#include "cmd_pc.h"
#include "prot/prot_m4.h"
#include "prot/prot_pc.h"
#include "prot/prot_slave.h"
#include "base/mycfg.h"
#include "QDebug"


typedef struct{
    int moter_count;
    int moter_run;
}moter_def;
static moter_def g_moter;

myarray moter_ctrl(myarray op)
{
    mycfg *cfg_=syscfg();
    moter_def *moter=&g_moter;
    myarray r;
    if(op=="up"){
        int count=0;
        if(moter->moter_count>0){
            moter->moter_run=1;
            count=-moter->moter_count-100;
            moter->moter_count=0;
            QString s=QString("moter %1").arg(count);
            r=s.toLocal8Bit();
        }else{
            qWarning()<<"moter count out of range."<<endl;
            return r;
        }
    }else if(op=="down"){
        int count=0;
        if(moter->moter_count<cfg_->moter_count){
            moter->moter_run=1;
            count=cfg_->moter_count-moter->moter_count;
            moter->moter_count+=count;
            QString s=QString("moter %1").arg(count);
            r=s.toLocal8Bit();
        }else{
            qWarning()<<"moter count out of range."<<endl;
            return r;
        }
    }
    return 0;
}



int selfdev_check::dolater(int cmd, myarray data)
{
  prot_m4 *m4=protM4();
  connect(this,send_to_m4_signal,m4,&prot_m4::send_data_slot);
  m4->set_irq_fun([=](myarray data){
      m4->del_irq_fun(nullptr,"moter ");
      if(data=="down"){
          // 这里开始检测
      }
  },"moter ");
  emit send_to_m4_signal(moter_ctrl("up"));
  return 0;
}