#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"
#include "QDateTime"
#include "prot_cmd/cmd_m4.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 down");
    {
      // 这里开始检测
      qDebug("start check.");
      emit send_data_signal(cmd,myarray(1,0));
      QList<int> addrs=cfg->calc_slave_addrs();
      foreach(int addr, addrs){
        HandleSlave *s=new slave_check();
        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);
          s->start(myarray());
        }
      }
    }
  };
  slave_acked.clear();
  for(int i=0;i<cfg->slave_num;i++){
    slave_acked.append(myarray());
  }
  slave_acked_num=0;
  myarray moter_cmd=moter_ctrl("down");
  if(moter_cmd.size()==0){
    busy=0;
    qWarning("moter failed.");
    return 1;
  }
  if(cmd_m4_key_pressed()!=0){
    m4->set_irq_fun(moter_down_cb_fun,"moter down");
    emit send_to_m4_signal(moter_cmd);
  }else{
    qWarning("key not pressed,check will not start.");
    busy=0;
    return 2;
  }
  return 0;
}

void selfdev_check::timeout()
{
  busy=0;
}

// 把小板的返回数据转化为自研批检仪上位机的格式
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){
    // 无返回则填充为异常
    r.append(char(208));
    r.append((len_for_each-1),char(0xff));
  }else{
    // 去掉应答位
    uint8_t slave_err=data[0];
    data.remove(0,1);
    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);
    if(marerr==0){
      marerr=slave_err;
    }
    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()){
    qWarning("slave addr err:%d",addr);
    return;
  }
  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]));
      r.append(4,uint8_t(0));
    }
    emit send_data_signal(0x31,r);
    busy=0;
  }
}

static HandlePc *get_selfdev_check(){
  return new selfdev_check();
}
// protpc_export(0x49, get_selfdev_check);




// 自研批检仪检测
int selfdev_check2::dolater(int cmd, myarray data)
{
  prot_m4 *m4 = protM4();
  prot_slave *slave=protSlave();
  mycfg *cfg=syscfg();
  busy=1;
  connect(this, &selfdev_check2::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 down");
    {
      // 这里开始检测
      qDebug("start check.");
      emit send_data_signal(cmd,myarray(1,0));
      QList<int> addrs=cfg->calc_slave_addrs();
      HandleBoardCast *s=new slave_check2();
      bool ack=slave->set_boardcast_handle(addrs,s);
      if(ack==false){
        qWarning("handle is busy.");
      }else{
        connect(s,&HandleBoardCast::end_signal,this,&selfdev_check2::slave_end_slot);
        s->start(myarray());
      }
    }
  };
  myarray moter_cmd=moter_ctrl("down");
  if(moter_cmd.size()==0){
    busy=0;
    qWarning("moter failed.");
  }else{
    m4->set_irq_fun(moter_down_cb_fun,"moter down");
    emit send_to_m4_signal(moter_cmd);
  }
  slave_acked.clear();
  for(int i=0;i<cfg->slave_num;i++){
    slave_acked.append(myarray());
  }
  slave_acked_num=0;
  return 0;
}

void selfdev_check2::timeout()
{
  busy=0;
}
void selfdev_check2::slave_end_slot(int addr,int ack, slave_data data)
{
  for(int i=0;i<data.size();i++){
    slave_ret slave=data.at(i);
    slave_acked.replace(slave.addr-1,slave.data);
    slave_acked_num++;
  }
  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_check2(){
//  return new selfdev_check2();
//}
//protpc_export(0x30, get_selfdev_check2);







// 检测结束 电机上升
int selfdev_checkend::dolater(int cmd, myarray data)
{
  prot_m4 *m4 = protM4();
  connect(this, &selfdev_checkend::send_to_m4_signal, m4, &prot_m4::send_data_slot);
  emit send_to_m4_signal(moter_ctrl("up"));
  return 0;
}

void selfdev_checkend::timeout(){

}

static HandlePc *get_selfdev_checkend(){
  return new selfdev_checkend();
}

protpc_export(0x31, get_selfdev_checkend);








