#include"dd_motor_test.h"
#include "deviceinfo.h"
#include "rs_settings.h"
#include "deviceproxy.h"
#include <QDebug>


dd_motor_test_widget::dd_motor_test_widget(QWidget *parent):
    QFrame(parent),
    ui(new Ui::dd_motor_test_widget)
{
    ui->setupUi(this);
    // 获取文本光标（不是鼠标光标）
    init();
}


dd_motor_test_widget::~dd_motor_test_widget()
{
    delete ui;
}

void dd_motor_test_widget::init()
{
    limit_state[0] = NORMAL;
    limit_state[1] = NORMAL;
    limit_state[2] = NORMAL;
    enable_state = 0;
    loadSet();
    updateEnablePBStyleSheet(0);
    // 使能状态变化信号和槽连接
    connect(DEV,SIGNAL(DDEnableStateSGL(int)),this,SLOT(updateEnablePBStyleSheet(int)));


    // 限位状态变化信号和槽连接
    connect(DEV,SIGNAL(DDLimitStateSGL(int ,LIMIT_STATE)),this,SLOT(updatePBStyleSheet(int ,LIMIT_STATE)));

    return;
}
void dd_motor_test_widget::loadSet()
{
    RS_SETTINGS->beginGroup("device/DDMotor");
    double dsbStepDDt = RS_SETTINGS->readNumDEntry("/step");
    double dsbVelDD = RS_SETTINGS->readNumDEntry("/Vel");
    int index_moter = RS_SETTINGS->readNumEntry("/motor");
    int index_mode = RS_SETTINGS->readNumEntry("/mode");
    RS_SETTINGS->endGroup();
    ui->dsbStepDD->setValue(dsbStepDDt);
    ui->dsbVelDD->setValue(dsbVelDD);
    ui->cmbMotor->setCurrentIndex(index_moter);
    ui->cmbMoveMode->setCurrentIndex(index_mode);

    RS_SETTINGS->beginGroup("device/LaserMark");
    double dsbZ0Offset = RS_SETTINGS->readNumDEntry("/Z0Offset");
    double dsbZ2Offset = RS_SETTINGS->readNumDEntry("/Z2Offset");
    RS_SETTINGS->endGroup();
    ui->dsbZ0Offset->setValue(dsbZ0Offset);
    ui->dsbZ2Offset->setValue(dsbZ2Offset);

    return;
}
void dd_motor_test_widget::on_cmbMoveMode_currentIndexChanged(int index)
{
    if (index == 2)
    {
        ui->dsbStepDD->setMinimum(-50);
    }
    else
    {
        ui->dsbStepDD->setMinimum(0);
    }

    RS_SETTINGS->beginGroup("device/DDMotor");
    RS_SETTINGS->writeEntry("/mode", index);
    RS_SETTINGS->endGroup();
}

void dd_motor_test_widget::on_dsbStepDD_valueChanged(double value)
{
    //if (ui->cmbMoveMode->currentIndex() != 0)
    {
        RS_SETTINGS->beginGroup("device/DDMotor");
        RS_SETTINGS->writeEntry("/step", value);
        RS_SETTINGS->endGroup();
        if (ui->cmbMoveMode->currentIndex() == 1)
            DEVICE_INFO->printDeviceSystemInfo(QString("相对运动定位值改变为：%1mm").arg(value));
        else if (ui->cmbMoveMode->currentIndex() == 2)
            DEVICE_INFO->printDeviceSystemInfo(QString("绝对运动定位值改变为：%1mm").arg(value));
    }
}

void dd_motor_test_widget::on_pbVelM10_clicked()
{
     ui->dsbVelDD->setValue(ui->dsbVelDD->value()*10);
}

void dd_motor_test_widget::on_pbVelD10_clicked()
{
    ui->dsbVelDD->setValue(ui->dsbVelDD->value()/10);
}

void dd_motor_test_widget::on_dsbVelDD_valueChanged(double value)
{

    {
        RS_SETTINGS->beginGroup("device/DDMotor");
        RS_SETTINGS->writeEntry("/Vel", value);
        RS_SETTINGS->endGroup();
        DEVICE_INFO->printDeviceSystemInfo(QString("速度改变完成，当前速度为：%1mm/s").arg(value));
    }
}
void dd_motor_test_widget::updateEnablePBStyleSheet(int state)
{
    bool flag = false;
    flag = state & (1 << ui->cmbMotor->currentIndex());
    enable_state = state;

