,0,0,0,0,0,20005,0);
}

void ServoSystem::on_pushButton_HeatOff_clicked()
{
    on_commandClicked(ui->pushButton_HeatOff->text(),
                      0,0,0,0,0,0,0,20005,0);
}


void ServoSystem::on_pushButton_ServoTest_clicked()//IDLE
{
    on_commandClicked(tr("设定 %1").arg(ui->pushButton_ServoTest->text()),
                      0,0,0,0,0,0,0,20007,0);
}

void ServoSystem::on_pushButton_StabilizeTest_clicked()
{
    on_commandClicked(tr("设定 %1").arg(ui->pushButton_StabilizeTest->text()),
                      1,0,0,0,0,0,0,20007,0);
}

void ServoSystem::on_pushButton_ManualTest_clicked()
{
    on_commandClicked(tr("设定 %1").arg(ui->pushButton_ManualTest->text()),
                      2,0,0,0,0,0,0,20007,0);
}

void ServoSystem::on_pushButton_swep_clicked()
{
    on_commandClicked(tr("设定 %1").arg(ui->pushButton_swep->text()),
                      3,0,0,0,0,0,0,20007,0);
}

void ServoSystem::on_pushButton_test_cmd_clicked()
{
   uint8_t ch = 0;
   float A;
   float start;
   float stop;
   float K;


   //ch = ui->comboBox_sel_ch->currentData(Qt::UserRole).toInt();

   /* 1 ail
    * 2 ele
    * 4 rud
    * */

   ch |= ui->checkBox_ail->isChecked()?(1):(0);
   ch |= ui->checkBox_ele->isChecked()?(2):(0);
   ch |= ui->checkBox_rud->isChecked()?(4):(0);

   qDebug() << "ch" << ch;

   A  = ui->doubleSpinBox_A_deg->value();
   start = ui->doubleSpinBox__Start_frq_Hz->value();
   stop = ui->doubleSpinBox_Stop_frq_Hz->value();
   K = ui->doubleSpinBox_K_frq_Hz->value();

    on_commandClicked(tr("设定 %1").arg(ui->pushButton_test_cmd->text()),
                      ch,A,start,stop,K,0,0,20008,0);


    qDebug() << "Servo Test:" <<ch << A << start << stop << K;
}

void ServoSystem::on_pushButton_test_stop_clicked()
{


    on_commandClicked(tr("设定 %1").arg(ui->pushButton_test_stop->text()),
                      0,0,0,0,0,0,0,20008,0);
}