// 电机控制
int selfdev_moter::dolater(int cmd, myarray data)
{
  prot_m4 *m4 = protM4();
  mycfg *cfg_=syscfg();
  connect(this, &selfdev_moter::send_to_m4_signal, m4, &prot_m4::send_data_slot);
  if(cmd==0x40)
  {
    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"));
    }else if(data[0]==0x01){
      if(data.size()>=3){
        int count=(data[1])|(data[2]<<8);
        cfg_->moter_count=20000+count;
        qDebug("moter count=%d",cfg_->moter_count);
        cfg_->save();
      }
    }
    emit send_data_signal(cmd,myarray(1,char(0)));
    return 0;
  }else if(cmd==0x47){
    myarray r;
    r.append(uint8_t(0));
    int count=cfg_->moter_count-20000;
    if(count<0) count=0;
    r.append(uint8_t(count&0xff));
    r.append(uint8_t((count>>8)&0xff));
    emit send_data_signal(cmd,r);
    return 0;
  }
  return 0;
}

void selfdev_moter::timeout(){

}

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

protpc_export(0x40, get_selfdev_moter);
protpc_export(0x47, get_selfdev_moter);














// 从机升级
int selfdev_slaveupdate::dolater(int cmd, myarray data)
{
  myarray r;
  int len_filename=data[0];
  mystring name=data.mid(1,len_filename);
  prot_slave *slave=protSlave();
  mycfg *cfg_=syscfg();
  busy=1;
  qInfo()<<"slave_app name:"<<name<<endl;
  data.remove(0,len_filename+1);
  
  // TODO 校验小板程序
  
  r.append(uint8_t(0));
  cfg_->save_file(name,data);
  emit send_data_signal(0xfe,myarray(1,char(0)));
  
  // 自动给小板升级
  HandleBoardCast *b=new boardcast_updata();
  bool ack=slave->set_boardcast_handle(cfg_->calc_slave_addrs(),b);
  if(ack==false){
    qWarning("handle is busy.");
    busy=0;
  }else{
    connect(b,&HandleBoardCast::end_signal,this,&selfdev_slaveupdate::slave_end_slot);
    connect(b,&HandleBoardCast::rate_signal,this,&selfdev_slaveupdate::rate_slot);
    handle_start_time=QDateTime::currentDateTime().toTime_t();
    b->start(data);
  }

  return 0;
}

void selfdev_slaveupdate::timeout(){
  busy=0;
  qDebug("slave update timeout");
}

void selfdev_slaveupdate::rate_slot(int rate, mystring str)
{
  qint64 now_time=QDateTime::currentDateTime().toTime_t();
  now_time=now_time-handle_start_time;
  myarray data;
  data.append(char(rate&0xff));
  data.append(uint8_t(now_time&0xff));
  data.append(uint8_t((now_time>>8)&0xff));
  data.append(str.toLocal8Bit());
  emit send_data_signal(0x46,data);
}

void selfdev_slaveupdate::slave_end_slot(int addr,int ack, slave_data data)
{
  qDebug("slave update end,ack=%s",ack?"failed":"success");
  busy=0;
}

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

protpc_export(0xfe, get_selfdev_slaveupdate);






// 方案升级
int selfdev_update_scheme::dolater(int cmd, myarray data)
{
  myarray r;
  int len_filename=data[0];
  mystring name=data.mid(1,len_filename);
  prot_slave *slave=protSlave();
  mycfg *cfg_=syscfg();
  check_cfg *ccfg_=check_plan();
  uint8_t rw=data[0];
  data.remove(0,1);
  
  busy=1;
    if(rw==0)
    {
        // 读方案
        r.append(char(0));
        r.append(rw);
        r.append(ccfg_->scheme_to_jstring());
        emit send_data_signal(0x22,r);
        busy=0;
   }
    else
    {
        // 写方案
        bool ack=ccfg_->updata(QString(data));
        r.append(ack?char(0):char(1));
        r.append(rw);
        if(ack){
          // 自动给小板升级
          HandleBoardCast *b=new boardcast_updata_scheme();
          bool ack=slave->set_boardcast_handle(cfg_->calc_slave_addrs(),b);
          if(ack==false){
            qWarning("handle is busy.");
            busy=0;
          }else{
            connect(b,&HandleBoardCast::end_signal,this,&selfdev_update_scheme::slave_end_slot);
            connect(b,&HandleBoardCast::rate_signal,this,&selfdev_update_scheme::rate_slot);
            handle_start_time=QDateTime::currentDateTime().toTime_t();
            myarray scheme=myarray((const char *)ccfg_->check_scheme(),ccfg_->check_scheme_size());
            b->start(scheme);
          }
        }
        else{
          r.append("方案解析失败");
          qWarning("scheme check failed.");
        }
        emit send_data_signal(0x22,r);
    }
  return 0;
}

