import QtQuick 2.15
import QtQuick.Window 2.15
import QtQuick3D
import QtQuick.Controls
import QtQuick.Controls.Material
import QtQml
import QtQuick.Layouts
import QtCharts
import QtDataVisualization 1.4
import runner 1.0
import "."


Window {
    id:mainScreen
    property real scale: 0.9
    width: Screen.width * mainScreen.scale
    height: Screen.height * mainScreen.scale
    visible: true
    maximumHeight: mainScreen.height
    minimumHeight: mainScreen.height
    maximumWidth: mainScreen.width
    minimumWidth: mainScreen.width
    //禁止缩放界面
    x:(Screen.width * (1-mainScreen.scale))/2
    y:(Screen.height * (1-mainScreen.scale))/2
    title: qsTr("digital twin system")

    Timer
    {
        id:chart_update_timer
        interval:100
        repeat: true
        running:true

        onTriggered:
        {
            experiment_pane.experiment_chart_update()

            var sensor_info = runner.sensor_info_get()
            if( sensor_info.is_update )
            {
                flight_status_menu.update_chart(sensor_info)
                runner.sensor_info_count++

                view_real_status_3d.yaw = sensor_info.yaw
                view_real_status_3d.pitch = sensor_info.pitch
                view_real_status_3d.roll = sensor_info.roll
                yaw_animation.complete()
                yaw_animation.start()
                roll_animation.complete()
                roll_animation.start()
                pitch_animation.complete()
                pitch_animation.start()
            }

            var input_info = runner.input_info_get()
            if( input_info.is_update )
            {
                flight_status_menu.update_input_chart(input_info)
                runner.input_info_count++
            }

            var expect_info = runner.expect_info_get()
            if( expect_info.is_update )
            {
                flight_status_menu.update_expect_chart(expect_info)
                runner.expect_info_count++
            }

        }
    }

    Pane
    {
        id:main_pane
        Material.theme:Material.Light
        width: parent.width
        height: parent.height

        TabBar
        {
            id: feature_column
            x:0
            y:0
            width:parent.width
            property real btn_cnt:7;
            TabButton
            {
                id:digital_twin_btn
                text: "孪生模型"
                width: feature_column.width/feature_column.btn_cnt
                font.family:"Helvetica"
                font.bold:true
                font.pointSize: 18
                onClicked:
                {
                    digital_twin_menu.visible = true
                    setting_pane.visible = false
                    system_info_pane.visible = false
                    experiment_pane.visible = false
                    operator_menue.visible = false
                    flight_status_menu.visible = false
                }
            }
            TabButton
            {
                id:flight_status_btn
                text: "飞行状态"
                width: feature_column.width/feature_column.btn_cnt
                font.family:"Helvetica"
                font.bold:true
                font.pointSize: 18
                onClicked:
                {
                    digital_twin_menu.visible = false
                    setting_pane.visible = false
                    system_info_pane.visible = false
                    experiment_pane.visible = false
                    operator_menue.visible = false
                    flight_status_menu.visible = true
                    input_status_pane.visible = false
                }
            }
            TabButton
            {
                id:input_status_btn
                text: "输入状态"
                width: feature_column.width/feature_column.btn_cnt
                font.family:"Helvetica"
                font.bold:true
                font.pointSize: 18
                onClicked:
                {
                    digital_twin_menu.visible = false
                    setting_pane.visible = false
                    system_info_pane.visible = false
                    experiment_pane.visible = false
                    operator_menue.visible = false
                    flight_status_menu.visible = false
                    input_status_pane.visible = true
                }
            }
            TabButton
            {
                id:operator_btn
                text: "指令中枢"
                width: feature_column.width/feature_column.btn_cnt
                font.family:"Helvetica"
                font.bold:true
                font.pointSize: 18
                onClicked:
                {
                    digital_twin_menu.visible = false
                    setting_pane.visible = false
                    system_info_pane.visible = false
                    experiment_pane.visible = false
                    operator_menue.visible = true
                    flight_status_menu.visible = false
                    input_status_pane.visible = false
                }
            }
            TabButton
            {
                id:experiment_btn
                text: "实验"
                width: feature_column.width/feature_column.btn_cnt
                font.family:"Helvetica"
                font.bold:true
                font.pointSize: 18
                onClicked:
                {
                    digital_twin_menu.visible = false
                    setting_pane.visible = false
                    system_info_pane.visible = false
                    experiment_pane.visible = true
                    operator_menue.visible = false
                    flight_status_menu.visible = false
                    input_status_pane.visible = false
                }
            }
            TabButton
            {
                id:log_info_btn
                text: "日志"
                width: feature_column.width/feature_column.btn_cnt
                font.family:"Helvetica"
                font.bold:true
                font.pointSize: 18
                onClicked:
                {
                    digital_twin_menu.visible = false
                    setting_pane.visible = false
                    system_info_pane.visible = true
                    experiment_pane.visible = false
                    operator_menue.visible = false
                    flight_status_menu.visible = false
                    input_status_pane.visible = false
                }
            }
            TabButton
            {
                id:setting_btn
                text: "设置"
                width: feature_column.width/feature_column.btn_cnt
                font.family:"Helvetica"
                font.bold:true
                font.pointSize: 18
                onClicked:
                {
                    digital_twin_menu.visible = false
                    setting_pane.visible = true
                    system_info_pane.visible = false
                    experiment_pane.visible = false
                    operator_menue.visible = false
                    flight_status_menu.visible = false
                    input_status_pane.visible = false
                }
            }
        }
        //界面栏

