#include "gddcdlg.h"
#include "ui_gddcdlg.h"
#include <QDateTime>
#include <QNetworkInterface>
#include <QTabBar>
#include <QTabWidget>
#include <windows.h>
#include <QDir>

#define CONFIG_PATH "config.ini"


GDDCdlg::GDDCdlg(QWidget *parent)
    : QWidget(parent)
    , ui(new Ui::GDDCdlg)
{
    ui->setupUi(this);


    initWindow();
    initParam();
    initSignalSlot();


}

GDDCdlg::~GDDCdlg()
{
    //停止所有通信
    stopConnectURL1();
    stopConnectURL2();
    stopConnectSerialCtrl();
    stopConnectUDPCtrl();
    stopConnectTCPCtrl();

    delete m_DlgGDDCSet;
    delete m_GDDCCmdDlg;
    delete m_tableModel;
    delete ui;
}

//初始化window
void GDDCdlg::initWindow()
{
    QPalette palette;
    //设置主窗口背景颜色
    palette.setColor(QPalette::Window,QColor(50, 50, 50));
    this->setPalette(palette);
    //嵌入到主窗口

    //int m_height=this->size().rheight();
    //int m_width = (m_height*16)/9;
    //ui->WgtffmpegVideo->resize(m_width,m_height);
   // ui->WgtffmpegVideo->move();
    setWindowFlags(Qt::CustomizeWindowHint|Qt::FramelessWindowHint);
    hide();

    m_DlgGDDCSet = new GDDCSet();
    m_GDDCCmdDlg = new GDDCCmdDlg(this);
}

//初始化参数
void GDDCdlg::initParam()
{
    m_DCcmdBuffer.resize(cmdLength);

    detectionAreaSetting = false;

    connectFlag.resize(10,false);
    ui->pushButShowCmdArea->setIcon(QIcon(":/res/down.png"));

    m_tableModel = new QStandardItemModel();
    m_tableModel->setHorizontalHeaderItem(0,new QStandardItem("类型"));
    m_tableModel->setHorizontalHeaderItem(1,new QStandardItem("详细信息"));
    // m_tableModel->setVerticalHeaderItem(0,new QStandardItem("序号"));

    ui->tableViewShowIState->setModel(m_tableModel);
    //栅格显示或隐藏
    ui->tableViewShowIState->setShowGrid(true);
    // 固定表格宽度不可扩展，不可手动调整宽度
    ui->tableViewShowIState->horizontalHeader()->setSectionResizeMode(QHeaderView::Fixed);
    // 表格宽度随内容自动扩展
    //ui->tableViewShowIState->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
    // 表格宽度自动根据UI进行计算，不可手动调整宽度
    //ui->tableViewShowIState->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);

    // 固定表格高度不可扩展，不可手动调整高度
    ui->tableViewShowIState->verticalHeader()->setSectionResizeMode(QHeaderView::Fixed);
    // 表格高度随内容自动扩展
    //ui->tableViewShowIState->verticalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
    // 表格高度自动根据UI进行计算，不可手动调整高度
    //ui->tableViewShowIState->verticalHeader()->setSectionResizeMode(QHeaderView::Stretch);

    ui->tableViewShowIState->setColumnWidth(0,100);
    ui->tableViewShowIState->setColumnWidth(1,100);

