#include "mainwindow1.h"
#include "ui_mainwindow1.h"

MainWindow1::MainWindow1(QWidget *parent) :
    m_shareIO(NULL),GT_motor(NULL),m_Digital(NULL),MotorThread(NULL),
    DigitalThread(NULL), m_MainWidget(NULL), m_Stepping(NULL),m_PrmWidget(NULL),
    m_IOInfo(NULL),Up_IOInfo(NULL),
    QMainWindow(parent),ui(new Ui::MainWindow1)
{
    ui->setupUi(this);
    Up_IOInfo=new QTimer;
    m_shareIO=new shareIO;
    qDebug()<<"the thread of mainwindow is "<<QThread::currentThreadId();

    readPrm();
    InitUI();
    GT_Init();

    connect(Up_IOInfo,&QTimer::timeout,m_IOInfo,&IOInfo::up_IOInfo);
    connect(m_PrmWidget,&PrmWidget::SigSetMotorPrm,GT_motor,&Motor::SetMotorPrm);
}

MainWindow1::~MainWindow1()
{
    savePrm();
    emit SigStopDigitalThread();
    QThread::msleep(10);
    if(MotorThread!=NULL)
    {
        MotorThread->exit(0);
        MotorThread->wait();
        delete GT_motor;
        delete MotorThread;
    }
    if(DigitalThread!=NULL)
    {
        DigitalThread->exit(0);
        DigitalThread->wait();
        delete m_Digital;
        delete DigitalThread;
    }
    delete m_Stepping;
    delete m_PrmWidget;
    delete m_IOInfo;
    delete Up_IOInfo;
    delete m_shareIO;
    delete m_MainWidget;
    delete ui;
}

bool MainWindow1::readPrm()
{
    EnvmPrm::InitEnvmPrm();

    bool readSuccess=false;
    QString DateTimer;
    QFile fileIn(tr("EnvmPrm.dat"));
    if(fileIn.exists())
    {
        if(fileIn.open(QIODevice::ReadOnly))
        {
            QDataStream in(&fileIn);
            in>>DateTimer;
            in>>EnvmPrm::StartFlag;
            MotorPrm motorPrmTemp;
            for(int i=0;i<4;i++)
            {
                uint length=sizeof(motorPrmTemp);
                char *buf=NULL;
                in.readBytes(buf,length);
                motorPrmTemp=*(MotorPrm*)buf;
                EnvmPrm::m_MotorPrm.insert(i,motorPrmTemp);
            }
            in>>EnvmPrm::EndFlag;
            fileIn.close();
        }
        if(EnvmPrm::EndFlag!="EndFlag")
            return readSuccess;

    }
    QFile PointIn(tr("Piont.dat"));     //读点
    if(PointIn.exists())
    {
        if(PointIn.open(QIODevice::ReadOnly))
        {
            QDataStream in(&PointIn);
            in>>EnvmPrm::PiontCount;
            if(EnvmPrm::PiontCount!=100)
                return readSuccess;
            for(int i=0;i<100;i++)
            {
                Point PointTemp;
                uint length=sizeof(PointTemp);
                char *buf=NULL;
                in.readBytes(buf,length);
                PointTemp=*(Point*)buf;
                EnvmPrm::PointMap.insert(i,PointTemp);
                if(buf!=NULL)
                {
                    delete buf;
                    buf=NULL;
                }
            }
            PointIn.close();
        }
    }
    return true;
}

void MainWindow1::savePrm()
{
    QFile fileOut(tr("EnvmPrm.dat"));
    if(fileOut.open(QIODevice::WriteOnly))
    {
        QDataStream out(&fileOut);
        QString DateTimer=QDateTime::currentDateTime().toString("MM-dd-hh-mm-ss");
        out<<DateTimer;
        out<<tr("StartFlag");
        QMap<int,MotorPrm>::Iterator it=EnvmPrm::m_MotorPrm.begin();
        for(;it!=EnvmPrm::m_MotorPrm.end();it++)
        {
            uint length=sizeof(it.value());
            out.writeBytes((char*)&it.value(),length);
        }
        out<<tr("EndFlag");
        fileOut.close();
    }
    QFile PointOut(tr("Piont.dat"));      //保存点位
    if(PointOut.open(QIODevice::WriteOnly))
    {
        QDataStream out(&PointOut);
        EnvmPrm::PiontCount=EnvmPrm::PointMap.count();
        out<<EnvmPrm::PiontCount;
        QMap<int,Point>::iterator it = EnvmPrm::PointMap.begin();
        for(; it != EnvmPrm::PointMap.end();it++ )
        {
            uint length=sizeof(it.value());
            out.writeBytes((char*)&it.value(),length);
        }
       PointOut.close();
    }
}

void MainWindow1::InitUI()
{
    m_MainWidget =new MainWidget;
    m_Stepping=new Stepping;
    m_PrmWidget=new PrmWidget;
    m_IOInfo=new IOInfo;
    ui->stackedWidget->insertWidget(0,m_MainWidget);
    ui->stackedWidget->insertWidget(1,m_Stepping);
    ui->stackedWidget->insertWidget(2,m_PrmWidget);
    ui->stackedWidget->insertWidget(3,m_IOInfo);

    ui->stackedWidget->setCurrentIndex(1);
}

void MainWindow1::GT_Init()
{
    short sRtn;
    char addr[50]="pulse1.cfg";    //配置文件地址

