#ifndef FORCESENSORCHART_H
#define FORCESENSORCHART_H

#include <QMainWindow>
#include <QtCharts>
#include <QSplineSeries>
#include <QtSerialPort/QSerialPort>
#include <QtSerialPort/QSerialPortInfo>

//#define DATATEST

//QT_CHARTS_USE_NAMESPACE

QT_BEGIN_NAMESPACE
namespace Ui { class forceSensorChart; }
QT_END_NAMESPACE

class QCustomPlot;

//时间轴的显示模式
enum {
    FOLLOW,//跟随最新曲线，保持画框范围
    SQUEEZE //压缩时间轴，全局显示曲线
};

const float timeRange = 5.0f;
const int forceRangeMin = -11;
const int forceRangeMax = 11;
const double torqueRangeMin = -0.5;
const double torqueRangeMax = 0.5;

const float timeInterval = 0.2f;

const float forceCoeff = 0.0048828125f;
const float torqueCoeff = 0.0001953125f;

struct ForceSensor
{
    QVector<qreal> forceX;
    QVector<qreal> forceY;
    QVector<qreal> forceZ;
    QVector<qreal> torqueX;
    QVector<qreal> torqueY;
    QVector<qreal> torqueZ;
};

class forceSensorChart : public QMainWindow
{
    Q_OBJECT

public:
    forceSensorChart(QWidget *parent = nullptr);
    ~forceSensorChart();
    //初始化操作
    void chartInit();//图表初始化
    void graphInit();// QCustomPlot 初始化
    void serialInit();//串口初始化
    void connectInit();//连接初始化
    void forceSensorDataProcess(unsigned char* buf);//力传感器数据处理
    void decode(QByteArray buf); //力传感器数据解码
    void updateCanvas(float currentTime);//更新画布
    void updateData();//更新数据
    void drawForce(); //绘制力曲线


private slots:
    void on_btnOpenPort_toggled(bool checked);//打开或关闭端口
    void on_btnRefreshPort_clicked();//更新可用串口
    void on_serial_received();//接收数据
    void on_serial_received2();//接收数据传给 QCustomPlot
    void on_btnClear_clicked();
    void on_btnSend_clicked();
    void realtimeDataPlot(); // QCustomPlot 实时绘图

private:
    Ui::forceSensorChart *ui;
    //图表
    QChart* chart;
    QSplineSeries* seriesForce[6];
    QValueAxis* axisX;
    QValueAxis* axisYForce;
    QValueAxis* axisYTorque;
    //力数据
    float m_forceData[6]{0};
    QSharedPointer<ForceSensor> forceSensorPtr;
    //串口
    QSerialPort* serial;
    //状态量
    bool isPortOpen;//通道是否开启
    bool isDataNull;//通道是否传送数据
    bool isPauseData;//是否暂停接收数据
    int drawMode; //绘图模式

    QTimer* m_clock;// 定时器
    QElapsedTimer* m_timer;//计时器

    // QCustomPlot 图形
    QCustomPlot* customPlotForce;//力曲线图
    QCustomPlot* customPlotTorque;//力矩曲线图

};
#endif // FORCESENSORCHART_H