    m_tableModel->setItem(0,0,new QStandardItem("跟踪源类型"));
    m_tableModel->setItem(1,0,new QStandardItem("姿态方位角"));
    m_tableModel->setItem(2,0,new QStandardItem("姿态俯仰角"));
    m_tableModel->setItem(3,0,new QStandardItem("姿态横滚角"));
    m_tableModel->setItem(4,0,new QStandardItem("中心点宽坐标"));
    m_tableModel->setItem(5,0,new QStandardItem("中心点高坐标"));
    m_tableModel->setItem(6,0,new QStandardItem("可见光焦距"));
    m_tableModel->setItem(7,0,new QStandardItem("可见光视场角"));
    m_tableModel->setItem(8,0,new QStandardItem("红外焦距"));
    m_tableModel->setItem(9,0,new QStandardItem("红外视场角"));
    m_tableModel->setItem(10,0,new QStandardItem("激光测距值"));
    m_tableModel->setItem(11,0,new QStandardItem("命令反馈"));
    m_tableModel->setItem(12,0,new QStandardItem("视频输出类型"));
    m_tableModel->setItem(13,0,new QStandardItem("红外电子变倍"));
    m_tableModel->setItem(14,0,new QStandardItem("可见光电子放大"));
    m_tableModel->setItem(15,0,new QStandardItem("吊舱框架方位角"));
    m_tableModel->setItem(16,0,new QStandardItem("吊舱框架俯仰角"));
    m_tableModel->setItem(17,0,new QStandardItem("吊舱框架横滚角"));
    m_tableModel->setItem(18,0,new QStandardItem("TF剩余百分比"));
    m_tableModel->setItem(19,0,new QStandardItem("TF卡总容量"));
    m_tableModel->setItem(20,0,new QStandardItem("TF插卡状态"));
    m_tableModel->setItem(21,0,new QStandardItem("拍照"));
    m_tableModel->setItem(22,0,new QStandardItem("视频抓图"));
    m_tableModel->setItem(23,0,new QStandardItem("连拍"));
    m_tableModel->setItem(24,0,new QStandardItem("视频连续抓图"));
    m_tableModel->setItem(25,0,new QStandardItem("录像状态"));
    m_tableModel->setItem(26,0,new QStandardItem("文件命名"));
    m_tableModel->setItem(27,0,new QStandardItem("当前图像反馈"));
    m_tableModel->setItem(28,0,new QStandardItem("载荷类型"));
    m_tableModel->setItem(29,0,new QStandardItem("红外机芯"));
    m_tableModel->setItem(30,0,new QStandardItem("可见光机芯"));
    m_tableModel->setItem(31,0,new QStandardItem("陀螺仪"));
    m_tableModel->setItem(32,0,new QStandardItem("角度传感器"));
    m_tableModel->setItem(33,0,new QStandardItem("电机"));
    m_tableModel->setItem(34,0,new QStandardItem("压缩"));
    m_tableModel->setItem(35,0,new QStandardItem("综合控制"));
    m_tableModel->setItem(36,0,new QStandardItem("吊舱准备状态"));
    m_tableModel->setItem(37,0,new QStandardItem("红外伪彩"));
    m_tableModel->setItem(38,0,new QStandardItem("红外图像增强"));
    m_tableModel->setItem(39,0,new QStandardItem("当前载荷版本"));
    m_tableModel->setItem(40,0,new QStandardItem("目标定位经度"));
    m_tableModel->setItem(41,0,new QStandardItem("目标定位纬度"));
    m_tableModel->setItem(42,0,new QStandardItem("目标海拔高度"));
    m_tableModel->setItem(43,0,new QStandardItem("姿态指示完成反馈"));
    m_tableModel->setItem(44,0,new QStandardItem("目标宽"));
    m_tableModel->setItem(45,0,new QStandardItem("目标高"));
    m_tableModel->setItem(46,0,new QStandardItem("目标类型"));
    m_tableModel->setItem(47,0,new QStandardItem("跟踪状态"));
    m_tableModel->setItem(48,0,new QStandardItem("最高温"));
    m_tableModel->setItem(49,0,new QStandardItem("配置保存"));
    m_tableModel->setItem(50,0,new QStandardItem("伺服状态"));
    m_tableModel->setItem(51,0,new QStandardItem("超温报警"));
    m_tableModel->setItem(52,0,new QStandardItem("红点指示"));
    //ui->tableViewShowIState->horizontalHeader()->setStyleSheet("QHeaderView::section{background:rgb(255,228,225);color: black;}");
}


//初始化信号与槽
void GDDCdlg::initSignalSlot()
{
    connect(m_DlgGDDCSet,SIGNAL(SignalStartConnect(int)),this,SLOT(startConnect(int)));
    connect(m_DlgGDDCSet,SIGNAL(SignalStopConnect(int)),this,SLOT(stopConnect(int)));
}

//槽函数开始连接
void GDDCdlg::startConnect(int type)
{
    switch(type)
    {
    case 1://播放视频1
        stopConnectURL2();
        startConnectURL1();
        break;
    case 2://播放视频2
        stopConnectURL1();
        startConnectURL2();
        break;
    case 3://串口控制
        startConnectSerialCtrl();
        break;
    case 4://UDP控制
        stopConnectTCPCtrl();
        startConnectUDPCtrl();
        break;
    case 5://TCP控制
        stopConnectUDPCtrl();
        startConnectTCPCtrl();
        break;
    default:
        break;
    }
}

//槽函数停止连接
void GDDCdlg::stopConnect(int type)
{
    switch(type)
    {
    case 1:
        stopConnectURL1();
        break;
    case 2:
        stopConnectURL2();
        break;
    case 3:
        stopConnectSerialCtrl();
        break;
    case 4:
        stopConnectUDPCtrl();
        break;
    case 5:
        stopConnectTCPCtrl();
        break;
    default :
        break;
    }
}
// bool GDDCdlg::eventFilter(QObject *watched, QEvent *event)
// {
//     qDebug() << this->geometry().x();
//     qDebug() << this->geometry().y();