    if(flag)
    {
        ui->pbEnable->setStyleSheet(QString::fromUtf8("QPushButton {\n"
                                                       "    color: #333;\n"
                                                       "    border: 2px solid #555;\n"
                                                       "    border-radius: 20px;\n"
                                                       "    border-style: outset;	\n"
                                                       "	background: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0.772727 rgba(0, 178, 0, 255), stop:1 rgba(255, 255, 255, 255));\n"
                                                       "    padding: 5px;\n"
                                                       "    color: rgb(255, 255, 255);\n"
                                                       "    }\n"
                                                       "\n"
                                                       "QPushButton:hover {\n"
                                                       "	\n"
                                                       "	background-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0.392045 rgba(0, 160, 0, 255), stop:1 rgba(255, 255, 255, 255));\n"
                                                       "	\n"
                                                       "    }"));
    }
    else
    {
        ui->pbEnable->setStyleSheet(QString::fromUtf8("QPushButton {\n"
                                                       "   color: #333;\n"
                                                       "   border: 2px solid #555;\n"
                                                       "   border-radius: 20px;\n"
                                                       "   border-style: outset;\n"
                                                       "   background-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0.693182 rgba(159, 0, 0, 255), stop:1 rgba(255, 255, 255, 255));\n"
                                                       "   padding: 5px;\n"
                                                       "   color: rgb(255, 255, 255);\n"
                                                       "   }\n"
                                                       "\n"
                                                       "QPushButton:hover {\n"
                                                       "   background-color: qradialgradient(spread:pad, cx:0.5, cy:0.5, radius:0.5, fx:0.5, fy:0.5, stop:0.573864 rgba(195, 0, 0, 255), stop:1 rgba(255, 255, 255, 255));\n"
                                                       "    }"));
    }

}
void dd_motor_test_widget::updatePBStyleSheet(int motor,LIMIT_STATE state)
{
    if ((motor >= 0) && (motor <= 2))
    {
        limit_state[motor] = state;
    }
    if (ui->cmbMotor->currentIndex() != motor)
        return;
    switch (state)
    {
        case LEFT_LIMIT:
        ui->pbMoveN->setStyleSheet(QString::fromUtf8("QPushButton {\n"
                                                         "color: #333;\n"
                                                         "border: 1px solid #555;\n"
                                                         "border-radius: 2px;\n"
                                                         "border-style: outset;\n"
                                                         "background-color: rgb(197, 25, 9);\n"
                                                         "padding: 5px;\n"
                                                         "}\n"
                                                         "QPushButton:hover {\n"
                                                         "background-color: rgb(255, 10, 2);\n"
                                                         "}"));
        break;
        case RIGHT_LIMIT:
        ui->pbMoveP->setStyleSheet(QString::fromUtf8("QPushButton {\n"
                                                         "color: #333;\n"
                                                         "border: 1px solid #555;\n"
                                                         "border-radius: 2px;\n"
                                                         "border-style: outset;\n"
                                                         "background-color: rgb(197, 25, 9);\n"
                                                         "padding: 5px;\n"
                                                         "}\n"
                                                         "QPushButton:hover {\n"
                                                         "background-color: rgb(255, 10, 2);\n"
                                                         "}"));
        break;
        case LEFT_SLIMIT:
        ui->pbMoveN->setStyleSheet(QString::fromUtf8("QPushButton {\n"
                                                         "color: #333;\n"
                                                         "border: 1px solid #555;\n"
                                                         "border-radius: 2px;\n"
                                                         "border-style: outset;\n"
                                                         "background-color: rgb(255, 235, 12);\n"
                                                         "padding: 5px;\n"
                                                         "}\n"
                                                         "QPushButton:hover {\n"
                                                         "background-color: rgb(255, 255, 127);\n"
                                                         "}\n"));
        break;
        case RIGHT_SLIMIT:
        ui->pbMoveP->setStyleSheet(QString::fromUtf8("QPushButton {\n"
                                                         "color: #333;\n"
                                                         "border: 1px solid #555;\n"
                                                         "border-radius: 2px;\n"
                                                         "border-style: outset;\n"
                                                         "background-color: rgb(255, 235, 12);\n"
                                                         "padding: 5px;\n"
                                                         "}\n"
                                                         "QPushButton:hover {\n"
                                                         "background-color: rgb(255, 255, 127);\n"
                                                         "}\n"));
        break;
        case NORMAL:
        ui->pbMoveP->setStyleSheet(QString::fromUtf8("QPushButton {\n"
                                                         "color: #333;\n"
                                                         "border: 1px solid #555;\n"
                                                         "border-radius: 2px;\n"
                                                         "border-style: outset;\n"
                                                         "background-color: rgb(0, 160, 0);\n"
                                                         "padding: 5px;\n"
                                                         "}\n"
                                                         "QPushButton:hover {\n"
                                                         "background-color: rgb(0, 180, 0);\n"
                                                         "}\n"));

        ui->pbMoveN->setStyleSheet(QString::fromUtf8("QPushButton {\n"
                                                         "color: #333;\n"
                                                         "border: 1px solid #555;\n"
                                                         "border-radius: 2px;\n"
                                                         "border-style: outset;\n"
                                                         "background-color: rgb(0, 160, 0);\n"
                                                         "padding: 5px;\n"
                                                         "}\n"
                                                         "QPushButton:hover {\n"
                                                         "background-color: rgb(0, 180, 0);\n"
                                                         "}\n"));
        break;
    }

