#include "../ui/mainwindow.hpp"



MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
    QMainWindow(parent), qnode(argc, argv),
    ui(new Ui::MainWindow)

{
    qnode.init();
    ui->setupUi(this);
    initUis();
    connections();
}

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


void MainWindow::initUis(){
    setBtnStyles();


    /*
     * init
     */

    rock_widget = new JoyStick(ui->JoyStick_widget);
    rock_widget->show();


}


void MainWindow::setBtnStyles(){
    /*
     * set PushButton state
     */

    ui->btn_main->setIcon(QIcon("://images/up.png"));
    ui->btn_main->setText("mainWidget");
    ui->btn_main->setStyleSheet(
                "QPushButton:hover{"
                "background-color:rgb(186, 189, 182);"
                "border-bottom:2px solid rgb(67, 154, 246);}"
                "QPushButton:checked{"
                "background-color:cyan;"
                "border-bottom:2px solid white}"
                "QPushButton:pressed{"
                "background-color:rgb(67, 154, 246)}"
                "QPushButton{"
                "background-color:rgb(238, 238, 236);"
                "border:none;"
                "padding:0px 0px 0px 0px;"
                "margin:0px 0px 0px 0px;}");

    ui->btn_uav->setStyleSheet(
                "QPushButton:hover{"
                "background-color:rgb(186, 189, 182);"
                "border-bottom:2px solid rgb(67, 154, 246);}"
                "QPushButton:checked{"
                "background-color:cyan;"
                "border-bottom:2px solid white}"
                "QPushButton:pressed{"
                "background-color:rgb(67, 154, 246)}"
                "QPushButton{"
                "background-color:rgb(238, 238, 236);"
                "border:none;"
                "padding:0px 0px 0px 0px;"
                "margin:0px 0px 0px 0px;}");

    ui->btn_ugv->setStyleSheet(
                "QPushButton:hover{"
                "background-color:rgb(186, 189, 182);"
                "border-bottom:2px solid rgb(67, 154, 246);}"
                "QPushButton:checked{"
                "background-color:cyan;"
                "border-bottom:2px solid white}"
                "QPushButton:pressed{"
                "background-color:rgb(67, 154, 246)}"
                "QPushButton{"
                "background-color:rgb(238, 238, 236);"
                "border:none;"
                "padding:0px 0px 0px 0px;"
                "margin:0px 0px 0px 0px;}");

    // 8 -> Forward: ↑
    ui->pushButton_Forward->setShortcut(Qt::Key_8);
    ui->pushButton_Forward->setStyleSheet(
                "QPushButton{border-image: url(://images/up.png)}"
                "QPushButton{border:none}"
                "QPushButton:pressed{border-image: url(://images/up_2.png)}");
    ui->pushButton_Forward->setFlat(true);

    // 2 -> Back: ↓
    ui->pushButton_Back->setShortcut(Qt::Key_2);
    ui->pushButton_Back->setStyleSheet(
                "QPushButton{border-image: url(://images/down.png)}"
                "QPushButton{border:none}"
                "QPushButton:pressed{border-image: url(://images/down_2.png)}");
    ui->pushButton_Back->setFlat(true);

    // 4 -> Left: ←
    ui->pushButton_Left->setShortcut(Qt::Key_4);
    ui->pushButton_Left->setStyleSheet(
                "QPushButton{border-image: url(://images/left.png)}"
                "QPushButton{border:none}"
                "QPushButton:pressed{border-image: url(://images/left_2.png)}");
    ui->pushButton_Left->setFlat(true);

    // 6 -> Right: →
    ui->pushButton_Right->setShortcut(Qt::Key_6);
    ui->pushButton_Right->setStyleSheet(
                "QPushButton{border-image: url(://images/right.png)}"
                "QPushButton{border:none}"
                "QPushButton:pressed{border-image: url(://images/right_2.png)}");
    ui->pushButton_Right->setFlat(true);

    // 7 -> Left_Forward: ↖
    ui->pushButton_Left_Forward->setShortcut(Qt::Key_7);
    ui->pushButton_Left_Forward->setStyleSheet(
                "QPushButton{border-image: url(://images/up_left.png)}"
                "QPushButton{border:none}"
                "QPushButton:pressed{border-image: url(://images/up_left_2.png)}");
    ui->pushButton_Left_Forward->setFlat(true);

    // 9 -> Right_Forward: ↗
    ui->pushButton_Right_Forward->setShortcut(Qt::Key_9);
    ui->pushButton_Right_Forward->setStyleSheet(
                "QPushButton{border-image: url(://images/up_right.png)}"
                "QPushButton{border:none}"
                "QPushButton:pressed{border-image: url(://images/up_right_2.png)}");
    ui->pushButton_Right_Forward->setFlat(true);

