mainwindow.h

#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include <memory>
#include <QSerialPort>
#include <QTableView>
#include <QStandardItemModel>
#include "servo/scserial.h"
#include <map>

QT_BEGIN_NAMESPACE
namespace Ui { class MainWindow; }
QT_END_NAMESPACE

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    MainWindow(QWidget *parent = nullptr);
    ~MainWindow();

private:
    void setupComSettings();
    void setupServoLists();
    void setupServoControl();
    void setupAutoDebug();
    void setupDataAnalysis();
    void setupProgramming();

    void setEnableComSettings(bool state);
    void clearServoList();
    void appendServoList(const int id, const QString &name);
    void clearProgMemTable();
    void updatePorgMemTable();
    void setIntRangeLineEdit(QLineEdit *edit, int min, int max);
    void setIntLineEdit(QLineEdit *edit);

    bool isServoValidNow() { return !(is_searching_ || !serial_->isOpen() || select_servo_.id_ < 0); }

    void selectServoSeries(feetech_servo::ModelSeries series);
    const std::vector<feetech_servo::MemoryConfig>& getMemConfig(feetech_servo::ModelSeries series);

    void writePos(int pos, int time, int speed, int acc);
    void syncWritePos(int pos, int time, int speed, int acc);
    void regWritePos(int pos, int time, int speed, int acc);

private slots:
    // com
    void onPortSearchTimerTimeout();
    void onConnectButtonClicked();

    // servo list
    void onSearchButtonClicked();
    void onSearchTimerTimeout();
    void onServoListSelection();

    // servo control
    void onGoalSliderValueChanged();
    void onSetBuggonClicked();
    void onTorqueEnableCheckBoxStateChanged();
    void onModeRadioButtonsToggled(bool checked);
    void onActionButtonClicked();

    // auto debug
    void onSweepButtonClicked();
    void onSetpButtonClicked();
    void onAutoDebugTimerTimeout();

    // data analysis
    void onExportButtonClicked();
    void onClearButtonClicked();
    void onDataAnalysisTimerTimeout();

    // programming
    void onProgTimerTimeout();
    void onMemoryTableSelection();
    void onMemSetButtonClicked();

    // other
    void onGraphTimerTimeout();
    void onServoReadTimerTimeout();

private:
    Ui::MainWindow *ui;
    QTimer *graph_timer_;
    QSerialPort *serial_;
    feetech_servo::SCSerial *scserial_;
    feetech_servo::SCSCL *scs_serial_;
    feetech_servo::SMS_STS *sms_sts_serial_;
    QStandardItemModel *servo_list_model_;
    QStandardItemModel *prog_mem_model_;
    QTimer *port_search_timer_;
    QTimer *search_timer_;
    QTimer *servo_read_timer_;
    QTimer *auto_debug_timer_;
    QTimer *prog_timer_;
    QTimer *data_analysis_timer_;

    bool is_searching_ = false;
    std::vector<uint8_t> id_list_;
    int search_id_ = 0;
    struct
    {
        feetech_servo::ModelSeries model_;
        int id_ = -1;
    }select_servo_;
    enum Mode
    {
        MODE_WRITE,
        MODE_SYNC_WRITE,
        MODE_REG_WRITE
    };
    Mode mode_ = MODE_WRITE;
    bool sweep_running_ = false;
    bool setp_running_ = false;
    int latest_auto_debug_goal_ = 0;
    bool setp_increase_ = true;
    bool is_mem_writing_ = false;

    bool is_recording_ = false;
    int file_write_interval_ = 0;
    size_t record_data_count_ = 0;
    QString record_file_name_;
    QString record_section_data_;

    struct
    {
        int pos = 0;
        int torque = 0;
        int speed = 0;
        int current = 0;
        int temp = 0;
        int voltage = 0;
        int move = 0;
        int goal = 0;
    } latest_status_;
};
#endif // MAINWINDOW_H