        SystemStatus
        {
            id:flight_status_menu
            visible: false

            x:digital_twin_menu.board_width
            y:feature_column.y + feature_column.height + digital_twin_menu.board_height
            //起点
            width:main_pane.width - (digital_twin_menu.board_width * 2)
            height:main_pane.height - feature_column.height - (digital_twin_menu.board_height * 2)
        }

        InputStatus
        {
            id:input_status_pane
            visible: false
            x:digital_twin_menu.board_width
            y:feature_column.y + feature_column.height + digital_twin_menu.board_height
            //起点
            width:main_pane.width - (digital_twin_menu.board_width * 2)
            height:main_pane.height - feature_column.height - (digital_twin_menu.board_height * 2)
        }

        Experiment
        {
            id:experiment_pane

            visible:false

            x:digital_twin_menu.board_width
            y:feature_column.y + feature_column.height + digital_twin_menu.board_height
            //起点
            width:main_pane.width - (digital_twin_menu.board_width * 2)
            height:main_pane.height - feature_column.height - (digital_twin_menu.board_height * 2)

        }


        Pane
        {
            id:system_info_pane
            visible:false
            property real board_width: 10
            property real board_height: 10

            x:digital_twin_menu.board_width
            y:feature_column.y + feature_column.height + digital_twin_menu.board_height
            //起点
            width:main_pane.width - (digital_twin_menu.board_width * 2)
            height:main_pane.height - feature_column.height - (digital_twin_menu.board_height * 2)

            Material.theme:Material.Dark

            ScrollView
            {
                id:system_info_view
                anchors.fill:parent
                ScrollBar.vertical.pressed:true
                ScrollBar.vertical.interactive:true
                ScrollBar.vertical.minimumSize:0.1
                ScrollBar.vertical.snapMode:ScrollBar.SnapAlways
                ScrollBar.vertical.policy:ScrollBar.AlwaysOn
                TextArea
                {
                    id:system_info_text_area

                    text:" ----------------------------------system infomation----------------------------------"
                    color:"white"
                    font.pixelSize: 20
                    font.bold:true
                    readOnly: true
                    selectedTextColor: "gray"

                    onTextChanged:
                    {
                        system_info_view.ScrollBar.vertical.position = 1 - system_info_view.ScrollBar.vertical.visualSize
                    }
                }
            }
        }

        Runner
        {
            id:runner
            property real sensor_info_count: 0
            property real experiment_info_count:0
            property real input_info_count:0
            property real expect_info_count:0

            onExperiment_status_change_signal:
            {
                var experiment_status_info = experiment_info_get()


                experiment_pane.experiment_status_update(experiment_status_info)
            }

            onFc_lift_experiment_info_update_signal:
            {
                var info = fc_lift_experiment_data_get();

                runner.experiment_info_count++

                experiment_pane.experiment_lift_update(info)

            }

            onFc_servo_force_experiment_info_update_signal:
            {
                var fc_servo_info = fc_servo_force_experiment_data_get();

                runner.experiment_info_count++
                experiment_pane.experiment_servo_force_update(fc_servo_info)