void selfdev_update_scheme::timeout(){
  busy=0;
  qDebug("slave update timeout");
}
void selfdev_update_scheme::rate_slot(int rate, mystring str)
{
  qint64 now_time=QDateTime::currentDateTime().toTime_t();
  now_time=now_time-handle_start_time;
  myarray data;
  data.append(char(rate&0xff));
  data.append(uint8_t(now_time&0xff));
  data.append(uint8_t((now_time>>8)&0xff));
  data.append(str.toLocal8Bit());
  emit send_data_signal(0x46,data);
}

void selfdev_update_scheme::slave_end_slot(int addr,int ack, slave_data data)
{
  qDebug("slave update end,ack=%s",ack?"failed":"success");
  busy=0;
}

static HandlePc *get_selfdev_update_scheme(){
  return new selfdev_update_scheme();
}

protpc_export(0x22, get_selfdev_update_scheme);







// 本机升级
int selfdev_hostupdate::dolater(int cmd, myarray data)
{
  myarray r;
  int len_filename=data[0];
  mystring name=data.mid(1,len_filename);
  prot_slave *slave=protSlave();
  mycfg *cfg_=syscfg();
  busy=1;
  qInfo()<<"host_app name:"<<name<<endl;
  data.remove(0,len_filename+1);
  
  // TODO 校验主板程序
  
  r.append(uint8_t(0));
  cfg_->save_file(name,data);
  emit send_data_signal(0xfd,myarray(1,char(0)));

  return 0;
}

static HandlePc *get_selfdev_hostupdata(){
  return new selfdev_hostupdate();
}

protpc_export(0xfd, get_selfdev_hostupdata);







// jwt升级
int selfdev_jwtupdate::dolater(int cmd, myarray data)
{
  myarray r;
  int len_filename=data[0];
  mystring name=data.mid(1,len_filename);
  prot_slave *slave=protSlave();
  mycfg *cfg_=syscfg();
  busy=1;
  qInfo()<<"jwt_app name:"<<name<<endl;
  data.remove(0,len_filename+1);
  
  // TODO 校验小板程序
  
  r.append(uint8_t(0));
  cfg_->save_file(name,data);
  emit send_data_signal(0xfe,myarray(1,char(0)));
  
  // 自动给小板升级
  // start_updata_mcu(cfg_->config_path+name,slave_addrs);
  HandleBoardCast *b=new boardcast_updata_jwt();
  bool ack=slave->set_boardcast_handle(cfg_->calc_slave_addrs(),b);
  if(ack==false){
    qWarning("handle is busy.");
    busy=0;
  }else{
    connect(b,&HandleBoardCast::end_signal,this,&selfdev_slaveupdate::slave_end_slot);
    connect(b,&HandleBoardCast::rate_signal,this,&selfdev_slaveupdate::rate_slot);
    handle_start_time=QDateTime::currentDateTime().toTime_t();
    b->start(data);
  }

  return 0;
}

static HandlePc *get_selfdev_jwtupdate(){
  return new selfdev_jwtupdate();
}

protpc_export(0x27, get_selfdev_jwtupdate);








