#include "mrccamerasetwidget.h"
#include "deviceproxy.h"
#include "rs_settings.h"
#include "deviceproxy.h"
#include "rs_settings.h"
#include "deviceinfo.h"



MRCameraSetWidget::MRCameraSetWidget(QWidget* parent)
                :QFrame(parent)
                ,ui(new Ui::MRCameraSetWidget)
{
    ui->setupUi(this);
    loadSet();
    connect(DEV,SIGNAL(XAxisCtPosSGL(double)),this,SLOT(setXAxisCtPos(double)));
    connect(DEV,SIGNAL(YAxisCtPosSGL(double)),this,SLOT(setYAxisCtPos(double)));
    connect(DEV,SIGNAL(ZAxisCtPosSGL(double)),this,SLOT(setZAxisCtPos(double)));
    connect(DEV,SIGNAL(ZAAxisCtPosSGL(double)),this,SLOT(setZAAxisCtPos(double)));
}

void MRCameraSetWidget::loadSet()
{
    RS_SETTINGS->beginGroup("device/MRHCamera/calibPos");
    double MHXAxis = RS_SETTINGS->readNumDEntry("/MHXAxis");
    double MHYAxis = RS_SETTINGS->readNumDEntry("/MHYAxis");
    ui->lbMHCalibPos->setText(QString("(X)%1mm;(Y)%2mm;").arg(QString::number(MHXAxis,'f',4)).arg(QString::number(MHYAxis,'f',4)));
    double RHXAxis = RS_SETTINGS->readNumDEntry("/RHXAxis");
    double RHYAxis = RS_SETTINGS->readNumDEntry("/RHYAxis");
    ui->lbRHCalibPos->setText(QString("(X)%1mm;(Y)%2mm;").arg(QString::number(RHXAxis,'f',4)).arg(QString::number(RHYAxis,'f',4)));
    double cameraXAxis = RS_SETTINGS->readNumDEntry("/cameraXAxis");
    double cameraYAxis = RS_SETTINGS->readNumDEntry("/cameraYAxis");
    ui->lbCameraCalibPos->setText(QString("(X)%1mm;(Y)%2mm;").arg(QString::number(cameraXAxis,'f',4)).arg(QString::number(cameraYAxis,'f',4)));
    RS_SETTINGS->endGroup();

    RS_SETTINGS->beginGroup("device/MRHCamera/switchVel");
    double XAxis = RS_SETTINGS->readNumDEntry("/XAxis");
    double YAxis = RS_SETTINGS->readNumDEntry("/YAxis");
    ui->dsbXAxisVel->setValue(XAxis);
    ui->dsbYAxisVel->setValue(YAxis);
    RS_SETTINGS->endGroup();
}

void MRCameraSetWidget::on_dsbXAxisVel_valueChanged(const double& value)
{

    RS_SETTINGS->beginGroup("device/MRHCamera/switchVel");
    RS_SETTINGS->writeEntry("/XAxis", value);
    RS_SETTINGS->endGroup();
    DEVICE_INFO->printDeviceSystemInfo(QString("加工头|测距头|相机切换X轴速度改变为：%1mm/s").arg(QString::number(value,'f',4)));


}

void MRCameraSetWidget::on_dsbYAxisVel_valueChanged(const double& value)
{

    RS_SETTINGS->beginGroup("device/MRHCamera/switchVel");
    RS_SETTINGS->writeEntry("/YAxis", value);
    RS_SETTINGS->endGroup();
    DEVICE_INFO->printDeviceSystemInfo(QString("加工头|测距头|相机切换Y轴速度改变为：%1mm/s").arg(QString::number(value,'f',4)));
}

void MRCameraSetWidget::on_pbMHPosRecord_clicked()
{
    ui->lbMHCalibPos->setText(QString("(X)%1mm;(Y)%2mm;").arg(QString::number(XAxisCtPos,'f',4)).arg(QString::number(YAxisCtPos,'f',4)));
    RS_SETTINGS->beginGroup("device/MRHCamera/calibPos");
    RS_SETTINGS->writeEntry("/MHXAxis", XAxisCtPos);
    RS_SETTINGS->writeEntry("/MHYAxis", YAxisCtPos);
    RS_SETTINGS->endGroup();

    RS_SETTINGS->beginGroup("device/MRHCamera");
    RS_SETTINGS->writeEntry("/MHIsCalib", 1);
    RS_SETTINGS->endGroup();

    DEVICE_INFO->printDeviceSystemInfo(QString("加工头标定位置改变为：(X)%1mm;(Y)%2mm").arg(QString::number(XAxisCtPos,'f',4)).arg(QString::number(YAxisCtPos,'f',4)));
}

void MRCameraSetWidget::on_pbRHPosRecord_clicked()
{
    ui->lbRHCalibPos->setText(QString("(X)%1mm;(Y)%2mm;").arg(QString::number(XAxisCtPos,'f',4)).arg(QString::number(YAxisCtPos,'f',4)));
    RS_SETTINGS->beginGroup("device/MRHCamera/calibPos");
    RS_SETTINGS->writeEntry("/RHXAxis", XAxisCtPos);
    RS_SETTINGS->writeEntry("/RHYAxis", YAxisCtPos);
    RS_SETTINGS->endGroup();

    RS_SETTINGS->beginGroup("device/MRHCamera");
    RS_SETTINGS->writeEntry("/RHIsCalib", 1);
    RS_SETTINGS->endGroup();

    DEVICE_INFO->printDeviceSystemInfo(QString("测距头标定位置改变为：(X)%1mm;(Y)%2mm").arg(QString::number(XAxisCtPos,'f',4)).arg(QString::number(YAxisCtPos,'f',4)));
}

void MRCameraSetWidget::on_pbCameraPosRecord_clicked()
{
    ui->lbCameraCalibPos->setText(QString("(X)%1mm;(Y)%2mm;").arg(QString::number(XAxisCtPos,'f',4)).arg(QString::number(YAxisCtPos,'f',4)));
    RS_SETTINGS->beginGroup("device/MRHCamera/calibPos");
    RS_SETTINGS->writeEntry("/cameraXAxis", XAxisCtPos);
    RS_SETTINGS->writeEntry("/cameraYAxis", YAxisCtPos);
    RS_SETTINGS->endGroup();

    RS_SETTINGS->beginGroup("device/MRHCamera");
    RS_SETTINGS->writeEntry("/cameraIsCalib", 1);
    RS_SETTINGS->endGroup();
    DEVICE_INFO->printDeviceSystemInfo(QString("相机标定位置改变为：(X)%1mm;(Y)%2mm").arg(QString::number(XAxisCtPos,'f',4)).arg(QString::number(YAxisCtPos,'f',4)));
}

void MRCameraSetWidget::setXAxisCtPos(double value)
{
    XAxisCtPos = value;
    ui->lbXAxisCtPos->setText(QString("%1mm").arg(QString::number(value,'f',4)));
}

void MRCameraSetWidget::setYAxisCtPos(double value)
{
    YAxisCtPos = value;
    ui->lbYAxisCtPos->setText(QString("%1mm").arg(QString::number(value,'f',4)));
}

void MRCameraSetWidget::setZAxisCtPos(double value)
{
    ZAxisCtPos = value;
    ui->lbZAxisCtPos->setText(QString("%1mm").arg(QString::number(value,'f',4)));
}

void MRCameraSetWidget::setZAAxisCtPos(double value)
{
    ZAAxisCtPos = value;
    ui->lbZAAxisCtPos->setText(QString("%1mm").arg(QString::number(value,'f',4)));
}