//     QPoint sPoint2=QCursor::pos();
//     qDebug()<<"相对于屏幕坐标2:"<<"("<<sPoint2.rx()<<","<<sPoint2.ry()<<")";

//     QPoint windowPoint=this->mapFromGlobal(sPoint2);
//     qDebug()<<"相对于窗口坐标:"<<"("<<windowPoint.rx()<<","<<windowPoint.ry()<<")";

//     return true;

// }
//鼠标左键
void GDDCdlg::mousePressEvent(QMouseEvent *event)
{
    //如果鼠标左键按下
    if (event->type() == QEvent::MouseButtonPress) {
        //AI检测区域设置
        if(m_GDDCCmdDlg->detectionAreaSetting==true)
        {
            QPointF sPoint1 = event->globalPosition();
            sPoint1 = QCursor::pos();
            QPointF widgetPoint = ui->WgtffmpegVideo->mapFromGlobal(sPoint1);
            double a = ui->WgtffmpegVideo->width();
            double b = ui->WgtffmpegVideo->height();
            double dir = 1920/a*widgetPoint.rx()-960;
            double pitch = -(1080/b*widgetPoint.ry()-540);
            m_GDDCCmdDlg->ui->lineEdit_6_1->setText(QString::number((int)dir));
            m_GDDCCmdDlg->ui->lineEdit_6_2->setText(QString::number((int)pitch));
        }
        //目标跟踪
        if(m_GDDCCmdDlg->pointSelectionTracking == true)
        {
            QPointF sPoint1 = event->globalPosition();
            QPointF widgetPoint = ui->WgtffmpegVideo->mapFromGlobal(sPoint1);
            double a = ui->WgtffmpegVideo->width();
            double b = ui->WgtffmpegVideo->height();
            double dir = 1920/a*widgetPoint.rx()-960;
            double pitch = -(1080/b*widgetPoint.ry()-540);
            std::byte buffer[10];
            buffer[0] = (std::byte)0x3A;
            buffer[1] = (std::byte)(dir);
            buffer[2] = (std::byte)((int)dir>>8);
            buffer[3] = (std::byte)pitch;
            buffer[4] = (std::byte)((int)pitch>>8);
            buffer[5] = (std::byte)0x00;
            buffer[6] = (std::byte)0x00;
            buffer[7] = (std::byte)0x00;
            buffer[8] = (std::byte)0x00;
            buffer[9] = (std::byte)0x00;

            //发送5次
            sendCurDate(buffer,3);
        }
    }
}
//鼠标移动
void GDDCdlg::mouseMoveEvent(QMouseEvent *event)
{
    if(m_GDDCCmdDlg->detectionAreaSetting==true)
    {
        qDebug() << this->geometry().x();
        qDebug() << this->geometry().y();
        QPointF sPoint1=event->globalPosition();
        //qDebug()<<"相对于屏幕坐标1:"<<"("<<sPoint1.rx()<<","<<sPoint1.ry()<<")";

        QPointF sPoint2=QCursor::pos();
        //qDebug()<<"相对于屏幕坐标2:"<<"("<<sPoint2.rx()<<","<<sPoint2.ry()<<")";

        QPointF windowPoint=this->mapFromGlobal(sPoint2);
        //qDebug()<<"相对于窗口坐标:"<<"("<<windowPoint.rx()<<","<<windowPoint.ry()<<")";

        QPointF widgetPoint=ui->WgtffmpegVideo->mapFromGlobal(sPoint1);
        //qDebug()<<"相对于控件坐标:"<<"("<<widgetPoint.rx()<<","<<widgetPoint.ry()<<")";

        //更新LineEdit信息
        double a = ui->WgtffmpegVideo->width();
        double b = ui->WgtffmpegVideo->height();
        double dir = 1920/a*widgetPoint.rx()-960;
        double pitch = -(1080/b*widgetPoint.ry()-540);
        m_GDDCCmdDlg->ui->lineEdit_6_1->setText(QString::number((int)dir));
        m_GDDCCmdDlg->ui->lineEdit_6_2->setText(QString::number((int)pitch));
    }

}
//区域重绘
void GDDCdlg::resizeEvent(QResizeEvent *event)
{
    resizeUI();            //重新设置布局
}
//重新设置布局
void GDDCdlg::resizeUI()
{
    /* -------------->x
     * | (0,0)
     * |
     * |
     * |
     * |
     * ↓ y
     */
    double GDDCPageHeight = (double)(this->height());
    double GDDCPageWidth = (double)(this->width());
    //qDebug()<<"宽度,高度："<<GDDCPageHeight<<GDDCPageWidth;