            }
            onFc_servo_force_dynamic_experiment_info_update_signal:
            {
                var info = fc_servo_force_dynamic_experiment_data_get();

                runner.experiment_info_count++

                experiment_pane.experiment_servo_dynamic_update(info)

            }

            onSensor_info_update_signal: //飞行器的传感器信息
            {

            }
            onInput_info_update_signal: //飞行器的输入信息
            {


            }

            onSystem_initial_signal:
            {
                var info = system_initial_info_get();
                /*system initial information get */
                var experiment_info = info.experiment_list;
                experiment_pane.experiment_list_update(experiment_info);
            }


            onDs_port_name_list_update_signal:
            {
                var port_info = runner.get_port_info(2);
                ds_port_name_model.clear()
                //clear port name model
                if(port_info.port_cnt !== 0)
                {
                    var i=0
                    for(;i<port_info.port_cnt;i++)
                    {
                        ds_port_name_model.append({text:port_info.port_name_list[i]})
                    }
                }
                else
                {
                    ds_port_name_model.append({text:"未识别到串口"})
                }
            }
            onDs_port_status_update_signal:
            {
                var port_info = runner.get_port_info(2);
                if( port_info.port_status )
                {
                    ds_openClose_btn.text="关闭串口"
                }
                else
                {
                    ds_openClose_btn.text="打开串口"
                }
            }
            onFc_port_name_list_update_signal:
            {
                var port_info = runner.get_port_info(1);
                fc_port_name_model.clear()
                //clear port name model
                if(port_info.port_cnt !== 0)
                {
                    var i=0
                    for(;i<port_info.port_cnt;i++)
                    {
                        fc_port_name_model.append({text:port_info.port_name_list[i]})
                    }
                }
                else
                {
                    fc_port_name_model.append({text:"未识别到串口"})
                }
            }
            onFc_port_status_update_signal:
            {
                var port_info = runner.get_port_info(1);
                if( port_info.port_status )
                {
                    fc_openClose_btn.text="关闭串口"
                    runner.sensor_info_count = 0
                    runner.input_info_count = 0
                    runner.expect_info_count = 0
                    flight_status_menu.clean_chart()
                    input_status_pane.clean_chart()
                }
                else
                {
                    fc_openClose_btn.text = "打开串口"
                }
            }
            onRoll_fft_data_update_signal:
            {
                var amp = roll_fft_amp_get();
                var maxY = Math.max.apply(null,amp);
                var sample_freq = 500; //hz
                if( isFinite(maxY) )
                {
                    if( maxY >= fft_chart_axisY.max )
                    {
                        if(maxY >= 2000)
                            fft_chart_axisY.max = 2000;
                        else
                            fft_chart_axisY.max = maxY;
                    }
                    fft_chart_axisX.min = 0;
                    if( fft_chart_axisX.max < sample_freq / 2)
                        fft_chart_axisX.max = sample_freq / 2;
                    roll_amp_chart_series.clear();
                    var i;
                    for(i=0;i<amp.length;i++)
                    {
                        roll_amp_chart_series.append(sample_freq*i/(2*amp.length),amp[i]);
                    }
                }
            }
            onPitch_fft_data_update_signal:
            {
                var amp = pitch_fft_amp_get();
                var maxY = Math.max.apply(null,amp);
                var sample_freq = 500; //hz
                if( isFinite(maxY) )
                {
                    if( maxY >= fft_chart_axisY.max )
                    {
                        if(maxY >= 2000)
                            fft_chart_axisY.max = 2000;
                        else
                            fft_chart_axisY.max = maxY;
                    }
                    fft_chart_axisX.min = 0;
                    if( fft_chart_axisX.max < sample_freq / 2)
                        fft_chart_axisX.max = sample_freq / 2;
                    pitch_amp_chart_series.clear();
                    var i;
                    for(i=0;i<amp.length;i++)
                    {
                        pitch_amp_chart_series.append(sample_freq*i/(2*amp.length),amp[i]);
                    }
                }
            }
            onYaw_fft_data_update_signal:
            {
                var amp = yaw_fft_amp_get();
                var maxY = Math.max.apply(null,amp);
                var sample_freq = 500; //hz
                if( isFinite(maxY) )
                {
                    if( maxY >= fft_chart_axisY.max )
                    {
                        if(maxY >= 2000)
                            fft_chart_axisY.max = 2000;
                        else
                            fft_chart_axisY.max = maxY;
                    }
                    fft_chart_axisX.min = 0;
                    if( fft_chart_axisX.max < sample_freq / 2)
                        fft_chart_axisX.max = sample_freq / 2;
                    yaw_amp_chart_series.clear();
                    var i;
                    for(i=0;i<amp.length;i++)
                    {
                        yaw_amp_chart_series.append(sample_freq*i/(2*amp.length),amp[i]);
                    }
                }
            }
            onPrint_info_update_signal:
            {
                //print log update
                system_info_text_area.append(print_info_get());
            }
        }