// 自研批检仪自检
int selfdev_bootinfo::dolater(int cmd, myarray data)
{
  prot_slave *slave=protSlave();
  mycfg *cfg_=syscfg();
  busy=1;
  // 这里开始检测
  qDebug("get bootinfo.");
  emit send_data_signal(cmd,myarray(1,0));
  HandleBoardCast *b=new slave_cmd2();
  bool ack=slave->set_boardcast_handle(cfg_->calc_slave_addrs(),b);
  if(ack==false){
    qWarning("handle is busy.");
    busy=0;
  }else{
    connect(b,&HandleBoardCast::end_signal,this,&selfdev_bootinfo::slave_end_slot);
    b->cmd=0x13;
    b->start(data);
  }
  slave_acked.clear();
  for(int i=0;i<cfg_->slave_num;i++){
    slave_acked.append(myarray());
  }
  slave_acked_num=0;
  return 0;
}

void selfdev_bootinfo::timeout()
{
  busy=0;
}

#pragma pack(1)
typedef struct{
  char build_time[20];
  char softverion[8];
  int runtime;
  uint8_t wdog;
  char devicetype[12];
  uint8_t localip[4];
  uint8_t hostip[4];
  uint16_t hostport;
  uint8_t localid;
  uint32_t schemeid;
  uint32_t slave_online;
}local_bootinfo;
#pragma pack()

#pragma pack(1)
typedef struct{
  uint8_t app_state;
  uint8_t slaver_addr;
  uint16_t chip_tmper;
  uint16_t ad_2v5;
  uint16_t ad_1v25;
  uint16_t ad_wave;
  uint16_t ad_5v5_just;
  uint16_t ad_26v_just;
  uint16_t hard_version;
  uint16_t soft_version;
  uint16_t res_just;
  uint32_t scheme_id;
}bootinfo_data;
#pragma pack()

// 填充本机自检信息
myarray bootinfo_fill_local(void)
{
  int tick=-1;
  uint8_t wdog=0;
  uint32_t temp32=0;
  uint16_t temp16=0;
  uint8_t temp8=0;
  uint8_t ip[4]={0};
  QStringList iplist;
  mycfg *cfg_=syscfg();
  check_cfg *ccfg_=check_plan();
  uint8_t *d=(uint8_t *)calloc(1,sizeof(local_bootinfo)+1);
  uint8_t *d_free=d;
  memcpy(d,cfg_->build_date.data(),cfg_->build_date.size()+1);d+=20;
  memcpy(d,cfg_->soft_version.data(),cfg_->soft_version.size()+1);d+=8;
  memcpy(d,&tick,4);d+=4;
  memcpy(d,&wdog,1);d+=1;
  memcpy(d,cfg_->device_type.data(),cfg_->device_type.size()+1);d+=12;
  iplist=cfg_->local_ip.split('.');
  ip[0]=iplist[0].toInt();
  ip[1]=iplist[1].toInt();
  ip[2]=iplist[2].toInt();
  ip[3]=iplist[3].toInt();
  memcpy(d,ip,4);d+=4;
  iplist=cfg_->server_ip.split('.');
  ip[0]=iplist[0].toInt();
  ip[1]=iplist[1].toInt();
  ip[2]=iplist[2].toInt();
  ip[3]=iplist[3].toInt();
  memcpy(d,ip,4);d+=4;
  temp16=cfg_->server_port;
  memcpy(d,&temp16,2);d+=2;
  temp8=cfg_->local_id;
  memcpy(d,&temp8,1);d+=1;
  temp32=ccfg_->get_plan_id();
  memcpy(d,&temp32,4);d+=4;
  temp32=0;
  for(int i=0;i<cfg_->slave_num;i++){
    temp32|=1<<i;
  }
  memcpy(d,&temp32,4);d+=4;
  myarray arry((char *)d_free,sizeof(local_bootinfo));
  free(d_free);
  // qDebug()<<"local data="<<arry.toHex(' ');
  return arry;
}


static myarray slave_to_bootinfo_byte(myarray data){
  data.remove(0,1);
  int size_slave=sizeof(bootinfo_data);
  int data_size=data.size();
  if(size_slave>data_size){
    data.append(size_slave-data_size,0);
  }
  return data;
}

void selfdev_bootinfo::slave_end_slot(int addr,int ack, slave_data data)
{
  qDebug("selfdev get bootinfo end.");
  myarray r;
  r.append(char(0));
  r+=bootinfo_fill_local();
  for(int i=0;i<data.size();i++){
    slave_ret slave=data.at(i);
    slave_acked.replace(slave.addr-1,slave.data);
    slave_acked_num++;
  }
  for(int i=0;i<slave_acked.size();i++){
    r.append(slave_to_bootinfo_byte(slave_acked[i]));
  }
  emit send_data_signal(0x35,r);
  busy=0;
}




static HandlePc *get_selfdev_bootinfo(){
  return new selfdev_bootinfo();
}
protpc_export(0x34, get_selfdev_bootinfo);







