#include "DiagnosisPage.h"
#include "../common/JQCommon.h"

DiagnosisPage::DiagnosisPage(QWidget *parent)
    : QWidget(parent)
{
    ui.setupUi(this);

    Init();
}

DiagnosisPage::~DiagnosisPage()
{}

void DiagnosisPage::Init()
{
    this->setAttribute(Qt::WA_DeleteOnClose);
    ui.axisSwitchTabPage->tabBar()->hide();
    ui.axisSwitchTabPage->setCurrentIndex(0);
    ui.axisListTree->setHeaderHidden(true);
    ui.axisListTree->setEditTriggers(QAbstractItemView::NoEditTriggers);

    ns_module::CViewInterface* pCViewInterface = ns_module::CViewInterface::GetInstance();

    if (pCViewInterface)
    {
        m_veCAxis = pCViewInterface->GetViewMotion()->GetAxisList();
        // 创建模型
        m_model = new QStandardItemModel(this);
        QString strModeA;
        QStandardItem* pModeType = nullptr;
        QStandardItem* rooto = m_model->invisibleRootItem();
        QStandardItem* root1 = new QStandardItem(tr("Diagnosis Page", "诊断页面"));
        rooto->appendRow(root1);
        root1->setFlags(root1->flags() | Qt::ItemIsEnabled);

        for (auto a: m_veCAxis)
        {
            QString strMode = QString::fromLocal8Bit(a->GetModuleType().c_str());
            if (strModeA != strMode)
            {
                pModeType = new QStandardItem(strMode);
                
                root1->appendRow(pModeType);
                strModeA = strMode;
            }

            // 添加二级节点
            QStandardItem* pAisType = new QStandardItem(QString::fromLocal8Bit(a->GetStringAxisType().c_str()));
            pModeType->appendRow(pAisType);

        }
        
        ui.axisListTree->setModel(m_model);
        ui.axisListTree->expandAll();
    }
    
    // 控件状态
    JQCommon::SetQLineEditLimit(ui.negLineEdit);
    JQCommon::SetQLineEditLimit(ui.posLineEdit);
    JQCommon::SetQLineEditLimit(ui.speedLineEdit);
}

void DiagnosisPage::SwitchOperationAxisPage(bool isSwitch)
{
    if (isSwitch)
    {
        QString strMode = QString::fromLocal8Bit(m_pCurrOpenCAxis->GetAxisName().c_str());
        ui.titleLable->setText(strMode);

        // 设置状态
        m_IsDriveEnabled = m_pCurrOpenCAxis->JIsDriveEnabled();
        ui.xAxisEnabledRadioBut->setChecked(m_IsDriveEnabled);

        // 获取正负限位是否打开
        bool bEnabledNeg, bEnabledPos;
        m_pCurrOpenCAxis->JGetSoftLimitEnableStatus(bEnabledNeg, bEnabledPos);
        if (bEnabledNeg && bEnabledPos)
        {
            double dSoftLimitNeg, dSoftLimitPos, dSoftTravelRange;
            m_pCurrOpenCAxis->JGetSoftLimit(dSoftLimitNeg, dSoftLimitPos, dSoftTravelRange);
            ui.negLineEdit->setText(QString::number(dSoftLimitNeg,'f',2));
            ui.posLineEdit->setText(QString::number(dSoftLimitPos,'f',2));
        }

        
        //ui.speedLineEdit->setText(QString::number(0));

        // 设置定时获取速度
        const int nRunTime = 300; //所有新开的定时器都用这个
        m_nTimerID = startTimer(nRunTime);
    }
    else
    {
        killTimer(m_nTimerID);
        m_nTimerID = 0;
        ui.axisSwitchTabPage->setCurrentIndex(0);
    }
}

void DiagnosisPage::timerEvent(QTimerEvent* event)
{
    if (m_nTimerID == event->timerId())
    {
        if (m_pCurrOpenCAxis)
        {
            double doPos = 0.0;
            m_pCurrOpenCAxis->GetActualPos(doPos);
            ui.xPositionLineEdit->setText(QString::number(doPos, 'f', 2));
        }
    }
}

void DiagnosisPage::on_axisListTree_doubleClicked(const QModelIndex& index)
{
    if (index.isValid()) 
    {
        QString itemName = index.data().toString();
        if (!m_model->hasChildren(index)) // 没有子节点
        {
            // 表示想要切换到轴控制
            QModelIndex parentIndex = index.parent();
            QString currentItem = parentIndex.data().toString();
            currentItem += "_";
            currentItem += itemName;
            // 给轴窗口
            ui.axisSwitchTabPage->setCurrentIndex(1);

            for (auto& a : m_veCAxis)
            {
                QString strMode = QString::fromLocal8Bit(a->GetAxisName().c_str());
                if (strMode == currentItem)
                {
                    //m_pCurrOpenCAxis.reset(a);
                    m_pCurrOpenCAxis = a;

                    SwitchOperationAxisPage(true);
                    break;
                }
            }
        }
    }
}

void DiagnosisPage::on_xAxisDisable_clicked()
{
    QString strText = tr("Disable", "关使能");
    if (m_IsDriveEnabled)
    {
        m_pCurrOpenCAxis->AxisOff();
        strText = tr("Enable", "开使能");
    }
    else
    {
        m_pCurrOpenCAxis->AxisOn();
    }

    ui.xAxisDisable->setText(strText);
}


void DiagnosisPage::on_xAxisHomeBut_clicked()
{
    m_pCurrOpenCAxis->Home();
}

void DiagnosisPage::on_setPosBut_clicked()
{
    double xNeg = ui.negLineEdit->text().toDouble();
    double xPos = ui.posLineEdit->text().toDouble();

    m_pCurrOpenCAxis->JSetSoftLimit(xNeg, xPos);

}

void DiagnosisPage::on_setNegBut_clicked()
{
    double xNeg = ui.negLineEdit->text().toDouble();
    double xPos = ui.posLineEdit->text().toDouble();

    m_pCurrOpenCAxis->JSetSoftLimit(xNeg, xPos);
}


void DiagnosisPage::on_setSpeedBut_clicked()
{
    double doSpeed = ui.speedLineEdit->text().toDouble();
    m_pCurrOpenCAxis->JSetTargetVel(doSpeed);
}


void DiagnosisPage::on_retBut_clicked()
{
    SwitchOperationAxisPage(false);
}