        Pane
        {
            id:setting_pane
            visible:false

            x:digital_twin_menu.board_width
            y:feature_column.y + feature_column.height + digital_twin_menu.board_height
            //起点
            width:main_pane.width - (digital_twin_menu.board_width * 2)
            height:main_pane.height - feature_column.height - (digital_twin_menu.board_height * 2)



            Rectangle
            {
                id:fc_serial_rect
                x:parent.x
                y:parent.y
                width:parent.width/6
                height:parent.height/4

                ColumnLayout
                {

                    id:fc_serial_button_layout
                    anchors.fill:parent
                    spacing:5

                    Text
                    {
                        text: "<b>--飞控通信设置--</b>"
                        font.pixelSize: 20
                        Layout.fillWidth: true
                        Layout.fillHeight: true
                        Layout.alignment: Qt.AlignVCenter
                        horizontalAlignment: Text.AlignHCenter
                        verticalAlignment: Text.AlignVCenter
                    }

                    ComboBox
                    {
                        id:fc_port_name_list
                        editable: false
                        Layout.fillWidth: true
                        Layout.fillHeight: true
                        Layout.alignment: Qt.AlignVCenter
                        model:ListModel
                        {
                            id:fc_port_name_model
                        }

                    }

                    Button
                    {
                        id:fc_search_btn
                        text:"搜索串口"
                        Layout.fillWidth: true
                        Layout.fillHeight: true
                        onClicked:
                        {
                            runner.search_port_button_callback(1);
                        }
                    }

                    Button
                    {
                        id:fc_openClose_btn
                        text:"打开串口"
                        Layout.fillWidth: true
                        Layout.fillHeight: true
                        onClicked:
                        {
                            runner.open_port_button_callback(fc_port_name_list.currentText,1)
                        }
                    }
                }
            }

            Rectangle
            {
                id:ds_serial_rect
                x:parent.x
                y:fc_serial_rect.y + fc_serial_rect.height
                width:parent.width/6
                height:parent.height/4

                ColumnLayout
                {

                    id:ds_serial_button_layout
                    anchors.fill:parent
                    spacing:5

                    Text
                    {
                        text: "<b>--数字采样器通信设置--</b>"
                        font.pixelSize: 20
                        Layout.fillWidth: true
                        Layout.fillHeight: true
                        Layout.alignment: Qt.AlignVCenter
                        horizontalAlignment: Text.AlignHCenter
                        verticalAlignment: Text.AlignVCenter
                    }

                    ComboBox
                    {
                        id:ds_port_name_list
                        editable: false
                        Layout.fillWidth: true
                        Layout.fillHeight: true
                        Layout.alignment: Qt.AlignVCenter
                        model:ListModel
                        {
                            id:ds_port_name_model
                        }
                    }

                    Button
                    {
                        id:ds_search_btn
                        text:"搜索串口"
                        Layout.fillWidth: true
                        Layout.fillHeight: true
                        onClicked:
                        {
                            runner.search_port_button_callback(2);
                        }
                    }

                    Button
                    {
                        id:ds_openClose_btn
                        text:"打开串口"
                        Layout.fillWidth: true
                        Layout.fillHeight: true
                        onClicked:
                        {
                            runner.open_port_button_callback(ds_port_name_list.currentText,2)
                        }
                    }
                }
            }
        }

        Pane
        {
            id:digital_twin_menu
            visible:true
            property real board_width: 10
            property real board_height: 10

            x:digital_twin_menu.board_width
            y:feature_column.y + feature_column.height + digital_twin_menu.board_height
            //起点
            width:main_pane.width - (digital_twin_menu.board_width * 2)
            height:main_pane.height - feature_column.height - (digital_twin_menu.board_height * 2)

