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

#include <QMessageBox>
#include <QInputDialog>
#include <QFileDialog>

#include "gcodetovhf.h"

MainWindow::MainWindow(VhfMill* mill, QWidget *parent)
	: mill_(mill), QMainWindow(parent),
	  ui(new Ui::MainWindow),
	  viewTopAction(QKeySequence(Qt::Key_7), this, 0, 0, Qt::ApplicationShortcut),
	  viewFrontAction(QKeySequence(Qt::Key_1), this, 0, 0, Qt::ApplicationShortcut),
	  viewLeftAction(QKeySequence(Qt::Key_9), this, 0, 0, Qt::ApplicationShortcut),
	  viewRightAction(QKeySequence(Qt::Key_3), this, 0, 0, Qt::ApplicationShortcut)
{
	installEventFilter(this);

	ui->setupUi(this);
	checkBlocks();

	int splitHight = ui->splitter->size().height();
	ui->splitter->setSizes({3*splitHight/4, splitHight/4});

	ui->horizontalSlider->setTracking(false);
	ui->plainTextEdit_compiled->setVisible(false);
	ui->plainTextEdit_compiled->setWordWrapMode(QTextOption::NoWrap);
	ui->plainTextEdit->setWordWrapMode(QTextOption::NoWrap);

	connect(mill_, &VhfMill::raiseError, this, &MainWindow::raiseError);
	connect(mill_, &VhfMill::positionUpdate, this, &MainWindow::positionUpdate);
	connect(mill_, &VhfMill::gotToolNum, ui->lcd_tool, QOverload<int>::of(&QLCDNumber::display));
	connect(mill_, &VhfMill::gotOutputs, this, &MainWindow::gotOutputs);
	connect(mill_, &VhfMill::gotSindleSpeed, this, &MainWindow::gotSpindleSpeed);
	connect(mill_, &VhfMill::gotProbeState, ui->led_probe, &Led::setLit);
	connect(mill_, &VhfMill::gotPressureState, this, &MainWindow::gotPressureState);
	connect(mill_, &VhfMill::initDone, this, &MainWindow::checkBlocks);
	connect(mill_, &VhfMill::isHomed, this, &MainWindow::isHomed);
	connect(mill_, &VhfMill::toolChangeDone, this, &MainWindow::toolChangeDone);
	connect(mill_, &VhfMill::touchoffChanged, this, &MainWindow::touchoffChanged);
	connect(mill_, &VhfMill::positionUpdate, ui->backPlot, &BackPlotWidget::positionUpdate);