    // 1 -> Left_Back: ↙
    ui->pushButton_Left_Back->setShortcut(Qt::Key_1);
    ui->pushButton_Left_Back->setStyleSheet(
                "QPushButton{border-image: url(://images/down_left.png)}"
                "QPushButton{border:none}"
                "QPushButton:pressed{border-image: url(://images/down_left_2.png)}");
    ui->pushButton_Left_Back->setFlat(true);

    // 3 -> Right_Back: ↘
    ui->pushButton_Right_Back->setShortcut(Qt::Key_3);
    ui->pushButton_Right_Back->setStyleSheet(
                "QPushButton{border-image: url(://images/down_right.png)}"
                "QPushButton{border:none}"
                "QPushButton:pressed{border-image: url(://images/down_right_2.png)}");
    ui->pushButton_Right_Back->setFlat(true);

}


void MainWindow::slot_keyboard_control(){
    QPushButton *btn = qobject_cast<QPushButton *>(sender());
    std::string btn_name = btn->text().toStdString();
    char key = ' ';

    if (btn_name == "↙")
        key = '1';
    else if (btn_name == "↓")
        key = '2';
    else if (btn_name == "↘")
        key = '3';
    else if (btn_name == "←")
        key = '4';
    //else if (btn_name == "")
      //  key = '5';
    else if (btn_name == "→")
        key = '6';
    else if (btn_name == "↖")
        key = '7';
    else if (btn_name == "↑")
        key = '8';
    else if (btn_name == "↗")
        key = '9';

    //速度
    float liner = ui->horizontalSlider_linear->value() * 0.01;
    float turn = ui->horizontalSlider_raw->value() * 0.01;
    //bool is_rage_mode = ui->checkBox_rage_mode->isChecked();
    //std::cout<<liner<<" "<<turn<<std::endl;
    qnode.KeyboardMove(key, liner, turn);

}


void MainWindow::slot_rockKeyChange(int key){
    //速度
    float liner = ui->horizontalSlider_linear->value() * 0.01;
    float turn = ui->horizontalSlider_raw->value() * 0.01;
    switch (key) {
    case upleft:
        qnode.KeyboardMove('7', liner, turn);
        break;
    case up:
        qnode.KeyboardMove('8', liner, turn);
        break;
    case upright:
        qnode.KeyboardMove('9', liner, turn);
        break;
    case left:
        qnode.KeyboardMove('4', liner, turn);
        break;
    case right:
        qnode.KeyboardMove('6', liner, turn);
        break;
    case downleft:
        qnode.KeyboardMove('1', liner, turn);
        break;
    case down:
        qnode.KeyboardMove('2', liner, turn);
        break;
    case downright:
        qnode.KeyboardMove('3', liner, turn);
        break;
    }

}

void MainWindow::connections(){
    QObject::connect(ui->btn_main, &QPushButton::clicked, this, [=](){
        ui->stackedWidget_main->setCurrentIndex(0);
    });
    QObject::connect(ui->btn_uav, &QPushButton::clicked, this, [=](){
        ui->stackedWidget_main->setCurrentIndex(1);
    });
    QObject::connect(ui->btn_ugv, &QPushButton::clicked, this, [=](){
        ui->stackedWidget_main->setCurrentIndex(2);
    });

    QObject::connect(ui->btn_system, &QPushButton::clicked, this, [=](){
        ui->stackedWidget_ros_control->setCurrentIndex(1);
    });
    QObject::connect(ui->btn_keyboard, &QPushButton::clicked, this, [=](){
        ui->stackedWidget_ros_control->setCurrentIndex(0);
    });

    /*
     * 绑定速度控制按钮
     */

    // 8 -> Forward: ↑
    connect(ui->pushButton_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
    // 2 -> Back: ↓
    connect(ui->pushButton_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
    // 4 -> Left: ←
    connect(ui->pushButton_Left, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
    // 6 -> Right: →
    connect(ui->pushButton_Right, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
    // 7 -> Left_Forward: ↖
    connect(ui->pushButton_Left_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
    // 9 -> Right_Forward: ↗
    connect(ui->pushButton_Right_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
    // 1 -> Left_Back: ↙
    connect(ui->pushButton_Left_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
    // 3 -> Right_Back: ↘
    connect(ui->pushButton_Right_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));

    connect(rock_widget, SIGNAL(keyNumchanged(int)), this,
            SLOT(slot_rockKeyChange(int)));

    //绑定slider的函数
    connect(ui->horizontalSlider_raw, SIGNAL(valueChanged(int)), this,
            SLOT(Slider_raw_valueChanged(int)));
    connect(ui->horizontalSlider_linear, SIGNAL(valueChanged(int)), this,
            SLOT(Slider_linear_valueChanged(int)));
}

//滑动条处理槽函数
void MainWindow::Slider_raw_valueChanged(int v) {
  ui->label_raw->setText(QString::number(v));
}
//滑动条处理槽函数
void MainWindow::Slider_linear_valueChanged(int v) {
  ui->label_linear->setText(QString::number(v));
}