// 测量电阻
int selfdev_measure_rescv::dolater(int cmd, myarray data)
{
  prot_m4 *m4 = protM4();
  prot_slave *slave=protSlave();
  mycfg *cfg=syscfg();
  busy=1;
  connect(this, &selfdev_measure_rescv::send_to_m4_signal, m4, &prot_m4::send_data_slot);
  moter_down_cb_fun=[=](myarray str)
  {
    m4->del_irq_fun(moter_down_cb_fun,"moter down");
    {
      // 这里开始检测
      qDebug("start check.");
      QList<int> addrs=cfg->calc_slave_addrs();
      HandleBoardCast *s=new slave_cmd2();
      bool ack=slave->set_boardcast_handle(addrs,s);
      if(ack==false){
        qWarning("handle is busy.");
      }else{
        connect(s,&HandleBoardCast::end_signal,this,&selfdev_measure_rescv::slave_end_slot);
        s->cmd=0x05;
        s->start(data);
      }
    }
  };
  myarray moter_cmd=moter_ctrl("down");
  if(moter_cmd.size()==0){
    busy=0;
    qWarning("moter failed.");
  }else{
    m4->set_irq_fun(moter_down_cb_fun,"moter down");
    emit send_to_m4_signal(moter_cmd);
  }
  slave_acked.clear();
  for(int i=0;i<cfg->slave_num;i++){
    slave_acked.append(myarray());
  }
  slave_acked_num=0;
  return 0;
}

void selfdev_measure_rescv::timeout()
{
  busy=0;
}

void selfdev_measure_rescv::slave_end_slot(int addr,int ack, slave_data data)
{
  qDebug("selfdev measure_rescv end.");
  emit send_to_m4_signal(moter_ctrl("up"));
  myarray r;
  r.append(char(0));
  for(int i=0;i<data.size();i++){
    slave_ret slave=data.at(i);
    slave_acked.replace(slave.addr-1,slave.data);
    slave_acked_num++;
  }
  for(int i=0;i<slave_acked.size();i++){
    r.append(char(i+1));
    r.append(slave_acked[i].right(2));
  }
  QTimer::singleShot(0, this, [=](){
    emit send_data_signal(0x42,r);
  });
  busy=0;
}




static HandlePc *get_selfdev_measure_rescv(){
  return new selfdev_measure_rescv();
}
protpc_export(0x42, get_selfdev_measure_rescv);







// 设置电阻校准,这个只能每个板子设置一样的校准值
int selfdev_set_rescv::dolater(int cmd, myarray data)
{
  prot_slave *slave=protSlave();
  mycfg *cfg_=syscfg();
  busy=1;
  // 这里开始检测
  qDebug("set_rescv.");
  emit send_data_signal(cmd,myarray(1,0));
  HandleBoardCast *b=new slave_cmd2();
  bool ack=slave->set_boardcast_handle(cfg_->calc_slave_addrs(),b);
  if(ack==false){
    qWarning("handle is busy.");
    busy=0;
  }else{
    connect(b,&HandleBoardCast::end_signal,this,&selfdev_set_rescv::slave_end_slot);
    // 广播设置校准值，需使用新增命令
    b->cmd=0x13;
    b->start(data);
  }
  slave_acked.clear();
  for(int i=0;i<cfg_->slave_num;i++){
    slave_acked.append(myarray());
  }
  slave_acked_num=0;
  return 0;
}

void selfdev_set_rescv::timeout()
{
  busy=0;
}

void selfdev_set_rescv::slave_end_slot(int addr,int ack, slave_data data)
{
  qDebug("selfdev set_rescv end.");
  myarray r;
  r.append(char(0));
  emit send_data_signal(0x41,r);
  busy=0;
}

static HandlePc *get_selfdev_set_rescv(){
  return new selfdev_set_rescv();
}
//protpc_export(0x41, get_selfdev_set_rescv);








