#include "Lidar.h"

Lidar::Lidar(QWidget *parent) : QWidget(parent)
{
    this->mainLayout = new QVBoxLayout(this);
    this->mainLayout->setAlignment(Qt::AlignTop);
    this->title = new QLabel("Lidar", this);
    this->title->setStyleSheet("font-size: 24px; color: black;");

    this->startLidar = new QPushButton("Start", this);
    this->startLidar->setStyleSheet("height: 46px; color: black; font-size: 24px;");

    this->position = new QHBoxLayout();
    this->postionTitle = new QLabel("x: 0, y : 0, r: 0", this);
    this->postionTitle->setStyleSheet("font-size: 24px; color: black;");
    this->positionButton = new QPushButton("Get pos", this);
    this->positionButton->setStyleSheet("height: 46px; color: black; font-size: 24px;");

    this->position->addWidget(postionTitle);
    this->position->addWidget(positionButton);

    this->health = new QHBoxLayout();
    this->healthTitle = new QLabel("Health : OK", this);
    this->healthTitle->setStyleSheet("font-size: 24px; color: black;");
    this->healthButton = new QPushButton("Get health", this);
    this->healthButton->setStyleSheet("height: 46px; color: black; font-size: 24px;");

    this->health->addWidget(healthTitle);
    this->health->addWidget(healthButton);

    this->mainLayout->addWidget(title, 0, Qt::AlignCenter);
    this->mainLayout->addWidget(startLidar, 0, Qt::AlignCenter);
    this->mainLayout->addLayout(position);
    this->mainLayout->addLayout(health);

    connect(this->startLidar, &QPushButton::clicked, this, &Lidar::onStartButtonClicked);
    connect(this->positionButton, &QPushButton::clicked, this, &Lidar::onPositionButtonClicked);
    connect(this->healthButton, &QPushButton::clicked, this, &Lidar::onHealthButtonClicked);
}

void Lidar::TCPMessage(const QString &message) {
    auto list = message.split(";");

    if (list[2] == "set health")
    {
        if (list[3] == "1")
        {
            this->healthTitle->setText("Health : OK");
        } else if (list[3] == "0")
        {
            this->healthTitle->setText("Health : KO");
        }
    } else if (list[2] == "set avoidance")
    {
        auto pos = list[3].split(",");
        this->postionTitle->setText("x: " + pos[0] + ", y: " + pos[1] + ", r: " + pos[2]);
    }
}

void Lidar::onStartButtonClicked()
{
    emit askTCPServer("ihm;lidar;start;1");
}

void Lidar::onHealthButtonClicked()
{
    emit askTCPServer("ihm;lidar;get health;1");
}

void Lidar::onPositionButtonClicked()
{
    emit askTCPServer("ihm;lidar;get data;1");
}