    /******控制区位置和大小设置*****/
    double cmdAreaHeight;
    double cmdAreaWidth = GDDCPageWidth-250;
    // if(ui->tabWidget->isVisible()){cmdAreaHeight = 250;}
    // else{cmdAreaHeight = 0;}
    // ui->tabWidget->setGeometry(0,GDDCPageHeight-cmdAreaHeight,(int)cmdAreaWidth,(int)cmdAreaHeight);

    if(m_GDDCCmdDlg->isVisible()){
        cmdAreaHeight = 250;
    }
    else{cmdAreaHeight = 0;}
    m_GDDCCmdDlg->setGeometry(0,GDDCPageHeight-cmdAreaHeight,(int)cmdAreaWidth,(int)cmdAreaHeight);

    /*********状态区位置和大小设置***********/
    double stateAreaHeight = GDDCPageHeight;
    double stateAreaWidth;
    if(ui->tableViewShowIState->isVisible()){stateAreaWidth = 250;}
    else{stateAreaWidth = 0;}
    ui->tableViewShowIState->setGeometry(GDDCPageWidth-stateAreaWidth,0,stateAreaWidth,stateAreaHeight);
    //ui->listViewShowCmdArea->lower();

    /*******视频区位置和大小设置********/
    double VideoAreaHeight = GDDCPageHeight-cmdAreaHeight;  //视频区高度
    double VideoAreaWidth = GDDCPageWidth-stateAreaWidth; //视频区宽度
    //高度值相对比较大
    if(VideoAreaHeight*16>VideoAreaWidth*9)
    {
        double setVideoAreaWidth = VideoAreaWidth;//等于吊舱页面宽度-状态区高度
        double setVideoAreaHeight = VideoAreaWidth*9/16;
        ui->WgtffmpegVideo->setGeometry(0,0.5*(VideoAreaHeight-setVideoAreaHeight),(int)setVideoAreaWidth,(int)setVideoAreaHeight);
    }
    //宽度值相对比较大
    else
    {
        double setVideoAreaHeight = VideoAreaHeight;//等于吊舱页面高度-控制区高度
        double setVideoAreaWidth = VideoAreaHeight*16/9;
        ui->WgtffmpegVideo->setGeometry(0.5*(VideoAreaWidth-setVideoAreaWidth),0,(int)setVideoAreaWidth,(int)setVideoAreaHeight);
    }

    /**************设置按钮****************/
    ui->pushButtonSet->setGeometry(GDDCPageWidth-stateAreaWidth-45,0,40,40);

    /**********控制指令区显示隐藏按钮********/
    ui->pushButShowCmdArea->setGeometry((GDDCPageWidth-200)*0.5,GDDCPageHeight-cmdAreaHeight-20,40,20);
    ui->pushButShowCmdArea->raise();


}

//定时器处理
void GDDCdlg::GDDCControlTimeOut()
{
    if(sendTimes>0)
    {
        sendTimes-=1;

        //UDP控制
        if(connectFlag[3])
        {
            udpSocket->writeDatagram(m_DCcmdBuffer,m_DlgGDDCSet->m_myPairNetwork.getRemoteAddr(),m_DlgGDDCSet->m_myPairNetwork.getRemotePort());
        }
        //TCP控制

        //串口控制


        if(sendTimes==0)
        {
            clearTJDCCmdBuffer();
        }
    }
    else
    {
        UpdateDataTJDC();

        //UDP控制
        if(connectFlag[3])
        {
            udpSocket->writeDatagram(m_DCcmdBuffer,m_DlgGDDCSet->m_myPairNetwork.getRemoteAddr(),m_DlgGDDCSet->m_myPairNetwork.getRemotePort());
        }

        //TCP控制

        //串口控制


    }

}

//更新m_DCcmdBuffer
void GDDCdlg::UpdateDataTJDC()
{
    m_GDDCCmdDlg->UpdateDataTJDC();
    m_DCcmdBuffer = m_GDDCCmdDlg->m_DCcmdBuffer;
}

//赋值后清空TJDCCmdBuffer
void GDDCdlg::clearTJDCCmdBuffer()
{
    m_GDDCCmdDlg->clearTJDCCmdBuffer();
}

//设置发送数据和次数
void GDDCdlg::sendCurDate(std::byte *buffer, int num)
{
    sendTimes = num;
    for(int i=0;i<10;++i)
    {
        m_GDDCCmdDlg->TJDCCmdBuffer[i] = buffer[i];
    }
    UpdateDataTJDC();
}


//播放视频1
void GDDCdlg::startConnectURL1()
{
    if(!connectFlag[0])
    {
        connectFlag[0] = true ;
        //ui->WgtffmpegVideo->Isplay(Is_openVideo);
        ui->WgtffmpegVideo->play();
        ui->WgtffmpegVideo->setUrl(m_DlgGDDCSet->m_playURL1);
        ui->WgtffmpegVideo->m_PlayStatus =Is_openVideo;
    }
}

