#include "mainwindow.h"
#include "ui_mainwindow.h"

#include <QMessageBox>

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

    mpLabelTip = new QLabel(this);
    mpLabelTip->setText(tr("回车确认输入"));
    mpLabelTip->setMidLineWidth(50);

    mpLabelInfo = new QLabel(this);
    mpLabelInfo->setText(tr(""));
    mpLabelInfo->setMidLineWidth(150);

    ui->statusbar->addWidget(mpLabelTip);
    ui->statusbar->addWidget(mpLabelInfo);

    ui->checkBox_left->setChecked(mbleft);
    ui->checkBox_right->setChecked(mbright);

    ui->lineEdit_wheel->setText(QString::number(mfwheel,'g'));
    ui->lineEdit_drive->setText(QString::number(mftorque,'g'));
    ui->lineEdit_brake->setText(QString::number(mfbrake,'g'));

    QString styleLabel =  "QLabel {"
                                 "    background-color: rgb(72, 116, 203);"  // 背景颜色
                                 "    color: white;"               // 字体颜色
                                 "}";
    QString styleEdit =  "QLineEdit {"
                                 "    background-color: rgb(90, 141, 52);"  // 背景颜色
                                 "    color: white;"               // 字体颜色
                                 "}";
    QString styleCheck =  "QCheckBox {"
                                 "    background-color: rgb(90, 141, 52);"  // 背景颜色
                                 "    color: white;"               // 字体颜色
                                 "}";

    QString styleMainWindow =  "QMainWindow {"
                                 "    background-color: rgb(223, 226, 241);"  // 背景颜色
                                 "}";
    ui->label_1->setStyleSheet(styleLabel);
    ui->label_2->setStyleSheet(styleLabel);
    ui->label_3->setStyleSheet(styleLabel);
    ui->label_4->setStyleSheet(styleLabel);
    ui->label_1->setAlignment(Qt::AlignCenter);
    ui->label_2->setAlignment(Qt::AlignCenter);
    ui->label_3->setAlignment(Qt::AlignCenter);
    ui->label_4->setAlignment(Qt::AlignCenter);

    ui->checkBox_left->setStyleSheet(styleCheck);
    ui->checkBox_right->setStyleSheet(styleCheck);

    ui->lineEdit_wheel->setStyleSheet(styleEdit);
    ui->lineEdit_drive->setStyleSheet(styleEdit);
    ui->lineEdit_brake->setStyleSheet(styleEdit);

    setStyleSheet(styleMainWindow);

    updatevalue();

    mpadecision = iv::modulecomm::RegisterSend("deciton",1000,1);

    mbthreadrun = true;
    mpthreadsend = new std::thread(&MainWindow::threadsend,this);

    mpTimer =new QTimer(this);
    connect(mpTimer,SIGNAL(timeout()),this,SLOT(onTimer()));
    mpTimer->start(10);

    setWindowTitle(tr("线控底盘检测项目"));

}

MainWindow::~MainWindow()
{
    mbthreadrun = false;
    mpthreadsend->join();
    iv::modulecomm::Unregister(mpadecision);
    delete ui;
}


void MainWindow::on_checkBox_left_stateChanged(int arg1)
{
    (void)arg1;
}

void MainWindow::on_checkBox_right_stateChanged(int arg1)
{
    (void)arg1;
}

void MainWindow::on_checkBox_left_clicked()
{
    if(ui->checkBox_left->isChecked())
    {
        if(ui->checkBox_right->isChecked())ui->checkBox_right->setChecked(false);
    }
    updatevalue();
}

void MainWindow::on_checkBox_right_clicked()
{
    if(ui->checkBox_right->isChecked()){
        if(ui->checkBox_left->isChecked())ui->checkBox_left->setChecked(false);
    }
    updatevalue();
}

void MainWindow::keyPressEvent(QKeyEvent *event){
    (void)event;
    if (event->modifiers() == Qt::ControlModifier && event->key() == Qt::Key_E) {
        updatevalue();
    }
}

void MainWindow::on_lineEdit_wheel_returnPressed()
{
    updatevalue();
}

void MainWindow::on_lineEdit_drive_returnPressed()
{
    updatevalue();
}

void MainWindow::on_lineEdit_brake_returnPressed()
{
    updatevalue();
}

void MainWindow::updatevalue()
{
    const double MAXWHEEL = 430.0;
    const double MINWHEEL = -430.0;
    const double MAXTORQUE = 260;
    const double MAXBRAKE = -3.0;