	connect(ui->checkBox_oe1, &QCheckBox::toggled, mill_,
			[this](bool checked)
			{
				QMetaObject::invokeMethod(mill_, "setOutput", Qt::QueuedConnection, Q_ARG(int, 1), Q_ARG(bool, checked));
			});
	connect(ui->checkBox_oe2, &QCheckBox::toggled, mill_,
			[this](bool checked)
			{
				QMetaObject::invokeMethod(mill_, "setOutput", Qt::QueuedConnection, Q_ARG(int, 2), Q_ARG(bool, checked));
			});
	connect(ui->checkBox_oe3, &QCheckBox::toggled, mill_,
			[this](bool checked)
			{
				QMetaObject::invokeMethod(mill_, "setOutput", Qt::QueuedConnection, Q_ARG(int, 3), Q_ARG(bool, checked));
			});
	connect(ui->checkBox_oe4, &QCheckBox::toggled, mill_,
			[this](bool checked)
			{
				QMetaObject::invokeMethod(mill_, "setOutput", Qt::QueuedConnection, Q_ARG(int, 4), Q_ARG(bool, checked));
			});
	connect(ui->checkBox_oe5, &QCheckBox::toggled, mill_,
			[this](bool checked)
			{
				QMetaObject::invokeMethod(mill_, "setOutput", Qt::QueuedConnection, Q_ARG(int, 5), Q_ARG(bool, checked));
			});
	connect(ui->checkBox_oe6, &QCheckBox::toggled, mill_,
			[this](bool checked)
			{
				QMetaObject::invokeMethod(mill_, "setOutput", Qt::QueuedConnection, Q_ARG(int, 6), Q_ARG(bool, checked));
			});
	connect(ui->checkBox_oe7, &QCheckBox::toggled, mill_,
			[this](bool checked)
			{
				QMetaObject::invokeMethod(mill_, "setOutput", Qt::QueuedConnection, Q_ARG(int, 7), Q_ARG(bool, checked));
			});
	connect(ui->pushButton_home, &QPushButton::clicked, this, &MainWindow::home);
	connect(ui->pushButton_homeAll, &QPushButton::clicked, this, [this](){QMetaObject::invokeMethod(mill_, [this]() {mill_->home(VhfMill::AXIS_ALL);}, Qt::QueuedConnection);});
	connect(ui->pushButton_stopSpindle, &QPushButton::clicked, this, &MainWindow::stopSpindle);
	connect(ui->horizontalSlider, &QSlider::valueChanged, mill_, &VhfMill::setSpindleSpeed);
	connect(ui->pushButton_init, &QPushButton::clicked, mill_, &VhfMill::init);
	connect(ui->pushButton_run, &QPushButton::clicked, this, &MainWindow::run);
	connect(ui->pushButton_toolUnload, &QPushButton::clicked, this, &MainWindow::toolUnload);
	connect(ui->pushButton_toolSwitch, &QPushButton::clicked, this, &MainWindow::toolSwitch);
	connect(ui->pushButton_touchoff, &QPushButton::clicked, this, &MainWindow::touchoff);
	connect(ui->pushButton_touchoffAll, &QPushButton::clicked, this, &MainWindow::touchoffAll);
	connect(ui->pushButton_touchoffRst, &QPushButton::clicked, this, &MainWindow::touchoffRst);
	connect(ui->pushButton_stop, &QPushButton::released, mill_,  &VhfMill::stop);
	connect(ui->actionOpen_Gcode, &QAction::triggered, this, &MainWindow::openGcode);
	connect(ui->actionOpen, &QAction::triggered, this, &MainWindow::openVhfCode);
	connect(ui->plainTextEdit, &QPlainTextEdit::textChanged, this, &MainWindow::textChanged);
	connect(ui->radioButton_gcode, &QRadioButton::toggled, ui->plainTextEdit_compiled, &QPlainTextEdit::setVisible);
	connect(ui->radioButton_gcode, &QRadioButton::toggled, this, &MainWindow::textChanged);
	connect(ui->comboBox_jogStep, &QComboBox::currentIndexChanged, this, &MainWindow::selectedJogStepChanged);

	connect(ui->pushButton_jogXp, &QPushButton::pressed, this, [this](){jog(VhfMill::AXIS_X, 1);});
	connect(ui->pushButton_jogXn, &QPushButton::pressed, this, [this](){jog(VhfMill::AXIS_X, -1);});
	connect(ui->pushButton_jogYp, &QPushButton::pressed, this, [this](){jog(VhfMill::AXIS_Y, -1);});
	connect(ui->pushButton_jogYn, &QPushButton::pressed, this, [this](){jog(VhfMill::AXIS_Y, 1);});
	connect(ui->pushButton_jogUp, &QPushButton::pressed, this, [this](){jog(VhfMill::AXIS_Z, 1);});
	connect(ui->pushButton_jogDown, &QPushButton::pressed, this, [this](){jog(VhfMill::AXIS_Z, -1);});
	connect(ui->pushButton_jogAp, &QPushButton::pressed, this, [this](){jog(VhfMill::AXIS_A, 1);});
	connect(ui->pushButton_jogAn, &QPushButton::pressed, this, [this](){jog(VhfMill::AXIS_A, -1);});
	connect(ui->pushButton_jogXp, &QPushButton::released, this, [this](){jog(VhfMill::AXIS_X, 0);});
	connect(ui->pushButton_jogXn, &QPushButton::released, this, [this](){jog(VhfMill::AXIS_X, 0);});
	connect(ui->pushButton_jogYp, &QPushButton::released, this, [this](){jog(VhfMill::AXIS_Y, 0);});
	connect(ui->pushButton_jogYn, &QPushButton::released, this, [this](){jog(VhfMill::AXIS_Y, 0);});
	connect(ui->pushButton_jogUp, &QPushButton::released, this, [this](){jog(VhfMill::AXIS_Z, 0);});
	connect(ui->pushButton_jogDown, &QPushButton::released, this, [this](){jog(VhfMill::AXIS_Z, 0);});
	connect(ui->pushButton_jogAp, &QPushButton::released, this, [this](){jog(VhfMill::AXIS_A, 0);});
	connect(ui->pushButton_jogAn, &QPushButton::released, this, [this](){jog(VhfMill::AXIS_A, 0);});