//关闭视频1
void GDDCdlg::stopConnectURL1()
{
    if(connectFlag[0])
    {
        connectFlag[0] = false ;
        ui->WgtffmpegVideo->m_PlayStatus = Is_openVideo;
        ui->WgtffmpegVideo->stop();
    }
}

//播放视频2
void GDDCdlg::startConnectURL2()
{
    if(!connectFlag[1])
    {
        connectFlag[1] = true ;
    }
}

//关闭视频2
void GDDCdlg::stopConnectURL2()
{
    if(connectFlag[1])
    {
        connectFlag[1] = false ;
    }
}
void GDDCdlg::startConnectSerialCtrl()
{
    if(!connectFlag[2])
    {
        connectFlag[2] = true ;
    }
}
void GDDCdlg::stopConnectSerialCtrl()
{
    if(connectFlag[2])
    {
        connectFlag[2] = false ;
    }
}
//开始UDP控制通信
void GDDCdlg::startConnectUDPCtrl()
{
    if(!connectFlag[3])
    {
        /*启动定时器*/
        GDDCControlTimer = new QTimer();
        GDDCControlTimer->setInterval(100);
        connect(GDDCControlTimer,&QTimer::timeout,this,[=](){
            GDDCControlTimeOut();
        });
        GDDCControlTimer->start();

        //创建udp socket对象
        udpSocket = new QUdpSocket(this);
        /*接收*/
        //QList<QHostAddress> ipAddressesList = QNetworkInterface::allAddresses();//获取本机ip
        udpSocket->bind(m_DlgGDDCSet->m_myPairNetwork.getLocalPort());
        connect(udpSocket,SIGNAL(readyRead()),this,SLOT(UDPMessageReceive()));
        connectFlag[3] = true;
    }
}
//停止UDP控制通信
void GDDCdlg::stopConnectUDPCtrl()
{
    if(connectFlag[3])
    {
        //关闭定时器
        GDDCControlTimer->stop();
        delete GDDCControlTimer;
        udpSocket->abort();//关闭套接字，并丢缓冲区中的所有待处理数据
        delete udpSocket;
        connectFlag[3] = false;
    }
}
//开始TCP控制通信
void GDDCdlg::startConnectTCPCtrl()
{
    if(!connectFlag[4])
    {
        connectFlag[4] = true;
    }
}
//停止TCP控制通信
void GDDCdlg::stopConnectTCPCtrl()
{
    if(connectFlag[4])
    {
        connectFlag[4] = false;
    }
}

//设置页面弹出
void GDDCdlg::on_pushButtonSet_clicked()
{
    m_DlgGDDCSet->show();
    m_DlgGDDCSet->activateWindow();
}

//udp数据接收
void GDDCdlg::UDPMessageReceive()
{
    QByteArray data;
    data.resize(udpSocket->pendingDatagramSize());
    QHostAddress addr;
    quint16 port;
    udpSocket->readDatagram(data.data(),data.size(),&addr,&port);
    //const char* chardata= data.constData();
    qDebug()<<data.data();
    if(checkdata(data,data.size(),1))
    {
        QString str;
        double dou;
        float flo;
        //载荷类型
        switch(data.at(2))
        {
        case '\x01':
            str = "白光";
            break;
        case '\x02':
            str = "红外";
            break;
        case '\x03':
            str = "双光";
            break;
        case '\x04':
            str = "三光";
            break;
        case '\x05':
            str = "四光";
            break;
        default:
            str = "未知";
            break;
        }
        m_tableModel->setItem(28,1,new QStandardItem(str));

        /*****自检结果*****/
        //红外机芯
        if((data.at(3)&'\x01')==0x01){
            str = "正常";
        }
        else{
            str = "异常";
        }
        m_tableModel->setItem(29,1,new QStandardItem(str));
        //可见光机芯
        if((data.at(3)>>1)&'\x01'){
            str = "正常";
        }
        else{
            str = "异常";
        }
        m_tableModel->setItem(30,1,new QStandardItem(str));
        //陀螺仪
        if((data.at(3)>>2)&'\x01'){
            str = "正常";
        }
        else{
            str = "异常";
        }
        m_tableModel->setItem(31,1,new QStandardItem(str));
        //角度传感器
        if((data.at(3)>>3)&'\x01'){
            str = "正常";
        }
        else{
            str = "异常";
        }
        m_tableModel->setItem(32,1,new QStandardItem(str));
        //驱动板-电机
        if((data.at(3)>>4)&'\x01'){
            str = "正常";
        }
        else{
            str = "异常";
        }
        m_tableModel->setItem(33,1,new QStandardItem(str));
        //压缩存储
        if((data.at(3)>>5)&'\x01'){
            str = "正常";
        }
        else{
            str = "异常";
        }
        m_tableModel->setItem(34,1,new QStandardItem(str));
        //综合处理
        if((data.at(3)>>6)&'\x01'){
            str = "正常";
        }
        else{
            str = "异常";
        }
        m_tableModel->setItem(35,1,new QStandardItem(str));
        //吊舱准备状态
        if((data.at(3)>>7)&'\x01'){
            str = "已准备好";
        }
        else{
            str = "未准备好";
        }
        m_tableModel->setItem(36,1,new QStandardItem(str));

