#include "PathPlan.h"
#include <iostream>
#include <QMessageBox>
#include <QFileDialog>
#include <fileOperation.h>

PathPlan::PathPlan(VinceControl* xMotor, VinceControl* yMotor, QMotorDoubleSlider* xSlider, QMotorDoubleSlider* ySlider, QWidget* parent)
	: QDialog(parent)
{
	ui.setupUi(this);

	m_xMotor = xMotor;
	m_yMotor = yMotor;

	m_xSlider = xSlider;
	m_ySlider = ySlider;

	ui.recordLine_tableWidget->setFocusPolicy(Qt::NoFocus);
	ui.recordLine_tableWidget->setStyleSheet("selection-background-color:rgb(255,209,128)");//设置选择的行高亮

	ui.recordLine_tableWidget->setSelectionBehavior(QAbstractItemView::SelectRows);//设置选择行为，以行为单位
	//ui.recordLine_tableWidget->setSelectionMode(QAbstractItemView::SingleSelection);//设置选择模式，选择单行
	//QHeaderView* headerView = ui.recordLine_tableWidget->verticalHeader();
	//headerView->setHidden(true);//去除左边默认自带序列号


	ui.recordLine_tableWidget->setColumnCount(2);
	ui.recordLine_tableWidget->setHorizontalHeaderLabels(QStringList() << "yPosition" << "xMaxPosition");

	connect(ui.addRecordLine_btn, SIGNAL(clicked()), this, SLOT(onAddRecordLine_btn()));
	connect(ui.removeRecordLine_btn, SIGNAL(clicked()), this, SLOT(onRemoveRecordLine_btn()));
	connect(ui.generateRecordLine_btn, SIGNAL(clicked()), this, SLOT(onGenerateRecordLine_btn()));
	connect(ui.deleteRecordLine_btn, SIGNAL(clicked()), this, SLOT(onDeleteRecordLine_btn()));
	connect(ui.saveRecordLine2File_btn, SIGNAL(clicked()), this, SLOT(onSaveRecordLine2File_btn()));
	connect(ui.readRecordLineFile_btn, SIGNAL(clicked()), this, SLOT(onReadRecordLineFile_btn()));
}

PathPlan::~PathPlan()
{}

void PathPlan::setMotor(VinceControl* xMotor, VinceControl* yMotor)
{
	m_xMotor = xMotor;
	m_yMotor = yMotor;
}

QTableWidget* PathPlan::getRecordLineTableWidget()
{
	return ui.recordLine_tableWidget;
}

void PathPlan::onAddRecordLine_btn()
{
	//准备数据
	ByteBack MotorState = m_yMotor->GetState();
	double currentPosOfYmotor = m_ySlider->getDistanceFromPulse(MotorState.Location);
	double maxRangeOfXmotro = m_xSlider->maximum();

	//获取选中行的索引
	int currentRow = ui.recordLine_tableWidget->currentRow();
	std::cout << "currentRow：" << currentRow << std::endl;

	QTableWidgetItem* Item1 = new QTableWidgetItem(QString::number(currentPosOfYmotor, 10, 2));
	QTableWidgetItem* Item2 = new QTableWidgetItem(QString::number(maxRangeOfXmotro, 10, 2));
	Item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
	Item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
	if (currentRow == -1)//当没有选中行时
	{
		int RowCount = ui.recordLine_tableWidget->rowCount();//Returns the number of rows. 从1开始的
		ui.recordLine_tableWidget->insertRow(RowCount);//增加一行，形参是从0开始的

		ui.recordLine_tableWidget->setItem(RowCount, 0, Item1);
		ui.recordLine_tableWidget->setItem(RowCount, 1, Item2);
	}
	else
	{
		ui.recordLine_tableWidget->insertRow(currentRow + 1);//增加一行，形参是从0开始的

		ui.recordLine_tableWidget->setItem(currentRow + 1, 0, Item1);
		ui.recordLine_tableWidget->setItem(currentRow + 1, 1, Item2);
	}
}

void PathPlan::onRemoveRecordLine_btn()
{
	int rowIndex = ui.recordLine_tableWidget->currentRow();
	if (rowIndex != -1)
		ui.recordLine_tableWidget->removeRow(rowIndex);
}

void PathPlan::onGenerateRecordLine_btn()
{
	//求幅宽
	double height = ui.height_lineEdit->text().toDouble();
	double fov = ui.fov_lineEdit->text().toDouble();
	double swath = (height * tan(fov / 2 * PI / 180)) * 2;//tan输入是弧度
	ui.swath_lineEdit->setText(QString::number(swath));


	//读取马达测量范围
	double xMotorRange = m_xSlider->maximum();
	double yMotorRange = m_ySlider->maximum();


	//确定有多少条采集线，公式：numberOfRecordLine_tmp * swath - repetitiveLength（numberOfRecordLine_tmp - 1） = overallLength
	double overallLength = yMotorRange + swath;
	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble() / 100;
	double repetitiveLength = repetitiveRate * swath;
	double offset = ui.offset_lineEdit->text().toDouble();

	double numberOfRecordLine_tmp = (overallLength - repetitiveLength - offset) / (swath - repetitiveLength);
	double tmp = numberOfRecordLine_tmp - (int)numberOfRecordLine_tmp;
	int numberOfRecordLine;
	double threshold = ui.LastLineThreshold_lineEdit->text().toDouble();//当numberOfRecordLine_tmp为小数时，判断是否多加一条采集线
	if (tmp > threshold)
	{
		numberOfRecordLine = (int)numberOfRecordLine_tmp + 1;
		//std::cout << "大于：" << threshold << std::endl;
	}
	else
	{
		numberOfRecordLine = (int)numberOfRecordLine_tmp;
	}