            RowLayout
            {
                anchors.fill: parent

                spacing:10

                Rectangle
                {
                    id:view3D_part
                    Layout.alignment: Qt.AlignCenter
                    Layout.fillWidth: true
                    Layout.fillHeight: true

                    ColumnLayout
                    {
                        anchors.fill: parent
                        spacing: 10

                        Rectangle
                        {
                            id:real_status
                            Layout.fillWidth: true
                            Layout.fillHeight: true
                            border.color: "black"
                            border.width: 5
                            radius: 10

                            View3D
                            {
                                id:view_real_status_3d
                                anchors.fill: parent
                                camera: camera

                                property real yaw:0
                                property real pitch:0
                                property real roll:0



                                environment: SceneEnvironment {
                                    id: sceneEnvironment_real
                                    clearColor: "#f0f0f0"
                                    backgroundMode: SceneEnvironment.Color
                                    antialiasingMode: SceneEnvironment.NoAA
                                    antialiasingQuality: SceneEnvironment.VeryHigh
                                    temporalAAEnabled: false
                                    temporalAAStrength: 100
                                }

                                PerspectiveCamera {
                                    position.z: 50.0
                                    position.y: 8.0
                                    position.x: 0
                                    clipNear: 1.0
                                    clipFar: 60.0
                                }

                                DirectionalLight {
                                    eulerRotation.x: -30
                                    eulerRotation.y: -70
                                    ambientColor: Qt.rgba(0.3, 0.3, 0.3, 1.0)
                                }

                                Node {
                                    id: scene_real

                                    Model {
                                        source: "ac.mesh"
                                        position.x:0
                                        position.y:0
                                        position.z:0
                                        //scale:Qt.vector3d(1,1,1)
                                        materials: DefaultMaterial {
                                            //baseColor: "#faee45"
                                            diffuseColor: Qt.rgba(0.8, 0.8, 0.8, 1.0)

                                        }
//
                                        SequentialAnimation on eulerRotation.y{
                                            id:yaw_animation
                                            NumberAnimation {  to: view_real_status_3d.yaw; duration: 500 }
                                        }
                                        SequentialAnimation on eulerRotation.x {
                                            id:roll_animation
                                            NumberAnimation {  to: view_real_status_3d.roll; duration: 500 }

                                        }
                                        SequentialAnimation on eulerRotation.z {
                                            id:pitch_animation
                                            NumberAnimation {  to: view_real_status_3d.pitch; duration: 500 }

                                        }
                                    }
                                }
                            }
                        }
                        Rectangle
                        {
                            id:digital_twin_status
                            Layout.fillWidth: true
                            Layout.fillHeight: true
                            border.color: "black"
                            border.width: 5
                            radius: 10

                            View3D
                            {
                                id:view_dt_status_3d
                                anchors.fill: parent
                                camera: camera
                                environment: SceneEnvironment {
                                    id: sceneEnvironment_dt
                                    clearColor: "#f0f0f0"
                                    backgroundMode: SceneEnvironment.Color
                                    antialiasingMode: SceneEnvironment.NoAA
                                    antialiasingQuality: SceneEnvironment.VeryHigh
                                    temporalAAEnabled: false
                                    temporalAAStrength: 100
                                }

                                PerspectiveCamera {
                                    position.z: 50.0
                                    position.y: 8.0
                                    position.x: 0
                                    clipNear: 1.0
                                    clipFar: 60.0
                                }

                                DirectionalLight {
                                    eulerRotation.x: -30
                                    eulerRotation.y: -70
                                    ambientColor: Qt.rgba(0.3, 0.3, 0.3, 1.0)
                                }

                                Node {
                                    id: scene_dt

                                    Model {
                                        source: "ac.mesh"
                                        position.x:0
                                        position.y:0
                                        position.z:0
                                        //scale:Qt.vector3d(1,1,1)
                                        materials: DefaultMaterial {
                                            //baseColor: "#faee45"
                                            diffuseColor: Qt.rgba(0.4, 0.4, 0.4, 0.5)
                                        }
                                    }
                                }
                            }