        /*****吊舱状态1******/
        //拍照
        if(data.at(4)&'\x01'){
            str = "正在拍照";
        }
        else{
            str = "未拍照";
        }
        m_tableModel->setItem(21,1,new QStandardItem(str));
        //视频抓图
        if((data.at(4)>>1)&'\x01'){
            str = "正在抓图";
        }
        else{
            str = "未抓图";
        }
        m_tableModel->setItem(22,1,new QStandardItem(str));
        //连拍
        if((data.at(4)>>2)&'\x01'){
            str = "正在连拍";
        }
        else{
            str = "未连拍";
        }
        m_tableModel->setItem(23,1,new QStandardItem(str));
        //视频连续抓图
        if((data.at(4)>>3)&'\x01'){
            str = "正在连续抓图";
        }
        else{
            str = "未连续抓图";
        }
        m_tableModel->setItem(24,1,new QStandardItem(str));
        //录像状态
        if((data.at(4)>>4)&'\x01'){
            str = "正在录像";
        }
        else{
            str = "未开始录像";
        }
        m_tableModel->setItem(25,1,new QStandardItem(str));
        //文件命名
        if((data.at(4)>>5)&'\x01'){
            str = "信息导入完毕";
        }
        else{
            str = "未成功导入";
        }
        m_tableModel->setItem(26,1,new QStandardItem(str));
        //TF插卡状态
        if((data.at(4)>>6)&'\x01'){
            str = "TF卡已插入";
        }
        else{
            str = "TF卡未插入";
        }
        m_tableModel->setItem(20,1,new QStandardItem(str));
        //超温报警状态
        if((data.at(4)>>7)&'\x01'){
            str = "超温";
        }
        else{
            str = "未超温";
        }
        m_tableModel->setItem(51,1,new QStandardItem(str));
        //红点指示
        if(data.at(5)&'\x01'){
            str = "开";
        }
        else{
            str = "关";
        }
        m_tableModel->setItem(52,1,new QStandardItem(str));
        //备用
        //红外图像增强
        str = QString::number((data.at(5)>>3)&'\x0F');
        m_tableModel->setItem(38,1,new QStandardItem(str));
        //备用
        //备用

        /*****吊舱状态2******/
        //备用
        //跟踪源类型
        if(data.at(6)&'\x02'){
            str = "可见光";
        }
        else{
            str = "红外";
        }
        m_tableModel->setItem(0,1,new QStandardItem(str));
        //红外电子变倍
        str = QString::number(((data.at(6)>>2)&'\x7F')*0.1,'f', 1);
        m_tableModel->setItem(13,1,new QStandardItem(str));
        //配置保存
        if(data.at(7)&'\x01'){
            str = "保存成功";
        }
        else{
            str = "未保存";
        }
        m_tableModel->setItem(49,1,new QStandardItem(str));
        //可见光电子变倍
        switch((data.at(7)>>1)&'\x03')
        {
        case 0:
            str = "1x";
            break;
        case 1:
            str = "2x";
            break;
        case 2:
            str = "4x";
            break;
        default:
            str = "未知";
            break;
        }
        m_tableModel->setItem(14,1,new QStandardItem(str));
        //红外伪彩-色带
        switch((data.at(7)>>3)&'\x1F')
        {
        case 0x00:
            str = "白热";
            break;
        case 0x01:
            str = "黑热";
            break;
        case 0x02:
            str = "彩虹";
            break;
        case 0x03:
            str = "高对比度彩虹";
            break;
        case 0x04:
            str = "铁红";
            break;
        case 0x05:
            str = "熔岩";
            break;
        case 0x06:
            str = "天空";
            break;
        case 0x07:
            str = "中灰";
            break;
        case 0x08:
            str = "灰红";
            break;
        case 0x09:
            str = "紫橙";
            break;
        case 0x0b:
            str = "警示红";
            break;
        case 0x0c:
            str = "冰火";
            break;
        default:
            str = "未知";
            break;
        }
        m_tableModel->setItem(37,1,new QStandardItem(str));

