#include "mainwindow.h"

#include "ui_mainwindow.h"

#include "motorworker.h"

#include "steppermotor.h"

#include <QtCore>

#include <QTimer>

#include <QThread>

#include <QDebug>

#include "coildialog.h"

MainWindow::MainWindow(QWidget *parent) :

QMainWindow(parent),

ui(new Ui::MainWindow)

{

ui->setupUi(this);

ButtonTimer = new QTimer(this);

MotorThread = new QThread(this);

Motor_1 = new StepperMotor(_A1, _A2, _B1, _B2);

Worker = new MotorWorker(Motor_1);

_UseHexInverter = false;

_A1 = 0;

_A2 = 0;

_B1 = 0;

_B2 = 0;

ButtonTimer->setInterval(1000);

//Link the Timer elapsed to the Timer stop so we can use it again.

connect(ButtonTimer, SIGNAL(timeout()), ButtonTimer, SLOT(stop()));

//Link the Buttons pressed signal to the timer start

connect(ui->pushButton, SIGNAL(pressed()), ButtonTimer, SLOT(start()));

connect(ui->pushButton_2, SIGNAL(pressed()), ButtonTimer, SLOT(start()));

//Link the Buttons released signal to the ButtonTimer stop.

connect(ui->pushButton, SIGNAL(released()), ButtonTimer, SLOT(stop()));

connect(ui->pushButton_2, SIGNAL(released()), ButtonTimer, SLOT(stop()));

//Listen for Motor Setting Changes.

connect(this, SIGNAL(CoilSettingsChanged()), this, SLOT(UpdateMotorSettings()));

}

MainWindow::~MainWindow()

{

delete ui;

delete MotorThread;

delete ButtonTimer;

delete Motor_1;

}

void MainWindow::on_pushButton_2_pressed()

{

Worker->StopThread = false;

Motor_1->Rotate(StepperMotor::CTRCLOCKWISE, 1, 50);

UpdatePositionLabel(QString::number(Motor_1->Position));

qDebug() << "Rotating Counter Clockwise!";

}

void MainWindow::on_pushButton_pressed()

{

Worker->StopThread = false;

Motor_1->Rotate(StepperMotor::CLOCKWISE, 1, 50);

UpdatePositionLabel(QString::number(Motor_1->Position));

qDebug() << "Rotating Clockwise!";

}

void MainWindow::ResetThreadStop()

{

Worker->StopThread = false;

this->StopThread = false;

}

void MainWindow::errorString(QString err)

{

qDebug() << err;

}

void MainWindow::on_pushButton_released()

{

qDebug() << "Button Released!";

Worker->Stop();

}

void MainWindow::on_pushButton_2_released()

{

qDebug() << "Button Released!";

Worker->Stop();

}

void MainWindow::UpdatePositionLabel(QString Arg)

{

ui->lblMotorPosition->setText(Arg);

}

void MainWindow::UpdateLabels()

{

ui->lcdA1->display((int)_A1);

ui->lcdA2->display((int)_A2);

ui->lcdB1->display((int)_B1);

ui->lcdB2->display((int)_B2);

ui->lblMotorPosition->setText("0");

}

void MainWindow::UpdateMotorSettings()

{

if (Worker->IsBusy)

Worker->Stop();

delete Motor_1;

delete Worker;

delete MotorThread;

MotorThread = new QThread(this);

if (this->_UseHexInverter)

Motor_1 = new StepperMotor(_A1, _B1, false);

else

Motor_1 = new StepperMotor(_A1, _A2, _B1, _B2, false);

Worker = new MotorWorker(Motor_1);

Worker->moveToThread(MotorThread);

//Link the MotorThread to the DoWork Slot.

connect(MotorThread, SIGNAL(started()), Worker, SLOT(DoWork()));

connect(MotorThread, SIGNAL(terminated()), Worker, SLOT(Stop()));

connect(Worker, SIGNAL(ProgressChanged(QString)), this, SLOT(UpdatePositionLabel(QString)));

//Link the Timer elapsed to the MotorThread start.

connect(ButtonTimer, SIGNAL(timeout()), MotorThread, SLOT(start()));

//Link the Buttons released signal to the MotorThread quit.

connect(ui->pushButton, SIGNAL(released()), MotorThread, SLOT(quit()));

connect(ui->pushButton_2, SIGNAL(released()), MotorThread, SLOT(quit()));

}

void MainWindow::on_action_Exit_triggered()

{

this->close();

}

void MainWindow::on_action_Configure_Coils_triggered()

{

CoilDialog *CD = new CoilDialog(_A1, _A2, _B1, _B2, this);

CD->setModal(true);

CD->exec();

this->_A1 = CD->A1;

this->_A2 = CD->A2;

this->_B1 = CD->B1;

this->_B2 = CD->B2;

delete CD;

UpdateLabels();

emit CoilSettingsChanged();

}

void MainWindow::on_actionUse_NOT_Gates_toggled(bool arg1)

{

this->_UseHexInverter = arg1;

}

void MainWindow::on_action_Reset_MotorPosition_triggered()

{

this->Motor_1->Position = 0;

ui->lblMotorPosition->setText("0");

}

void MainWindow::on_action_Turn_Off_Coils_triggered()

{

this->Motor_1->Disable();

}

void MainWindow::on_action_Enable_Motor_triggered()

{

this->Motor_1->Enable();

}