    if(ui->checkBox_left->isChecked())mbleft = true;
    else mbleft = false;
    if(ui->checkBox_right->isChecked())mbright = true;
    else mbright = false;
    double fwheel = ui->lineEdit_wheel->text().toDouble();
    if(fwheel>MAXWHEEL){
        char strtip[256];
        snprintf(strtip,256,"Wheel exceed maximum wheel. Wheel Range is %6.1f  ---  %6.1f",MINWHEEL,MAXWHEEL);
        QMessageBox::warning(this,tr("Warning"),strtip,QMessageBox::YesAll);
        return;
    }
    if(fwheel<MINWHEEL){
        char strtip[256];
        snprintf(strtip,256,"Wheel exceed maximum wheel. Wheel Range is %6.1f  ---  %6.1f",MINWHEEL,MAXWHEEL);
        QMessageBox::warning(this,tr("Warning"),strtip,QMessageBox::YesAll);
        return;
    }
    mfwheel = fwheel;
    double ftorque = ui->lineEdit_drive->text().toDouble();
    if(ftorque > MAXTORQUE){
        char strtip[256];
        snprintf(strtip,256,"Torque exceed maximum torque. Torque Range is %6.1f  ---  %6.1f",0.0,MAXTORQUE);
        QMessageBox::warning(this,tr("Warning"),strtip,QMessageBox::YesAll);
        return;
    }
    if(ftorque<-0.0000001)
    {
        char strtip[256];
        snprintf(strtip,256,"Torque must bigger than 0. Torque Range is %6.1f  ---  %6.1f",0.0,MAXTORQUE);
        QMessageBox::warning(this,tr("Warning"),strtip,QMessageBox::YesAll);
        return;
    }
    mftorque = ftorque;
    double fbrake = ui->lineEdit_brake->text().toDouble();
    if(fbrake < MAXBRAKE)
    {
        char strtip[256];
        snprintf(strtip,256,"Brake exceed maximum brake. Brake Range is %6.1f  ---  %6.1f",MAXBRAKE,0.0);
        QMessageBox::warning(this,tr("Warning"),strtip,QMessageBox::YesAll);
        return;
    }
    mfbrake = fbrake;
    char strout[1000];
    snprintf(strout,1000,"Left:%d Right:%d  Wheel:%6.1f Torque:%6.1f Brake:%6.1f",
             mbleft,mbright,mfwheel,mftorque,mfbrake);
    mpLabelInfo->setText(strout);
}

void MainWindow::onTimer()
{
    static int ntorquebig = 0;
    if(mftorque>30)ntorquebig++;
    else ntorquebig = 0;
    if(ntorquebig>1000)
    {
        ui->lineEdit_drive->setText("0");
        updatevalue();
    }
}

void MainWindow::threadsend()
{
    while(mbthreadrun)
    {
        iv::brain::decition xdecition;
        if(mftorque>0)
            xdecition.set_accelerator(0.1);
        else
            xdecition.set_accelerator(0.0);
        xdecition.set_brake(mfbrake);
        xdecition.set_leftlamp(mbleft);
        xdecition.set_rightlamp(mbright);
        xdecition.set_speed(3);
        xdecition.set_wheelangle(mfwheel);
        xdecition.set_wheelspeed(300);
        xdecition.set_torque(mftorque);
        xdecition.set_mode(1);
        xdecition.set_gear(1);
        xdecition.set_handbrake(0);
        xdecition.set_grade(1);
        xdecition.set_engine(0);
        xdecition.set_brakelamp(false);
        xdecition.set_ttc(15);
        xdecition.set_roof_light(0);
        xdecition.set_home_light(0);
        xdecition.set_door(0);
        xdecition.set_dippedlight(0);

        int nbytesize = (int)xdecition.ByteSize();
        std::shared_ptr<char> pstr_ptr = std::shared_ptr<char>(new char[nbytesize]);
        if(!xdecition.SerializeToArray(pstr_ptr.get(),nbytesize))
        {
            std::cout<<" ctrlcmd2decition::ListenCtrlCmd Serialize Fail. "<<std::endl;
            return;
        }
        iv::modulecomm::ModuleSendMsg(mpadecision,pstr_ptr.get(),nbytesize);
        std::this_thread::sleep_for(std::chrono::milliseconds(10));
    }
}