	BackPlotWidget* backplot = ui->backPlot;
	connect(&viewTopAction, &QShortcut::activated, backplot, [backplot](){backplot->showView(BackPlotWidget::VIEW_TOP);});
	connect(&viewFrontAction, &QShortcut::activated, backplot, [backplot](){backplot->showView(BackPlotWidget::VIEW_FRONT);});
	connect(&viewLeftAction, &QShortcut::activated, backplot, [backplot](){backplot->showView(BackPlotWidget::VIEW_LEFT);});
	connect(&viewRightAction, &QShortcut::activated, backplot, [backplot](){backplot->showView(BackPlotWidget::VIEW_RIGHT);});
}

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

void MainWindow::selectedJogStepChanged(int index)
{
	switch(index)
	{
		case 0:
			QMetaObject::invokeMethod(mill_, [this](){mill_->setjogStep(-1);}, Qt::QueuedConnection);
		break;
		case 1:
			QMetaObject::invokeMethod(mill_, [this](){mill_->setjogStep(5000);}, Qt::QueuedConnection);
		break;
		case 2:
			QMetaObject::invokeMethod(mill_, [this](){mill_->setjogStep(1000);}, Qt::QueuedConnection);
		break;
		case 3:
			QMetaObject::invokeMethod(mill_, [this](){mill_->setjogStep(250);}, Qt::QueuedConnection);
		break;
		case 4:
			QMetaObject::invokeMethod(mill_, [this](){mill_->setjogStep(100);}, Qt::QueuedConnection);
		break;
		case 5:
			QMetaObject::invokeMethod(mill_, [this](){mill_->setjogStep(50);}, Qt::QueuedConnection);
		break;
		default:
			QMetaObject::invokeMethod(mill_, [this](){mill_->setjogStep(0);}, Qt::QueuedConnection);
		break;
	}
}

void MainWindow::jog(VhfMill::Axis axis, int jogDirection)
{
	QMetaObject::invokeMethod(mill_, [this, axis, jogDirection](){mill_->jog(axis, jogDirection);}, Qt::QueuedConnection);
}

bool MainWindow::eventFilter(QObject *object, QEvent *event)
{
	if(jogEnabled)
	{
		if(event->type() == QEvent::KeyPress)
		{
			QKeyEvent *ke = static_cast<QKeyEvent *>(event);
			switch(ke->key())
			{
			case Qt::Key_Up:
				if(!ke->isAutoRepeat())
					jog(VhfMill::AXIS_Y, -1);
				event->setAccepted(true);
				return true;
			case Qt::Key_Left:
				if(!ke->isAutoRepeat())
					jog(VhfMill::AXIS_X, -1);
				event->setAccepted(true);
				return true;
			case Qt::Key_Right:
				if(!ke->isAutoRepeat())
					jog(VhfMill::AXIS_X, 1);
				event->setAccepted(true);
				return true;
			case Qt::Key_Down:
				if(!ke->isAutoRepeat())
					jog(VhfMill::AXIS_Y, 1);
				event->setAccepted(true);
				return true;
			case Qt::Key_PageUp:
				if(!ke->isAutoRepeat())
					jog(VhfMill::AXIS_Z, 1);
				event->setAccepted(true);
				return true;
			case Qt::Key_PageDown:
				if(!ke->isAutoRepeat())
					jog(VhfMill::AXIS_Z, -1);
				event->setAccepted(true);
				return true;
			default:
				break;
			}
		}
		else if(event->type() == QEvent::KeyRelease)
		{
			QKeyEvent *ke = static_cast<QKeyEvent *>(event);
			switch(ke->key())
			{
			case Qt::Key_Up:
				if(!ke->isAutoRepeat())
					jog(VhfMill::AXIS_Y, 0);
				event->setAccepted(true);
				return true;
			case Qt::Key_Left:
				if(!ke->isAutoRepeat())
					jog(VhfMill::AXIS_X, 0);
				event->setAccepted(true);
				return true;
			case Qt::Key_Right:
				if(!ke->isAutoRepeat())
					jog(VhfMill::AXIS_X, 0);
				event->setAccepted(true);
				return true;
			case Qt::Key_Down:
				if(!ke->isAutoRepeat())
					jog(VhfMill::AXIS_Y, 0);
				event->setAccepted(true);
				return true;
			case Qt::Key_PageUp:
				if(!ke->isAutoRepeat())
					jog(VhfMill::AXIS_Z, 0);
				event->setAccepted(true);
				return true;
			case Qt::Key_PageDown:
				if(!ke->isAutoRepeat())
					jog(VhfMill::AXIS_Z, 0);
				event->setAccepted(true);
				return true;
			default:
				break;
			}
		}
	}
	return false;
}