// 执行任务
int selfdev_runtask::dolater(int cmd, myarray data)
{
  prot_slave *slave=protSlave();
  mycfg *cfg_=syscfg();
  busy=1;
  // 这里开始检测
  qDebug("runtask.");
  // emit send_data_signal(cmd,myarray(1,0));
  HandleBoardCast *b=new slave_cmd();
  addrs=cmd_pc_to_addrs(data);
  bool ack=slave->set_boardcast_handle(addrs,b);
  if(ack==false){
    qWarning("handle is busy.");
    busy=0;
  }else{
    connect(b,&HandleBoardCast::end_signal,this,&selfdev_runtask::slave_end_slot);
    // 广播设置校准值，需使用新增命令
    b->cmd=cmd_slave();
    b->start(cmd_pc_to_slave(data));
    if(cmd_pc_recv()!=0){
      emit send_data_signal(cmd_pc_recv(),cmd_pc_recv_to_pc());
    }
  }
  slave_acked.clear();
  for(int i=0;i<addrs.size();i++){
    slave_acked.append(myarray());
  }
  slave_acked_num=0;
  return 0;
}

void selfdev_runtask::timeout()
{
  busy=0;
}

// 排序,在接收了从机数据之后
void selfdev_runtask::slave_sort(){
  myarray temp;
  int slave_num=slave_acked.size();
  if(slave_num==0) return;
  for(int i=0;i<slave_num;i++){
    temp=slave_acked[i];
    for(int j=i+1;j<slave_num;j++){
      if(slave_acked[i][0]>slave_acked[j][0]){
        slave_acked[i]=slave_acked[j];
        slave_acked[j]=temp;
        temp=slave_acked[i];
      }
    }
  }
}


void selfdev_runtask::slave_end_slot(int addr,int ack, slave_data data)
{
  int cmd;
  myarray da;
  qDebug("selfdev runtask end.");
  for(int i=0;i<addrs.size();i++){
    int addr=addrs[i];
    myarray sdata=data[addr-1];
    // 数据的第一位是来源的地址
    sdata.insert(0,addr);
    slave_acked.replace(addr-1,sdata);
    slave_acked_num++;
  }
  
  slave_sort();
  cmd=cmd_pc_ret();
  da=ret_slave_to_pc(slave_acked);
  if(cmd!=0){
    emit send_data_signal(cmd,da);
  }
  busy=0;
}







#pragma pack(1)
typedef struct{
  char devicetype[12];
  char hostif[8];
  uint8_t localip[4];
  uint8_t hostip[4];
  uint16_t hostport;
  uint8_t localid;
  int uartbsp;
  uint8_t coder_return_mode;
  uint8_t slave_addr_start;
}paraminfo_def;
#pragma pack()

static void ip_fill(QString str,uint8_t *ip){
    QStringList snums = str.split('.');
    for(int i=0;i<snums.size();i++){
        ip[i]=snums[i].toInt(nullptr, 10);
    }
}

// 填充配置项
static void paraminfo_fill(paraminfo_def *p)
{
  mycfg *cfg_=syscfg();
  memcpy(p->devicetype,cfg_->device_type.toLocal8Bit(),cfg_->device_type.size()+1);
  if(cfg_->tcp_enable==true){
      memcpy(p->hostif,"utcp",5);
  }else{
      memcpy(p->hostif,"uart4",6);
  }
  ip_fill(cfg_->local_ip,p->localip);
  ip_fill(cfg_->server_ip,p->hostip);
  p->hostport=cfg_->server_port;
  p->localid=cfg_->local_id;
  p->uartbsp=cfg_->uart_bsp;
  p->coder_return_mode=cfg_->coder_return_mode;
  p->slave_addr_start=cfg_->slave_addr_start;
}

