#include "rotationstage.h"

RotationStage::RotationStage(QObject *parent)
    : QObject{parent}
{
    m_ConnectNum = 8;
    m_strIPAdress = "192.168.5.11";
    short num = dmc_board_init_eth(m_ConnectNum,m_strIPAdress);
    qDebug()<<"dmc_board_init_eth返回值="<<num;
    if(num != 0)
    {
        QMessageBox::question(NULL,"错误","初始化卡失败！",QMessageBox::Yes | QMessageBox::No,QMessageBox::Yes);
    }
    else
    {
        QMessageBox::question(NULL,"正确","初始化卡成功！",QMessageBox::Yes | QMessageBox::No,QMessageBox::Yes);
    }

    ushort CardNum;
    DWORD CardTypeList[8];
    ushort CardIdList[8];
    rtn = dmc_get_CardInfList(&CardNum,CardTypeList,CardIdList);
    if(rtn != 0)
    {
        QMessageBox::question(NULL,"错误","获取卡信息失败！",QMessageBox::Yes | QMessageBox::No,QMessageBox::Yes);
    }
    else
    {
        QMessageBox::question(NULL,"正确","获取卡信息成功！",QMessageBox::Yes | QMessageBox::No,QMessageBox::Yes);
        CardNo = CardIdList[0];
    }
    state = false;
}

void RotationStage::open()
{
    state = true;

    task = new std::thread(&RotationStage::aquireData,this);
}

void RotationStage::aquireData()
{
    double factor = 67108864/360;
    while(state){
        QVector<double> rData;
        double rDataAxisZ = 0;
        double rDataAxisU = 0;
        dmc_get_position_unit(CardNo,2,&rDataAxisZ);
        dmc_get_position_unit(CardNo,3,&rDataAxisU);
        rData.append(rDataAxisZ/factor);
        rData.append(rDataAxisU/factor);
        // qDebug()<<rDataAxisZ;
        // qDebug()<<rDataAxisU;
        emit sendRotateData(rData);
        std::this_thread::sleep_for(std::chrono::milliseconds(50));
    }
}

void RotationStage::move(int mode, int axis, int dis) //mode:0, axis:2(z),3(u),dis
{
    dmc_pmove_unit(CardNo,axis,dis,mode);//定长运动
}

void RotationStage::stop()
{
    dmc_emg_stop(CardNo);
}

void RotationStage::close()
{
    state=false;
    task->join();
}