}

void dd_motor_test_widget::on_cmbMotor_currentIndexChanged(int index)
{
    RS_SETTINGS->beginGroup("device/DDMotor");
    RS_SETTINGS->writeEntry("/motor", index);
    RS_SETTINGS->endGroup();

    updateEnablePBStyleSheet(enable_state);
    updatePBStyleSheet(index,limit_state[index]);
}

void dd_motor_test_widget::on_pbMoveP_pressed()
{
    if(ui->cmbMoveMode->currentIndex() == 0)
    {
        connect(ui->pbMoveP,SIGNAL(released()),this,SLOT(pbMovePReleasedHandl()));
        if(ui->cmbMotor->currentIndex() == 0)
        {
            DEV->DAxisCMoveP();
        }
        if(ui->cmbMotor->currentIndex() == 1)
        {
            DEV->Z0AxisCMoveP();
        }
        if(ui->cmbMotor->currentIndex() == 2)
        {
            DEV->Z2AxisCMoveP();
        }
    }
    else if(ui->cmbMoveMode->currentIndex() == 1)
    {
        if(ui->cmbMotor->currentIndex() == 0)
        {
            DEV->DAxisSMoveP();
        }
        if(ui->cmbMotor->currentIndex() == 1)
        {
            DEV->Z0AxisSMoveP();
        }
        if(ui->cmbMotor->currentIndex() == 2)
        {
            DEV->Z2AxisSMoveP();
        }
    }
    else
    {
        DEV->ABSMove_DZ0Z2();
    }
}

void dd_motor_test_widget::pbMovePReleasedHandl()
{
    disconnect(ui->pbMoveP,SIGNAL(released()),this,SLOT(pbMovePReleasedHandl()));
    if(ui->cmbMotor->currentIndex() == 0)
        DEV->DAxisCMovePEnd();
    if(ui->cmbMotor->currentIndex() == 1)
        DEV->Z0AxisCMovePEnd();
    if(ui->cmbMotor->currentIndex() == 2)
        DEV->Z2AxisCMovePEnd();

}

void dd_motor_test_widget::on_pbMoveN_pressed()
{
    if(ui->cmbMoveMode->currentIndex() == 0)
    {
        connect(ui->pbMoveN,SIGNAL(released()),this,SLOT(pbMoveNReleasedHandl()));
        if(ui->cmbMotor->currentIndex() == 0)
        {
            DEV->DAxisCMoveN();
        }
        if(ui->cmbMotor->currentIndex() == 1)
        {
            DEV->Z0AxisCMoveN();
        }
        if(ui->cmbMotor->currentIndex() == 2)
        {
            DEV->Z2AxisCMoveN();
        }
    }
    else if(ui->cmbMoveMode->currentIndex() == 1)
    {
        if(ui->cmbMotor->currentIndex() == 0)
        {
            DEV->DAxisSMoveN();
        }
        if(ui->cmbMotor->currentIndex() == 1)
        {
            DEV->Z0AxisSMoveN();
        }
        if(ui->cmbMotor->currentIndex() == 2)
        {
            DEV->Z2AxisSMoveN();
        }
    }
    else
    {
        DEV->ABSMove_DZ0Z2();
    }
}

void dd_motor_test_widget::pbMoveNReleasedHandl()
{
    disconnect(ui->pbMoveN,SIGNAL(released()),this,SLOT(pbMoveNReleasedHandl()));
    if(ui->cmbMotor->currentIndex() == 0)
        DEV->DAxisCMoveNEnd();
    if(ui->cmbMotor->currentIndex() == 1)
        DEV->Z0AxisCMoveNEnd();
    if(ui->cmbMotor->currentIndex() == 2)
        DEV->Z2AxisCMoveNEnd();

}


void dd_motor_test_widget::on_pbEnable_clicked()
{

    if(ui->cmbMotor->currentIndex() == 0)
        DEV->enableDisableDAxis();
    if(ui->cmbMotor->currentIndex() == 1)
        DEV->enableDisableZ0Axis();
    if(ui->cmbMotor->currentIndex() == 2)
        DEV->enableDisableZ2Axis();
}

void dd_motor_test_widget::on_dsbZ0Offset_valueChanged(double value)
{
    RS_SETTINGS->beginGroup("device/LaserMark");
    RS_SETTINGS->writeEntry("/Z0Offset", value);
    RS_SETTINGS->endGroup();
    DEVICE_INFO->printDeviceSystemInfo(QString("Z0轴工作位置改变完成，当前位置为：%1mm").arg(value));
}

void dd_motor_test_widget::on_dsbZ2Offset_valueChanged(double value)
{
    RS_SETTINGS->beginGroup("device/LaserMark");
    RS_SETTINGS->writeEntry("/Z2Offset", value);
    RS_SETTINGS->endGroup();
    DEVICE_INFO->printDeviceSystemInfo(QString("Z2轴工作位置改变完成，当前位置为：%1mm").arg(value));
}