    GT_motor=new Motor;
    MotorThread=new QThread;
    sRtn=GT_motor->LoadSetting(addr);
    if(sRtn!=0)
    {
      InfoShow("LoadSetting fail");
        return;
    }
    for(int i=1;i<5;i++)
    {
        MotorPrm m_MotorPrm=EnvmPrm::getMotorPrm(i-1);
        GT_motor->SetMotorPrm(m_MotorPrm,i);
//        GT_motor->SetEnable(true,i);
        sRtn=GT_motor->HomeIndex(i);
        if(sRtn!=0)
        {
            InfoShow("HomeIndex fail");
            return;
        }
        GT_motor->SetMovePrm(i);
    }
    GT_motor->SetCraPrm();
    /**********************开启motor运动线程***********************/
    GT_motor->moveToThread(MotorThread);
    connect(m_Stepping,&Stepping::SigMoveRelative,GT_motor,&Motor::MoveRelative);
    connect(m_Stepping,&Stepping::SigMoveJop,GT_motor,&Motor::MoveJop );
    connect(m_Stepping,&Stepping::SigMoveABS,GT_motor,&Motor::MoveABS);
    connect(m_Stepping,&Stepping::SigMoveLine,GT_motor,&Motor::MoveLine);
    connect(m_Stepping,&Stepping::SigSetEnable,GT_motor,&Motor::SetEnable);
    connect(m_Stepping,&Stepping::SigHomeIndex,GT_motor,&Motor::HomeIndex);
    connect(m_Stepping,&Stepping::SigSetMotorPrm,GT_motor,&Motor::SetMotorPrm);
    connect(GT_motor,&Motor::SigCommandHandler,m_MainWidget,&MainWidget::InfoShow);
    connect(m_MainWidget,&MainWidget::SigMoveABS,GT_motor,&Motor::MoveABS);
    connect(m_MainWidget,&MainWidget::SigMoveLine,GT_motor,&Motor::MoveLine);
    connect(MotorThread,&QThread::finished,MotorThread,&QThread::terminate);
    MotorThread->start();
//   emit SigStartStep();

    /******************开启IO硬件状态更新线程***********************/
    m_Digital=new Digital;
    DigitalThread=new QThread;
    m_Digital->moveToThread(DigitalThread);
    connect(this,SIGNAL(SigStartDigitalThread()),m_Digital,SLOT(doWork()));
    connect(this,SIGNAL(SigStopDigitalThread()),m_Digital,SLOT(quitWork()));
    connect(DigitalThread,&QThread::finished,DigitalThread,&QThread::terminate);
    DigitalThread->start();
    emit SigStartDigitalThread();
}

void MainWindow1::changeIndex()
{
    if(currentIndex==3)
    {
        Up_IOInfo->start(30);
    }
    else {
        Up_IOInfo->stop();
    }
    ui->stackedWidget->setCurrentIndex(currentIndex);
}

void MainWindow1::on_btn_main_clicked()
{
    currentIndex=0;
    changeIndex();
}

void MainWindow1::on_btn_Step_clicked()
{
   currentIndex=1;
//   ui->btn_main->setStyleSheet("background-color: rgb(215, 225,235)");
//   ui->btn_Step->setStyleSheet("background-color: rgb(0, 190, 0)");
//   ui->btn_parameter->setStyleSheet("background-color: rgb(210, 210,210)");
//   ui->btn_digital->setStyleSheet("background-color: rgb(210, 210,210)");
//   ui->btn_point->setStyleSheet("background-color: rgb(210, 210,210)");
//   ui->btn_other->setStyleSheet("background-color: rgb(210, 210,210)");
   changeIndex();
}

void MainWindow1::on_btn_parameter_clicked()
{
    currentIndex=2;
//    ui->btn_main->setStyleSheet("background-color: rgb(215, 225,235)");
//    ui->btn_Step->setStyleSheet("background-color: rgb(210, 210,210)");
//    ui->btn_parameter->setStyleSheet("background-color: rgb(0, 190, 0)");
//    ui->btn_digital->setStyleSheet("background-color: rgb(210, 210,210)");
//    ui->btn_point->setStyleSheet("background-color: rgb(210, 210,210)");
//    ui->btn_other->setStyleSheet("background-color: rgb(210, 210,210)");
    changeIndex();
}

void MainWindow1::on_btn_digital_clicked()
{
    currentIndex=3;
//    ui->btn_main->setStyleSheet("background-color: rgb(215, 225,235)");
//    ui->btn_Step->setStyleSheet("background-color: rgb(210, 210,210)");
//    ui->btn_parameter->setStyleSheet("background-color: rgb(210, 210,210)");
//    ui->btn_digital->setStyleSheet("background-color: rgb(0, 190, 0)");
//    ui->btn_point->setStyleSheet("background-color: rgb(210, 210,210)");
//    ui->btn_other->setStyleSheet("background-color: rgb(210, 210,210)");
    changeIndex();
}

void MainWindow1::InfoShow(QString str,int type)
{
    m_MainWidget->InfoShow(str,type);
}