void MainWindow::textChanged()
{
	bool ok = true;
	QByteArray programm = ui->plainTextEdit->toPlainText().toLatin1();

	if(ui->radioButton_gcode->isChecked())
	{
		QList<QString> errors;
		programm = gcodeToVhf(programm, &ok, &errors);
		if(!ok)
			ui->statusbar->showMessage(errors.back());
		ui->plainTextEdit_compiled->setPlainText(programm);
	}

	ui->backPlot->programChanged(programm);
}

void MainWindow::home()
{
	VhfMill::Axis axis = comboBoxToAxis(*ui->comboBox_homeAxis);
	qDebug()<<__func__<<axis;
	QMetaObject::invokeMethod(mill_, [this, axis](){mill_->home(axis);}, Qt::QueuedConnection);
}

void MainWindow::toolUnload()
{
	QMetaObject::invokeMethod(mill_, [this](){mill_->setTool(0);}, Qt::QueuedConnection);
}

void MainWindow::gotSpindleSpeed(int speed)
{
	ui->lcd_spindle->display(speed);
}

void MainWindow::stopSpindle()
{
	QMetaObject::invokeMethod(mill_, [this](){mill_->setSpindleSpeed(0);}, Qt::QueuedConnection);
	ui->horizontalSlider->setValue(0);
}

void MainWindow::isHomed(VhfMill::Axis axis)
{
	ui->led_homeX->setLit(axis & VhfMill::AXIS_X);
	ui->led_homeY->setLit(axis & VhfMill::AXIS_Y);
	ui->led_homeZ->setLit(axis & VhfMill::AXIS_Z);
	ui->led_homeA->setLit(axis & VhfMill::AXIS_A);
	checkBlocks();
}

VhfMill::Axis MainWindow::comboBoxToAxis(const QComboBox& box)
{
	switch(box.currentIndex())
	{
		case 0:
			return VhfMill::AXIS_X;
		case 1:
			return VhfMill::AXIS_Y;
		case 2:
			return VhfMill::AXIS_Z;
		case 3:
			return VhfMill::AXIS_A;
		case 4:
			return VhfMill::AXIS_B;
		default:
			return VhfMill::AXIS_NONE;
	}
}

void MainWindow::run()
{
	QByteArray programm = ui->plainTextEdit->toPlainText().toLatin1();
	if(ui->radioButton_gcode->isChecked())
	{
		bool ok;
		programm = gcodeToVhf(programm, &ok);
		if(!ok)
		{
			QMessageBox::critical(this, "Error", "failed to parse gcode");
			return;
		}
	}
	QMetaObject::invokeMethod(mill_, [programm, this](){mill_->send(programm);}, Qt::QueuedConnection);
}

void MainWindow::toolSwitch()
{
	QMetaObject::invokeMethod(mill_, [this](){mill_->setTool(ui->comboBox_tool->currentIndex()+1);}, Qt::QueuedConnection);
}