                        }
                    }
                }
                Rectangle
                {
                    id:chart_status
                    Layout.alignment: Qt.AlignCenter
                    Layout.fillWidth: true
                    Layout.fillHeight: true
                    ColumnLayout
                    {
                        anchors.fill:parent
                        Rectangle
                        {
                            id:sensor_chart_rect_checkout
                            Layout.alignment: Qt.AlignCenter
                            Layout.fillWidth: true
                            Layout.preferredHeight:chart_status.height * 0.04
                            RowLayout
                            {
                                anchors.centerIn: parent
                                spacing:1
                                CheckBox
                                {
                                    id:euro_checkout
                                    text:"欧拉角"
                                    checked: true
                                }
                                CheckBox
                                {
                                    id:gyro_checkout
                                    text:"角速度"
                                    checked: false
                                }
                                CheckBox
                                {
                                    id:accel_checkout
                                    text:"加速度"
                                    checked: false
                                }
                                CheckBox
                                {
                                    id:velocity_checkout
                                    text:"速度"
                                    checked: false
                                }
                                CheckBox
                                {
                                    id:pos_checkout
                                    text:"位置"
                                    checked: false
                                }
                            }
                        }

                        Rectangle
                        {
                            id:fft_chart_pane
                            Layout.alignment: Qt.AlignCenter
                            Layout.fillWidth: true
//                            Layout.fillHeight: true
                            Layout.preferredHeight:chart_status.height * 0.475
                            ChartView
                            {
                                id:fft_chart
                                anchors.fill:parent
                                legend.alignment: Qt.AlignTop
                                title:"频域分析曲线"

                                ValuesAxis
                                {
                                    id:fft_chart_axisX
                                    min:0
                                    max:25
                                    tickCount: 10
                                }
                                ValuesAxis
                                {
                                    id:fft_chart_axisY
                                    tickCount: 10
                                    min:0
                                    max:200
                                }


                                SplineSeries {
                                    id:roll_amp_chart_series
                                    name:"amp-roll"
                                    width:2
                                    color:"#0000ff"
                                    axisX: fft_chart_axisX
                                    axisY: fft_chart_axisY
                                    visible:euro_checkout.checked
                                }
                                SplineSeries {
                                    id:pitch_amp_chart_series
                                    name:"amp-pitch"
                                    width:2
                                    color:"#00ff00"
                                    axisX: fft_chart_axisX
                                    axisY: fft_chart_axisY
                                    visible:euro_checkout.checked
                                }
                                SplineSeries {
                                    id:yaw_amp_chart_series
                                    name:"amp-yaw"
                                    width:2
                                    color:"#ff0000"
                                    axisX: fft_chart_axisX
                                    axisY: fft_chart_axisY
                                    visible:euro_checkout.checked
                                }
                            }
                        }
                    }
                }
            }
        }
    }
    Pane
    {
        id:operator_menue
        visible:false
        property real board_width: 10
        property real board_height: 10

        x:operator_menue.board_width
        y:feature_column.y + feature_column.height + operator_menue.board_height
        //起点
        width:main_pane.width - (operator_menue.board_width * 2)
        height:main_pane.height - feature_column.height - (operator_menue.board_height * 2)


        Pane
        {
            id:fligiht_control_pane
            Layout.alignment: Qt.AlignCenter
            Layout.fillHeight: operator_menue.height * 0.4
            Layout.preferredWidth:operator_menue.width * 0.2
            ColumnLayout
            {
                anchors.fill: parent
                spacing:10

                Text
                {
                    id:status_record_text
                    text: "<b>飞行状态记录</b>"
                    font.pixelSize: 20
                    Layout.fillWidth: true
                    Layout.fillHeight: true
                    Layout.alignment:Qt.AlignVCenter
                    horizontalAlignment:Text.AlignHCenter
                    verticalAlignment:Text.AlignVCenter
                }
                Button
                {
                    id:record_switch_btn
                    text:"<b>开始记录</b>"
                    Layout.fillWidth: true
                    Layout.fillHeight: true
                    onClicked:
                    {
                        runner.record_switch_button_callback()
                        var sta = runner.get_record_status()
                        if(sta.status === 1)
                        {
                            record_switch_btn.text = "<b>结束记录</b>"
                        }
                        else
                        {
                            record_switch_btn.text = "<b>开始记录</b>"
                        }
                    }
                }
            }
        }
    }
}