        /*********伺服状态********/
        //红外伪彩-色带
        switch((data.at(7)>>3)&'\x1F')
        {
        case 0x00:
            str = "待命";
            break;
        case 0x01:
            str = "关伺服";
            break;
        case 0x02:
            str = "手动";
            break;
        case 0x03:
            str = "收藏";
            break;
        case 0x04:
            str = "数引";
            break;
        case 0x05:
            str = "航向锁定";
            break;
        case 0x06:
            str = "扫描";
            break;
        case 0x07:
            str = "跟踪";
            break;
        case 0x08:
            str = "垂直下视";
            break;
        case 0x09:
            str = "陀螺自动较漂";
            break;
        case 0xA0:
            str = "陀螺温度较漂";
            break;
        case 0x0B:
            str = "航向随动";
            break;
        case 0x0C:
            str = "归中";
            break;
        case 0x0D:
            str = "手动陀螺较漂";
            break;
        case 0x0F:
            str = "姿态指引";
            break;
        default:
            str = "";
            break;
        }
        m_tableModel->setItem(50,1,new QStandardItem(str));
        //吊舱框架方位角
        dou = (data.at(9)+data.at(10)*256)*0.01;
        str = QString::number(dou,'f', 2);
        m_tableModel->setItem(15,1,new QStandardItem(str));
        //吊舱框架俯仰角
        dou = (data.at(11)+data.at(12)*256)*0.01;
        str = QString::number(dou,'f', 2);
        m_tableModel->setItem(16,1,new QStandardItem(str));
        //吊舱框架横滚角
        dou = (data.at(13)+data.at(14)*256)*0.01;
        str = QString::number(dou,'f', 2);
        m_tableModel->setItem(17,1,new QStandardItem(str));
        //当前载荷版本号
        str = QString::number(data.at(15)>>4) + "." + QString::number(data.at(15)&'\x07');
        m_tableModel->setItem(39,1,new QStandardItem(str));
        //红外视场角
        dou = ((UINT8)data[16]+(UINT16)data[17]*256)*0.1;
        str = QString::number(dou,'f', 1);
        m_tableModel->setItem(9,1,new QStandardItem(str));
        //TF使用容量百分比
        str = QString::number((UINT8)data.at(18))+"%";
        m_tableModel->setItem(18,1,new QStandardItem(str));
        //可见光视场角
        dou = ((UINT8)data.at(19)+(UINT16)data.at(20)*256)*0.1;
        str = QString::number(dou,'f', 1);
        m_tableModel->setItem(7,1,new QStandardItem(str));
        //TF卡总容量
        dou = ((UINT8)data.at(21)+(UINT16)data.at(22)*256)*0.1;
        str = QString::number(dou,'f', 1);
        m_tableModel->setItem(19,1,new QStandardItem(str));
        //红外焦距
        dou = ((UINT8)data.at(23)+(UINT16)data.at(24)*256)*0.1;
        str = QString::number(dou,'f', 1);
        m_tableModel->setItem(8,1,new QStandardItem(str));
        //可见光焦距-白光
        dou = ((UINT8)data.at(25)+(UINT16)data.at(26)*256)*0.1;
        str = QString::number(dou,'f', 1);
        m_tableModel->setItem(6,1,new QStandardItem(str));
        //激光测距距离
        str = QString::number((UINT8)data.at(27)+(UINT16)data.at(28)*256);
        m_tableModel->setItem(10,1,new QStandardItem(str));
        //目标定位经度
        flo = m_uint32_to_float(data.at(29),data.at(30),data.at(31),data.at(32));
        str = QString::number(flo,'f',6);
        m_tableModel->setItem(40,1,new QStandardItem(str));
        //目标定位纬度
        flo = m_uint32_to_float(data.at(33),data.at(34),data.at(35),data.at(36));
        str = QString::number(flo,'f',6);
        m_tableModel->setItem(41,1,new QStandardItem(str));
        //目标海拔高度
        str = QString::number(data.at(37)+data.at(38)*256);
        m_tableModel->setItem(42,1,new QStandardItem(str));
        //最高温-温度
        // dou = (data.at(39)+data.at(40)*256)*0.1;
        // str = QString::number(dou,'f',1);
        // m_tableModel->setItem(42,1,new QStandardItem(str));
        //吊舱姿态方位角
        dou = (data.at(41)+data.at(42)*256)*0.01;
        str = QString::number(dou,'f',2);
        m_tableModel->setItem(1,1,new QStandardItem(str));
        //吊舱姿态俯仰角
        dou = (data.at(43)+data.at(44)*256)*0.01;
        str = QString::number(dou,'f',2);
        m_tableModel->setItem(2,1,new QStandardItem(str));
        //吊舱姿态横滚角
        dou = (data.at(45)+data.at(46)*256)*0.01;
        str = QString::number(dou,'f',2);
        m_tableModel->setItem(3,1,new QStandardItem(str));
        //当前显示图像反馈
        switch (data.at(47)) {
        case 0x00:
            str = "红外";
            break;
        case 0x01:
            str = "可见光";
            break;
        case 0x02:
            str = "上下分屏";
            break;
        case 0x03:
            str = "可见光画中画";
            break;
        case 0x04:
            str = "红外画中画";
            break;
        case 0x05:
            str = "左右分屏";
            break;
        default:
            str = "未知";
            break;
        }
        m_tableModel->setItem(27,1,new QStandardItem(str));
        //接收到的命令字反馈
        str = QString::number(data.at(48));
        m_tableModel->setItem(11,1,new QStandardItem(str));
        //姿态指示完成反馈
        switch (data.at(49)) {
        case 0x12:
            str = "姿态指示中";
            break;
        case 0x13:
            str = "姿态指示完成";
            break;
        default:
            str = "------";
            break;
        }
        m_tableModel->setItem(43,1,new QStandardItem(str));
        //跟踪中心点宽方向坐标
        str = QString::number((UINT8)data[50]+(UINT16)data[51]*256);
        m_tableModel->setItem(4,1,new QStandardItem(str));
        //跟踪中心点高方向坐标
        str = QString::number((UINT8)data[52]+(UINT16)data[53]*256);
        m_tableModel->setItem(5,1,new QStandardItem(str));
        //目标宽
        str = QString::number((UINT8)data.at(54)+data.at(55)*256);
        m_tableModel->setItem(44,1,new QStandardItem(str));
        //目标高
        str = QString::number((UINT8)data.at(56)+data.at(57)*256);
        m_tableModel->setItem(45,1,new QStandardItem(str));
        //目标类型
        switch (data.at(58)) {
        case 0x00:
            if(data.at(6)&'\x02'){//可见光
                str = "人";
            }
            else{//红外
                str = "车";
            }
            break;
        case 0x01:
            if(data.at(6)&'\x02'){//可见光
                str = "小汽车";
            }
            else{//红外
                str = "人";
            }
            break;
        case 0x02:
            if(data.at(6)&'\x02'){//可见光
                str = "公交车";
            }
            break;
        case 0x03:
            if(data.at(6)&'\x02'){//可见光
                str = "卡车";
            }
            break;
        default:
            str = "未知";
            break;
        }
        m_tableModel->setItem(46,1,new QStandardItem(str));
        //跟踪状态
        switch (data.at(59)) {
        case 0x00:
            str = "空闲状态";
            break;
        case 0x01:
            str = "稳定跟踪";
            break;
        case 0x02:
            str = "记忆跟踪";
            break;
        case 0x03:
            str = "目标丢失";
            break;
        case 0x05:
            str = "截获状态";
            break;
        default:
            str = "未知";
            break;
        }
        m_tableModel->setItem(47,1,new QStandardItem(str));
        //最高温
        dou = (data.at(60)+data.at(61)*256)*0.1;
        str = QString::number(dou,'f',1)+"℃";
        m_tableModel->setItem(48,1,new QStandardItem(str));
        //
    }
}

