#include "mainwindow.h"
#include "ui_mainwindow.h"

MainWindow::MainWindow(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainWindow)
{
    m_tbox=new Tbox();
    initTboxMemory();
    m_radio=new Radio();
    ui->setupUi(this);
    initUi();
    //enableTbox();
    initRadio();
    //20211009,jiaolili
    mivlog = new iv::Ivlog("v2x");
    //ShareMem: gps
    ModuleFun fungpsimu =std::bind(&MainWindow::UpdateGPSIMU,this,std::placeholders::_1, \
                                   std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
    mpMemGps = iv::modulecomm::RegisterRecvPlus("hcp2_gpsimu",fungpsimu);
    //ShareMem: ui
    ModuleFun funUI =std::bind(&MainWindow::UpdateUI,this,std::placeholders::_1, \
                                   std::placeholders::_2,std::placeholders::_3,std::placeholders::_4,std::placeholders::_5);
    mpMemUI = iv::modulecomm::RegisterRecvPlus("hcp2_gpsimu",funUI);
}

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

void MainWindow::initUi()
{
     ui->lineEdit_enableTox->setText("Init status");
     ui->lineEdit_enableRadio->setText("Init status");
}
void MainWindow::initRadio()
{
    std::string str="12345678912345678";
    int randId0,randId1,randId2,randId3,randId4,randId5,randId6,randId7,randId8,randId9,randId10,randId11,randId12,randId13,randId14,randId15,randId16;
    for(int i=0;i<1000;i++) {
        randId0=qrand()%10;
        randId1=qrand()%10;
        randId2=qrand()%10;
        randId3=qrand()%10;
        randId4=qrand()%10;
        randId5=qrand()%10;
        randId6=qrand()%10;
        randId7=qrand()%10;
        randId8=qrand()%10;
        randId9=qrand()%10;
        randId10=qrand()%10;
        randId11=qrand()%10;
        randId12=qrand()%10;
        randId13=qrand()%10;
        randId14=qrand()%10;
        randId15=qrand()%10;
        randId16=qrand()%10;
        char c[17]={char('0'+randId0),
                    char('0'+randId1),
                    char('0'+randId2),
                    char('0'+randId3),
                    char('0'+randId4),
                    char('0'+randId5),
                    char('0'+randId6),
                    char('0'+randId7),
                    char('0'+randId8),
                    char('0'+randId9),
                    char('0'+randId10),
                    char('0'+randId11),
                    char('0'+randId12),
                    char('0'+randId13),
                    char('0'+randId14),
                    char('0'+randId15),
                    char('0'+randId16)};
        str=c;
        m_vectorVin.push_back(str);
    }
}
void MainWindow::enableTbox()
{
    ui->lineEdit_enableTox->setText("OPEN");
    m_tbox->setTboxConnectEnable(true);
}
void MainWindow::disableTbox()
{
    ui->lineEdit_enableTox->setText("CLOSE");
    m_tbox->setTboxConnectEnable(false);
}
void MainWindow::initTboxMemory()
{
    m_structM.gps_lng=137.0;
    m_structM.gps_lat=39.0;
    m_structM.speed=20.0;
    m_structM.yaw=12.0;
    m_structM.ele_voltage=90.0;
    m_structM.error=0x02;
    m_tbox->setTboxMemmory(m_structM);
    m_tbox->setTboxConnectEnable(false);
}

void MainWindow::on_pushButton_connect_clicked()
{
    if(ui->pushButton_connect->text() == tr("connect")) {
        enableTbox();
        //修改按键文字
        ui->pushButton_connect->setText("disconnect");
    } else {
        disableTbox();
        //修改按键文字
        ui->pushButton_connect->setText("connect");
    }
}

void MainWindow::on_pushButton_vinChange_clicked()
{
        std::string str=ui->lineEdit_VIN->text().toStdString();
        m_tbox->setTboxNewVin(str);
}
void MainWindow::on_checkBox_trafficBroadcast_stateChanged(int arg1)
{
    if(arg1==2) {
        m_radio->getTrafficBroadcast(true);
    } else {
        m_radio->getTrafficBroadcast(false);
    }
}

void MainWindow::on_checkBox_collisionWarning_stateChanged(int arg1)
{
    if(arg1==2) {
        m_radio->getCollisonWarning(true);
    } else {
        m_radio->getCollisonWarning(false);
    }
}

void MainWindow::on_checkBox_busyRoad_stateChanged(int arg1)
{
    if(arg1==2) {
        m_radio->getBusyRoad(true);
    } else {
        m_radio->getBusyRoad(false);
    }
}

void MainWindow::on_checkBox_dangerousDrive_stateChanged(int arg1)
{
    if(arg1==2) {
        m_radio->getDangerDrive(true);
    } else {
        m_radio->getDangerDrive(false);
    }
}