void MainWindow::touchoff()
{
	bool ok;
	double offset = QInputDialog::getDouble(this, "Offset", "offset in mm", 0, -1000, 1000, 2, &ok);
	if(ok)
		QMetaObject::invokeMethod(mill_, [this, offset](){mill_->touchOff(comboBoxToAxis(*ui->comboBox_TouchoffAxis), offset*1000);}, Qt::QueuedConnection);
}

void MainWindow::touchoffAll()
{
	QMetaObject::invokeMethod(mill_, [this](){mill_->touchOff(VhfMill::AXIS_ALL, 0);}, Qt::QueuedConnection);
}


void MainWindow::touchoffRst()
{
	QMetaObject::invokeMethod(mill_, [this](){mill_->touchOffAbsolute({0,0,0,0});}, Qt::QueuedConnection);
}

void MainWindow::toolChangeDone()
{
	QMetaObject::invokeMethod(mill_, &VhfMill::reqTool, Qt::QueuedConnection);
	setToolchangeBlocked(false);
}

void MainWindow::raiseError(int errorNum)
{
	QMessageBox::critical(this, "Error", VhfMill::textForErrno(errorNum));
	checkBlocks();
}

void MainWindow::positionUpdate(std::vector<int> position)
{
	if(position.size() < 4)
		return;

	std::vector<int> touchoff;
	if(ui->radioButton->isChecked())
		touchoff.assign(position.size(), 0);
	else
		touchoff = mill_->getLastTouchoffPosition();

	size_t xIndex = VhfMill::axisToIndex(VhfMill::AXIS_X);
	size_t yIndex = VhfMill::axisToIndex(VhfMill::AXIS_Y);
	size_t zIndex = VhfMill::axisToIndex(VhfMill::AXIS_Z);
	size_t aIndex = VhfMill::axisToIndex(VhfMill::AXIS_A);

	double xDpl = position[xIndex] - touchoff[xIndex];
	double yDpl = position[yIndex] - touchoff[yIndex];
	double zDpl = position[zIndex] - touchoff[zIndex];
	double aDpl = position[aIndex] - touchoff[aIndex];

	ui->lcd_x->display(xDpl/1000.0);
	ui->lcd_y->display(yDpl/1000.0);
	ui->lcd_z->display(zDpl/1000.0);
	ui->lcd_a->display(aDpl/1000.0);
}

void MainWindow::openVhfCode()
{
	QString fileName = QFileDialog::getOpenFileName(this, "Open File", "~", "VhfCode (*.vhf)");
	if(!fileName.isEmpty())
	{
		QFile gcodeFile(fileName);
		if(!gcodeFile.open(QIODeviceBase::ReadOnly))
		{
			QMessageBox::critical(this, "Error", "Could not open " + fileName + " for reading");
			return;
		}
		QByteArray vhfCode = gcodeFile.readAll();

		ui->radioButton_vhfCode->setChecked(true);
		ui->plainTextEdit->setPlainText(vhfCode);
	}
}

void MainWindow::openGcode()
{
	QString fileName = QFileDialog::getOpenFileName(this, "Open File", "~", "Gcode (*.ngc *.nc)");
	if(!fileName.isEmpty())
	{
		QFile gcodeFile(fileName);
		if(!gcodeFile.open(QIODeviceBase::ReadOnly))
		{
			QMessageBox::critical(this, "Error", "Could not open " + fileName + " for reading");
			return;
		}

		bool ok;
		QByteArray gcode = gcodeFile.readAll();
		gcodeToVhf(gcode, &ok);
		if(!ok)
		{
			QMessageBox::critical(this, "Error", "failed to parse gcode");
			return;
		}

		ui->radioButton_gcode->setChecked(true);
		ui->radioButton_vhfCode->setChecked(false);
		ui->plainTextEdit->setPlainText(gcode);
	}
}