bool GDDCdlg::checkdata(QByteArray buffer,int length, int type)
{
    if(length!=64){
        return false;
    }
    if((buffer.at(0) != '\xFC')||(buffer.at(1) != '\x2C')||buffer.at(63) !='\xF0')
    {
        return false;
    }
    if(type==1)
    {
        //亦或校验
        // for(int i = 2;i<62;++i)
        // {
        //     buffer.at(i)^buffer.at(i+1);
        // }
    }
    else if (type==2)
    {
        //和校验
    }

    return true;

}
//控制页面隐藏与显示
void GDDCdlg::on_pushButShowCmdArea_clicked()
{
    if(isCmdAreaShow)
    {
        m_GDDCCmdDlg->setVisible(false);
        ui->tableViewShowIState->setVisible(false);
        isCmdAreaShow = false;
        resizeUI();
        ui->pushButShowCmdArea->setIcon(QIcon(":/res/up.png"));
        //ui->pushButton->setGeometry(this->width()/2,this->height()-50,50,50);
    }
    else
    {
        m_GDDCCmdDlg->setVisible(true);
        ui->tableViewShowIState->setVisible(true);
        isCmdAreaShow = true;
        resizeUI();
        ui->pushButShowCmdArea->setIcon(QIcon(":/res/down.png"));

        //ui->pushButton->setGeometry(this->width()/2,ui->tabWidget->height(),50,50);
    }
}