#include "mainwindow.h"
#include "ui_mainwindow.h"
#include "iostream"
#include  "modulecomm.h"
#include "decition.pb.h"
#include "chassis.pb.h"

#include <QTimer>

static bool gbHaveVehSpd = false;
static double gfVehSpd = 0.0;
static double gfAng=0.0;
QString qsSpd ;
QString qsAng ;
void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);
//void ListenChassis(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
//{
//    UpdateChassis(strdata,nSize);
//}


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

    this->setWindowTitle("中汽智联车辆线控测试系统");

    this->setObjectName("parent");
    this->setStyleSheet("#parent { border-image: url(:/new/prefix1/background4.png);}");
    this->setWindowFlags(Qt::WindowMinimizeButtonHint|Qt::WindowCloseButtonHint);

    timer =new QTimer(this);

    mpaVechicleDeciton = iv::modulecomm::RegisterSend("deciton",10000,10);
    gpachassis = iv::modulecomm::RegisterRecv("chassis",UpdateChassis);

    connect(timer,SIGNAL(timeout()),this,SLOT(ShareChassisDebug()));

    timer->start(20);

    decition_debug.set_wheelangle(5);
    decition_debug.set_torque(1);
    decition_debug.set_brake(2);
    decition_debug.set_leftlamp(0);
    decition_debug.set_rightlamp(0);

}


//建立自身调用
MainWindow *MainWindow::getInstance()
{
    return instance;
}

void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
{
    (void)index;
    (void)dt;
    (void)strmemname;
    iv::chassis xchassis;
    //    static int ncount = 0;
    if(!xchassis.ParseFromArray(strdata,nSize))
    {
        std::cout<<"iv::decition::BrainDecition::UpdateChassis ParseFrom Array Error."<<std::endl;
        return;
    }

    if(xchassis.has_epsmode())
    {
    if(xchassis.epsmode() == 0)
    {
        bool gbChassisEPS = true;
    }
    }

    if(xchassis.has_vel())
    {
        gfVehSpd = xchassis.vel();
        gbHaveVehSpd = true;
        qsSpd = QString::number(gfVehSpd, 'f', 2);

  //      std::cout<<" gf Veh speed : "<<gfVehSpd<<std::endl;
    }
    if(xchassis.has_angle_feedback())
    {
       gfAng = xchassis.angle_feedback();
       qsAng = QString::number(gfAng, 'f', 2);
    }

    MainWindow::getInstance()->ShowChassisData();
}

void MainWindow::ShowChassisData()
{
    ui->Vehicle_Speed->setText(qsSpd);
    ui->EPS_Ang->setText(qsAng);
}

void MainWindow::ShareChassisDebug()
{
    int nsize = decition_debug.ByteSize();
    char * str = new char[nsize];
    std::shared_ptr<char> pstr;
    pstr.reset(str);
    if(ui->left_turn->isChecked())
    {
        decition_debug.set_leftlamp(1);
        decition_debug.set_rightlamp(0);
    }
    else if(ui->right_turn->isChecked())
    {
        decition_debug.set_leftlamp(0);
        decition_debug.set_rightlamp(1);
    }
    else
    {
        decition_debug.set_leftlamp(0);
        decition_debug.set_rightlamp(0);
    }
    if(decition_debug.SerializeToArray(str,nsize))
    {
        if(ui->start_send->isChecked())
         iv::modulecomm::ModuleSendMsg(mpaVechicleDeciton,str,nsize);
    }
    else
    {
        std::cout<<"iv::decition::ShareChassisDebug::ShareChassisDebug serialize error."<<std::endl;
    }
}

MainWindow::~MainWindow()
{
    iv::modulecomm::Unregister(mpaVechicleDeciton);
    iv::modulecomm::Unregister(gpachassis);
    delete ui;
}

void MainWindow::on_doubleang_pos_valueChanged(double arg1)
{
    decition_debug.set_wheelangle(arg1);
}

void MainWindow::on_targe_acc_valueChanged(double arg1)  //加速扭矩
{
    if(arg1>=0.0)
    {
      decition_debug.set_torque(arg1);
      decition_debug.set_brake(0);
      ui->brake->setValue(0.0);
    }
    else
    {
      decition_debug.set_torque(0);
    }
}

void MainWindow::on_brake_valueChanged(double arg1)
{
    if(arg1<=0.0)
    {
      decition_debug.set_torque(0);
      decition_debug.set_brake(arg1);
      ui->targe_acc->setValue(0.0);
    }
    else
    {
      decition_debug.set_brake(arg1);
    }
}

void MainWindow::on_left_turn_clicked()
{

}
void MainWindow::on_left_turn_clicked(bool checked)
{
//    if(checked)
//    {
//        decition_debug.set_leftlamp(1);
//        decition_debug.set_rightlamp(0);
//    }
//    else
//        decition_debug.set_leftlamp(0);
}

void MainWindow::on_right_turn_clicked(bool checked)
{
//    if(checked)
//        decition_debug.set_rightlamp(1);
//    else
//        decition_debug.set_rightlamp(0);
}