void MainWindow::touchoffChanged(std::vector<int> position)
{
	if(position.size() < 4)
		return;
	ui->lcd_touchX->display(static_cast<double>(position[VhfMill::axisToIndex(VhfMill::AXIS_X)])/1000.0);
	ui->lcd_touchY->display(static_cast<double>(position[VhfMill::axisToIndex(VhfMill::AXIS_Y)])/1000.0);
	ui->lcd_touchZ->display(static_cast<double>(position[VhfMill::axisToIndex(VhfMill::AXIS_Z)])/1000.0);
	ui->lcd_touchA->display(static_cast<double>(position[VhfMill::axisToIndex(VhfMill::AXIS_A)])/1000.0);
	positionUpdate(mill_->getLastKnownPosition());
	ui->backPlot->touchoffUpdate(position);
	textChanged();
}

void MainWindow::checkBlocks()
{
	setAllBlocked(true);
	if(mill_->isInitDone())
	{
		qDebug()<<__func__<<"unblocking home and spindle";
		setSpindleBlocked(false);
		setHomeingBlocked(false);
		setOutputsBlocked(false);
		if(mill_->allHomed())
		{
			qDebug()<<__func__<<"unblocking jog";
			setJogBlocked(false);
			ui->pushButton_run->setEnabled(true);
			if(mill_->presureReady())
			{
				qDebug()<<__func__<<"unblocking tool change";
				setToolchangeBlocked(false);
			}
		}
	}
}

void MainWindow::gotOutputs(uint8_t outputs)
{
	ui->checkBox_oe1->setChecked(outputs & 1<<0);
	ui->checkBox_oe2->setChecked(outputs & 1<<1);
	ui->checkBox_oe3->setChecked(outputs & 1<<2);
	ui->checkBox_oe4->setChecked(outputs & 1<<3);
	ui->checkBox_oe5->setChecked(outputs & 1<<4);
	ui->checkBox_oe6->setChecked(outputs & 1<<5);
	ui->checkBox_oe7->setChecked(outputs & 1<<6);
}

void MainWindow::gotPressureState(bool state)
{
	ui->led_pressure->setLit(!state);
	checkBlocks();
}

void MainWindow::setAllBlocked(bool blocked)
{
	setOutputsBlocked(blocked);
	setJogBlocked(blocked);
	setToolchangeBlocked(blocked);
	setSpindleBlocked(blocked);
	setHomeingBlocked(blocked);
	ui->pushButton_run->setEnabled(!blocked);
}

void MainWindow::setOutputsBlocked(bool block)
{
	ui->checkBox_oe1->setEnabled(!block);
	ui->checkBox_oe2->setEnabled(!block);
	ui->checkBox_oe3->setEnabled(!block);
	ui->checkBox_oe4->setEnabled(!block);
	ui->checkBox_oe5->setEnabled(!block);
	ui->checkBox_oe6->setEnabled(!block);
	ui->checkBox_oe7->setEnabled(!block);
}

void MainWindow::setJogBlocked(bool block)
{
	jogEnabled = !block;
	ui->pushButton_jogDown->setEnabled(!block);
	ui->pushButton_jogUp->setEnabled(!block);
	ui->pushButton_jogXp->setEnabled(!block);
	ui->pushButton_jogXn->setEnabled(!block);
	ui->pushButton_jogYp->setEnabled(!block);
	ui->pushButton_jogYn->setEnabled(!block);
	ui->pushButton_jogAp->setEnabled(!block);
	ui->pushButton_jogAn->setEnabled(!block);
	ui->comboBox_jogStep->setEnabled(!block);
}

void MainWindow::setToolchangeBlocked(bool block)
{
	ui->pushButton_toolSwitch->setEnabled(!block);
	ui->pushButton_toolUnload->setEnabled(!block);
	ui->comboBox_tool->setEnabled(!block);
}

void MainWindow::setSpindleBlocked(bool block)
{
	ui->pushButton_stopSpindle->setEnabled(!block);
	ui->horizontalSlider->setEnabled(!block);
}

void MainWindow::setHomeingBlocked(bool block)
{
	ui->pushButton_home->setEnabled(!block);
	ui->pushButton_homeAll->setEnabled(!block);
	ui->comboBox_homeAxis->setEnabled(!block);
}

void MainWindow::setTouchoffBlocked(bool block)
{
	ui->comboBox_TouchoffAxis->setEnabled(!block);
	ui->pushButton_touchoff->setEnabled(!block);
	ui->pushButton_touchoffAll->setEnabled(!block);
}