	//去掉tableWidget中所有的行
	int rowCount = ui.recordLine_tableWidget->rowCount();
	for (size_t i = 0; i < rowCount; i++)
	{
		ui.recordLine_tableWidget->removeRow(0);
	}


	//向tableWidget添加行（采集线）
	QTableWidgetItem* tmpItem;
	for (size_t i = 0; i < numberOfRecordLine; i++)
	{
		//增加一行
		int RowCount = ui.recordLine_tableWidget->rowCount();
		ui.recordLine_tableWidget->insertRow(RowCount);

		//设置yPosition
		if (tmp > threshold && i == numberOfRecordLine - 1)//设置最后一行的yPosition
		{
			tmpItem = new QTableWidgetItem(QString::number(yMotorRange, 10, 2));
			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
		}
		else
		{
			double x = swath * i - i * repetitiveLength + offset;
			tmpItem = new QTableWidgetItem(QString::number(x, 10, 2));
			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
		}

		//设置x马达最大运动位置 → 值设置为x马达量程
		tmpItem = new QTableWidgetItem(QString::number(xMotorRange, 10, 2));
		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
		ui.recordLine_tableWidget->setItem(i, 1, tmpItem);

	}

}

void PathPlan::onDeleteRecordLine_btn()
{
	int rowCount = ui.recordLine_tableWidget->rowCount();
	for (size_t i = 0; i < rowCount; i++)
	{
		ui.recordLine_tableWidget->removeRow(0);
	}
}

void PathPlan::onSaveRecordLine2File_btn()
{
	//确保采集线存在
	if (ui.recordLine_tableWidget->rowCount() <= 0)
	{
		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请先生成轨迹！"));
		return;
	}

	double height = ui.height_lineEdit->text().toDouble();
	double fov = ui.fov_lineEdit->text().toDouble();
	double swath = ui.swath_lineEdit->text().toDouble();
	double offset = ui.offset_lineEdit->text().toDouble();
	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble();
	double LastLineThreshold = ui.LastLineThreshold_lineEdit->text().toDouble();

	FileOperation* fileOperation = new FileOperation();
	string directory = fileOperation->getDirectoryOfExe();

	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine File"),
		QString::fromStdString(directory),
		tr("RecordLineFile (*.RecordLine)"));

	if (RecordLineFilePath.isEmpty())
	{
		return;
	}

	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "wb+");

	fwrite(&height, sizeof(double), 1, RecordLineFileHandle);
	fwrite(&fov, sizeof(double), 1, RecordLineFileHandle);
	fwrite(&swath, sizeof(double), 1, RecordLineFileHandle);
	fwrite(&offset, sizeof(double), 1, RecordLineFileHandle);
	fwrite(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
	fwrite(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);

	double number = ui.recordLine_tableWidget->rowCount() * ui.recordLine_tableWidget->columnCount();
	fwrite(&number, sizeof(double), 1, RecordLineFileHandle);

	double* data = new double[number];
	//double data[number];
	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
	{
		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
		{
			data[i * ui.recordLine_tableWidget->columnCount() + j] = ui.recordLine_tableWidget->item(i, j)->text().toDouble();
		}
	}

	fwrite(data, sizeof(double), number, RecordLineFileHandle);

	fclose(RecordLineFileHandle);
	delete[] data;

	QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("保存成功！"));
}

void PathPlan::onReadRecordLineFile_btn()
{
	//打开文件
	FileOperation* fileOperation = new FileOperation();
	string directory = fileOperation->getDirectoryOfExe();
	//string RecordLineFilePath = directory + "\\test.RecordLine";

	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine File"),
		QString::fromStdString(directory),
		tr("RecordLineFile (*.RecordLine)"));

	if (RecordLineFilePath.isEmpty())
	{
		return;
	}

	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
	double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number;

	//读取数据
	fread(&height, sizeof(double), 1, RecordLineFileHandle);
	fread(&fov, sizeof(double), 1, RecordLineFileHandle);
	fread(&swath, sizeof(double), 1, RecordLineFileHandle);
	fread(&offset, sizeof(double), 1, RecordLineFileHandle);
	fread(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
	fread(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
	fread(&number, sizeof(double), 1, RecordLineFileHandle);

	double* data = new double[number];
	for (size_t i = 0; i < number; i++)
	{
		fread(data + i, sizeof(double), 1, RecordLineFileHandle);
		//std::cout << *(data + i) << std::endl;
	}

	//向界面中填写
	ui.height_lineEdit->setText(QString::number(height));
	ui.fov_lineEdit->setText(QString::number(fov));
	ui.swath_lineEdit->setText(QString::number(swath));
	ui.offset_lineEdit->setText(QString::number(offset));
	ui.repetitiveRate_lineEdit->setText(QString::number(repetitiveRate));
	ui.LastLineThreshold_lineEdit->setText(QString::number(LastLineThreshold));


	//向tableWidget添加采集线
	//（1）去掉tableWidget中所有的行
	int rowCount = ui.recordLine_tableWidget->rowCount();
	for (size_t i = 0; i < rowCount; i++)
	{
		ui.recordLine_tableWidget->removeRow(0);
	}
	//（2）添加行（采集线）
	int RecordLineCount = number / ui.recordLine_tableWidget->columnCount();
	for (size_t i = 0; i < RecordLineCount; i++)
	{
		ui.recordLine_tableWidget->insertRow(0);

	}
	//（3）向tableWidget填充数据
	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
	{
		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
		{
			QTableWidgetItem* tmp = new QTableWidgetItem(QString::number(data[i * ui.recordLine_tableWidget->columnCount() + j], 10, 5));
			tmp->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
			ui.recordLine_tableWidget->setItem(i, j, tmp);
		}
	}

	fclose(RecordLineFileHandle);
	delete[] data;

	QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("读取成功！"));

}