// 保存配置项
static int paraminfo_save(paraminfo_def *p)
{
  int ret=0;
  mycfg *cfg_=syscfg();
  uint8_t ip_zero[4]={0,0,0,0};
  if(strcmp("coder",p->devicetype)==0||strcmp("checker",p->devicetype)==0)
    cfg_->device_type=QString(p->devicetype);
  else {
    qWarning()<<"devicetype param must be \"coder\" or \"checker\"."<<p->devicetype;
    ret=1;return ret;}
  if(strcmp("utcp",p->hostif)==0){
      cfg_->tcp_enable=true;
  }else{
      cfg_->tcp_enable=false;
  }
  if(memcmp(p->localip,ip_zero,4)!=0){
    cfg_->local_ip=QString("%1.%2.%3.%4").arg(p->localip[0]).arg(p->localip[1]).arg(p->localip[2]).arg(p->localip[3]);
  }else {
    qWarning()<<"localip param must not be all zero";
    ret=3;return ret;}
  if(memcmp(p->hostip,ip_zero,4)!=0){
      cfg_->server_ip=QString("%1.%2.%3.%4").arg(p->hostip[0]).arg(p->hostip[1]).arg(p->hostip[2]).arg(p->hostip[3]);
  }else {
    qWarning()<<"hostip param must not be all zero";
    ret=4;return ret;}
  cfg_->server_port=p->hostport;
  cfg_->local_id=p->localid;
  if(p->uartbsp==115200||p->uartbsp==9600)
    cfg_->uart_bsp=p->uartbsp;
  else {
    qWarning()<<"uartbsp param must be 115200 or 9600";
    ret=5;return ret;}
  if(p->coder_return_mode==0||p->coder_return_mode==1)
    cfg_->coder_return_mode=p->coder_return_mode;
  else {
    qWarning()<<"coder_return_mode param must be 0 or 1";
    ret=6;return ret;}
  if(p->slave_addr_start==0||p->slave_addr_start==1)
    cfg_->slave_addr_start=p->slave_addr_start;
  else {
    qWarning()<<"slave_addr_start param must be 0 or 1";
    ret=7;return ret;}
  cfg_->save();
  return ret;
}

// 赋码仪配置参数
int coder_sysparam::dolater(int cmd, myarray data)
{
    uint8_t op=data[1];
    paraminfo_def par={{0},{0},{0},{0},{0},{0},{0},{0},{0}};
    // 1是写,0是读
    if(op==0)
    {
        paraminfo_fill(&par);
        uint8_t *d=(uint8_t *)(&par);
        QByteArray arr;
        // 赋码仪添加通道数
        arr.append(data[0]);
        // 赋码仪添加读写位
        arr.append(op);
        arr.append(uint8_t(0));
        QByteArray temp=QByteArray::fromRawData((const char *)d,sizeof(paraminfo_def));
        arr.append(temp);
        emit send_data_signal(cmd,arr);
    }else if(op==1)
    {
        QByteArray arr;
        // 赋码仪添加通道数
        arr.append(data[0]);
        // 赋码仪添加读写位
        arr.append(op);

        if(data.size()<1+1+sizeof(paraminfo_def)){
            arr.append(uint8_t(0xff));
            emit send_data_signal(cmd,arr);
        }else{
            qDebug()<<"param:"<<data.toHex(' ')<<endl;
            memcpy(&par,data.data()+1+1,sizeof(paraminfo_def));
            int ret=paraminfo_save(&par);
            arr.append(uint8_t(ret));
            emit send_data_signal(cmd,arr);
        }
    }
    return 0;
}
void coder_sysparam::timeout()
{

}
static HandlePc *get_coder_sysparam(){
  return new coder_sysparam();
}
protpc_export(0x08, get_coder_sysparam);









void coder_bootinfo::slave_end_slot(int addr,int ack, slave_data data)
{
  qDebug("selfdev get bootinfo end.");
  myarray r;
  r.append(uint8_t(syscfg()->slave_num));
  r.append(char(0));
  r+=bootinfo_fill_local();
  for(int i=0;i<data.size();i++){
    slave_ret slave=data.at(i);
    slave_acked.replace(slave.addr-1,slave.data);
    slave_acked_num++;
  }
  for(int i=0;i<slave_acked.size();i++){
    r.append(slave_to_bootinfo_byte(slave_acked[i]));
  }
  emit send_data_signal(0x84,r);
  busy=0;
}
static HandlePc *get_coder_bootinfo(){
  return new coder_bootinfo();
}
protpc_export(0x04, get_coder_bootinfo);