#include "multiPlotter.h"

#include <QVarLengthArray>

#include <QHBoxLayout>

#include <qwt_text.h>

#include <cstdio>

#include "serial.h"

#include "frame.h"

MultiPlotter::MultiPlotter(QWidget *parent) :

QWidget(parent),

rollPlot(QwtText("Roll"),this),

pitchPlot(QwtText("Pitch"),this),

yawPlot(QwtText("Yaw"),this),

axPlot(QwtText("Acelerómetro X"),this, -300, 300),

ayPlot(QwtText("Acelerómetro Y"),this, -300, 300),

azPlot(QwtText("Acelerómetro Z"),this, -300, 300),

gxPlot(QwtText("Giroscopio X"),this, -10, 10),

gyPlot(QwtText("Giroscopio Y"),this, -10, 10),

gzPlot(QwtText("Giroscopio Z"),this, -10, 10),

mxPlot(QwtText("Magnetómetro X"),this, -600, 600),

myPlot(QwtText("Magnetómetro Y"),this, -600, 600),

mzPlot(QwtText("Magnetómetro Z"),this, -600, 600),

serial("/dev/ttyUSB0", 9600)

{

//Layout

layoutH = new QHBoxLayout(this);

layoutV0 = new QVBoxLayout(this);

layoutV1 = new QVBoxLayout(this);

layoutH0 = new QHBoxLayout(this);

layoutH1 = new QHBoxLayout(this);

layoutH2 = new QHBoxLayout(this);

layoutH3 = new QHBoxLayout(this);

layoutH->addLayout(layoutV0);

layoutH->addLayout(layoutV1);

layoutV0->addLayout(layoutH0);

layoutV0->addLayout(layoutH1);

layoutV1->addLayout(layoutH2);

layoutV1->addLayout(layoutH3);

layoutH0->addWidget(&rollPlot);

layoutH0->addWidget(&pitchPlot);

layoutH0->addWidget(&yawPlot);

layoutH1->addWidget(&axPlot);

layoutH1->addWidget(&ayPlot);

layoutH1->addWidget(&azPlot);

layoutH2->addWidget(&gxPlot);

layoutH2->addWidget(&gyPlot);

layoutH2->addWidget(&gzPlot);

layoutH3->addWidget(&mxPlot);

layoutH3->addWidget(&myPlot);

layoutH3->addWidget(&mzPlot);

qRegisterMetaType<Frame>("Frame");

connect(&serial, SIGNAL(newFrame(Frame)), this, SLOT(newFrame(Frame)));

serial.start();

}

MultiPlotter::~MultiPlotter(){

//TODO: Terminar la ejecución del hilo hijo ántes de salir

//serial.exit();

}

void MultiPlotter::newFrame(Frame frame){

//trataLaTrama(&frame);

rollPlot.newData(frame.time, frame.roll);

pitchPlot.newData(frame.time, frame.pitch);

yawPlot.newData(frame.time, frame.yaw);

axPlot.newData(frame.time, frame.ax);

ayPlot.newData(frame.time, frame.ay);

azPlot.newData(frame.time, frame.az);

gxPlot.newData(frame.time, frame.gx);

gyPlot.newData(frame.time, frame.gy);

gzPlot.newData(frame.time, frame.gz);

mxPlot.newData(frame.time, frame.mx);

myPlot.newData(frame.time, frame.my);

mzPlot.newData(frame.time, frame.mz);

}