void MainWindow::on_pushButton_setVirtualVehicle_clicked()
{
    int virtualVehicleNum=ui->lineEdit_virtualVehicleNum->text().toInt();
    double latMax=ui->lineEdit_latMax->text().toDouble();
    double latMin=ui->lineEdit_latMin->text().toDouble();
    double lngMax=ui->lineEdit_lngMax->text().toDouble();
    double lngMin=ui->lineEdit_lngMin->text().toDouble();
    float speedMax=ui->lineEdit_speedMax->text().toFloat();
    float speedMin=ui->lineEdit_speedMin->text().toFloat();
    float yawMax=ui->lineEdit_yawMax->text().toFloat();
    float yawMin=ui->lineEdit_yawMin->text().toFloat();
    int randId=qrand()%10000;
    m_vectorRandom.push_back(randId);
    virtualVehicleM structVirtualVehicle;
    for(int i=1;i<virtualVehicleNum;i++) {
        getRandomNum();
    }
    for(int i=0;i<virtualVehicleNum;i++) {
        structVirtualVehicle.vin = m_vectorVin[i];
        structVirtualVehicle.gps_lat=latMin+((double(m_vectorRandom[i]))/10000.0)*(latMax-latMin);
        structVirtualVehicle.gps_lng=lngMin+((double(m_vectorRandom[i]))/10000.0)*(lngMax-lngMin);
        structVirtualVehicle.speed=speedMin+((float(m_vectorRandom[i]))/10000.0)*(speedMax-speedMin);
        structVirtualVehicle.yaw=yawMin+((float(m_vectorRandom[i]))/10000.0)*(yawMax-yawMin);
        m_radio->upVirtualVehicle(structVirtualVehicle);
    }

    //m_radio
}
void MainWindow::getRandomNum()
{
    int randId=qrand()%10000;
    for(int i=0;i<m_vectorRandom.size();i++) {
        if(randId==m_vectorRandom[i]) {
            getRandomNum();
        }
    }
    m_vectorRandom.push_back(randId);
}

void MainWindow::setEnRadio(bool en)
{
    if(en) {
        ui->lineEdit_enableRadio->setText("OPEN");
    } else {
        ui->lineEdit_enableRadio->setText("CLOSE");
    }
    m_radio->setEnConnect(en);
}

void MainWindow::on_pushButton_radioConnect_clicked()
{
    if(ui->pushButton_radioConnect->text() == tr("connect")) {
        setEnRadio(true);
        //修改按键文字
        ui->pushButton_radioConnect->setText("disconnect");
    } else {
        setEnRadio(false);
        //修改按键文字
        ui->pushButton_radioConnect->setText("connect");
    }
}
//接收GPS数据
void MainWindow::UpdateGPSIMU(const char * strdata,const unsigned int nSize,const unsigned int index,\
                              const QDateTime * dt,const char * strmemname)
{
    double accX,accY,lat,lon,heading,rtk,ins,vd,ve,vn;
    iv::gps::gpsimu  xgpsimu;
    if(!xgpsimu.ParseFromArray(strdata,nSize))
    {
        mivlog->warn("ADCIntelligentVehicle::UpdateGPSIMU parse error. nSize is %d",nSize);
        return;
    }

    lat = xgpsimu.lat();
    lon = xgpsimu.lon();
    heading = xgpsimu.heading();

    rtk = xgpsimu.rtk_state();
    ins = xgpsimu.ins_state();
    vd = xgpsimu.vd();    //地向速度,单位(米/秒)
    ve = xgpsimu.ve();    //东向速度,单位(米/秒)
    vn = xgpsimu.vn();    //北向速度,单位(米/秒)
    if(xgpsimu.has_acce_x())
    {
        accX = xgpsimu.acce_x();
    }
    if(xgpsimu.has_acce_y())
    {
        accY = xgpsimu.acce_y();
    }
//     mfAcc = (float)sqrt(pow(accX,2)+pow(accY,2));

 //   mfspeed = sqrt(pow(data->vel_E,2)+pow(data->vel_N,2)) * 3.6;  //double pow(double x, double y) 返回 x 的 y 次幂，即 xy。
    //mistGPS = 0;
}
//UI DATA
void MainWindow::UpdateUI(const char * strdata,const unsigned int nSize,const unsigned int index,\
                              const QDateTime * dt,const char * strmemname)
{
    double accX,accY,lat,lon,heading,rtk,ins,vd,ve,vn;
    iv::hmi::hmimsg  xhmi;
    if(!xhmi.ParseFromArray(strdata,nSize))
    {
        mivlog->warn("ADCIntelligentVehicle::UpdateGPSIMU parse error. nSize is %d",nSize);
        return;
    }


    if(xhmi.has_obuen()) {
        bool enRadio=xhmi.obuen();
        setEnRadio(enRadio);
    }
    if(xhmi.has_platformen()) {
        bool enTbox=xhmi.platformen();
        if(enTbox) {
            enableTbox();
        } else {
            disableTbox();
        }
    }
    if(xhmi.has_platformen()) {
        bool enTbox=xhmi.platformen();
        if(enTbox) {
            enableTbox();
        } else {
            disableTbox();
        }
    }
    if(xhmi.has_rodeinfoen()) {
        bool enRadioBroadcast = xhmi.rodeinfoen();
        m_radio->getTrafficBroadcast(enRadioBroadcast);
        ui->checkBox_trafficBroadcast->setChecked(enRadioBroadcast);
    }
    if(xhmi.has_rodefcwen()) {
        bool enRadioWarning = xhmi.rodefcwen();
        m_radio->getCollisonWarning(enRadioWarning);
        ui->checkBox_collisionWarning->setChecked(enRadioWarning);
    }
    if(xhmi.has_roadjamsen()) {

    }



}