#include "cmd_pc.h"
#include "cmd_slave.h"
#include "prot/prot_m4.h"
#include "prot/prot_pc.h"
#include "prot/prot_slave.h"
#include "base/mycfg.h"
#include "base/check_cfg.h"
#include "QDebug"
#include "elec/elec_judge.h"

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


// 电机控制
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;
      mystring s = mystring("moter %1").arg(count);
      r = myarray(s.data());
    }
    else
    {
      qWarning("moter count out of range.");
      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;
      mystring s = mystring("moter %1").arg(count);
      r = myarray(s.data());
      qDebug("moter down:%s",s.data());
    }
    else
    {
      qWarning("moter count out of range.") ;
      return r;
    }
  }
  qDebug("moter ctrl:%s",op.data());
  return r;
}







// 自研批检仪检测
int selfdev_check::dolater(int cmd, myarray data)
{
  prot_m4 *m4 = protM4();
  prot_slave *slave=protSlave();
  mycfg *cfg=syscfg();
  busy=1;
  connect(this, &selfdev_check::send_to_m4_signal, m4, &prot_m4::send_data_slot);
  moter_down_cb_fun=[=](myarray data)
  {
    m4->del_irq_fun(moter_down_cb_fun,"moter ");
    if(data=="down"){
      // 这里开始检测
      QList<int> addrs=cfg->calc_slave_addrs();
      HandleSlave *s=new slave_check();
      foreach(int addr, addrs){
        bool ack=slave->set_slave_handle(addr,s);
        if(ack==false){
          qWarning("addr %d handle is busy.",addr);
        }else{
          connect(s,&HandleSlave::end_signal,this,&selfdev_check::slave_end_slot);
        }
      }
    }
  };
  m4->set_irq_fun(moter_down_cb_fun,"moter ");
  emit send_to_m4_signal(moter_ctrl("down"));
  slave_acked.clear();
  for(int i=0;i<cfg->slave_num;i++){
    slave_acked.append(myarray());
  }
  slave_acked_num=0;
  return 0;
}

void selfdev_check::timeout()
{

}

// 把小板的返回数据转化为自研批检仪上位机的格式
static myarray tran_slave_to_selfdev_check(myarray &data)
{
  check_cfg *ccfg_=check_plan();
  // 返回值个数
  int return_num=ccfg_->get_return_num();
  // 参数错误字节数
  int paramerr_num=(return_num+7)/8;
  // 每个通道占用的长度
  int len_for_each=1+8+paramerr_num+return_num*2;
  myarray r;
  if(data.size()<17){
    r.append(char(208));
    r.append((len_for_each-1),char(0xff));
  }else{
    myarray paramerr=ccfg_->returns_to_paramerr(data.right(return_num*2));
    r=data.left(8)+paramerr+data.right(return_num*2);
    uint8_t marerr=0,suberr=0;
    uint8_t *d=(uint8_t *)data.data();
    elec_judge(ccfg_->check_scheme(),ccfg_->get_check_task_num(),
      d,d+8,d+16,&marerr,&suberr);
    r.insert(0,uint8_t(marerr));
  }
  return r;
}

void selfdev_check::slave_end_slot(int addr,int ack, myarray data)
{
  if(addr<=0||addr>slave_acked.size()){
    slave_acked.replace(addr-1,data);
  }
  slave_acked_num++;
  if(slave_acked_num>=slave_acked.size()){
    myarray r;
    r.append(char(0));
    for(int i=0;i<slave_acked.size();i++){
      r.append(tran_slave_to_selfdev_check(slave_acked[i]));
    }
    emit send_data_signal(0x31,r);
    busy=0;
  }
}

static HandlePc *get_selfdev_check(){
  return new selfdev_check();
}
protpc_export(0x30, get_selfdev_check);







int selfdev_moter::dolater(int cmd, myarray data)
{
  prot_m4 *m4 = protM4();
  connect(this, &selfdev_moter::send_to_m4_signal, m4, &prot_m4::send_data_slot);
  if(data[0]==0x02){
    emit send_to_m4_signal(moter_ctrl("up"));
  }else if(data[0]==0x03){
    emit send_to_m4_signal(moter_ctrl("down"));
  }
  emit send_data_signal(0x40,myarray(1,char(0)));
  return 0;
}

void selfdev_moter::timeout(){

}

static HandlePc *get_selfdev_moter(){
  return new selfdev_moter();
}

protpc_export(0x40, get_selfdev_moter);







int selfdev_slaveupdate::dolater(int cmd, myarray data)
{
  prot_m4 *m4 = protM4();
  connect(this, &selfdev_slaveupdate::send_to_m4_signal, m4, &prot_m4::send_data_slot);
  if(data[0]==0x02){
    emit send_to_m4_signal(moter_ctrl("up"));
  }else if(data[0]==0x03){
    emit send_to_m4_signal(moter_ctrl("down"));
  }
  emit send_data_signal(0x40,myarray(1,char(0)));
  return 0;
}

void selfdev_slaveupdate::timeout(){

}

static HandlePc *get_selfdev_slaveupdate(){
  return new selfdev_slaveupdate();
}

protpc_export(0x41, get_selfdev_slaveupdate);