/// Класс потока - вращение вокруг осей заданное количество времени - длительное вращение
class ContinueRotation: public QThread
{
    Q_OBJECT

private:
    INFO_TO_EXTERN_DEVICE inf_to_ed_packet;        ///< пакет данных внешнему устройству в режиме авто управления
    INFO_FROM_EXTERN_DEVICE inf_from_ed_packet;    ///< пакет данных от внешнего устройства в режиме авто управления
    const int MAXBYTES;                            ///< константа максимального количества байт
    ImitatorTSL* imitTsl;                        ///< указатель на класс главного окна
    QTime _time;                                ///< счетчик времени вращения прожектора
    QTime starting_time, finished_time;            ///< время начала и окончания отсчета
    QMutex mutex;                                ///< мьютекс блокировки работы
    QTimer _working_spotlight;                    ///< таймер работы прожектора

private:
    void readAzimuth(int& geted_azimuth, double limit);
    void readAngleElevation(int& geted_angle_elev, double limit);
    void originPosition();
    void readAngles();
    void timerTicks();

protected:
    virtual void run();

signals:
    void _timeout(QTime);

private slots:
    void workSpotlight();

public:
    ContinueRotation(QObject *parent);
    ~ContinueRotation();
    void tsl(ImitatorTSL* im) { imitTsl = im; }
    ImitatorTSL* tsl() const { return imitTsl; }
    INFO_TO_EXTERN_DEVICE continueControl();
    void fromExternalDevice(INFO_FROM_EXTERN_DEVICE& mp);
    void setToEDInfo(const INFO_TO_EXTERN_DEVICE& ed) { inf_to_ed_packet = ed; }
    void setFromEDInfo(const INFO_FROM_EXTERN_DEVICE& ed) { inf_from_ed_packet = ed; }
    INFO_TO_EXTERN_DEVICE toEDInfo() { return inf_to_ed_packet; }
    INFO_FROM_EXTERN_DEVICE fromEDInfo() { return inf_from_ed_packet; }
    QTime elapsedTime() const { return _time; }
    QTime startingTime() const { return starting_time; }
    void setTime(const QTime& t) { _time = t; }
    void setTime(const int h, const int m) { _time.setHMS(h, m, 0, 0); }
    void setStartingTime(const QTime& t);
};

ContinueRotation::ContinueRotation(QObject *parent): QThread(parent), MAXBYTES(256), imitTsl(0),
                    inf_to_ed_packet(INFO_TO_EXTERN_DEVICE()), inf_from_ed_packet(INFO_FROM_EXTERN_DEVICE())
{}

ContinueRotation::~ContinueRotation() {}

/// Получение азимута
void ContinueRotation::readAzimuth(int& geted_azimuth, double limit)
{
    if(!imitTsl) return;
    while(geted_azimuth < ((limit - 1.5) * 10) || geted_azimuth > ((limit + 1.5) * 10))
    {
        imitTsl -> readFromCtrlPage();
        geted_azimuth = VALFROMBYTES(inf_from_ed_packet.high_azim, inf_from_ed_packet.low_azim);
    }
}

/// Получение угла места
void ContinueRotation::readAngleElevation(int& geted_angle_elev, double limit)
{
    if(!imitTsl) return;
    while(geted_angle_elev < ((limit - 1.5) * 10) || geted_angle_elev > ((limit + 1.5) * 10))
    {
        imitTsl -> readFromCtrlPage();
        geted_angle_elev = VALFROMBYTES(inf_from_ed_packet.high_angle_elev, inf_from_ed_packet.low_angle_elev);
    }
}

/// Чтение углов
void ContinueRotation::readAngles()
{
    if(!imitTsl) return;
    int geted_azimuth, geted_angle_elev;
    QTime begining_time(QTime::currentTime());
    do
    {
        imitTsl -> readFromCtrlPage();
        geted_azimuth = VALFROMBYTES(inf_from_ed_packet.high_azim, inf_from_ed_packet.low_azim);
        geted_angle_elev = VALFROMBYTES(inf_from_ed_packet.high_angle_elev, inf_from_ed_packet.low_angle_elev);
        int secs = begining_time.secsTo(QTime::currentTime());
        if(secs > 10) break; 
    } while(geted_azimuth < 0 || geted_azimuth > 3 || geted_angle_elev < 0 || geted_angle_elev > 3);
}

/// Возвращение пакета с данными от внешнего устройства в режиме автоматического управления
INFO_TO_EXTERN_DEVICE ContinueRotation::continueControl()
{
    BYTE sum = 0;
    BYTE* ptr = (BYTE*) (&inf_to_ed_packet);
    for(register int i=0; i<(sizeof(inf_to_ed_packet) - 1); ++i) sum += ptr[i];
    inf_to_ed_packet.checksum = MAXBYTES - sum;
    return inf_to_ed_packet;
}

/// Установка пакета данных от внешнего управления в автоматической режиме работы
void ContinueRotation::fromExternalDevice(INFO_FROM_EXTERN_DEVICE& mp)
{
    BYTE sum = 0;
    BYTE* ptr = (BYTE*) (&mp);
    for(register int i=0; i<(sizeof(mp) - 1); ++i) sum += ptr[i];
    if((MAXBYTES - sum) == mp.checksum)
        inf_from_ed_packet = mp;
}

/// Установка времен начала и окончания работы прожектора
void ContinueRotation::setStartingTime(const QTime& t)
{
    starting_time = t;
    finished_time.setHMS(starting_time.hour() + _time.hour(), starting_time.minute() + _time.minute(),
                         starting_time.second() + _time.second(), starting_time.msec() + _time.msec());
}

/// Перемещение прожектора в исходную позицию
void ContinueRotation::originPosition()
{
    int geted_azimuth = VALFROMBYTES(inf_from_ed_packet.high_azim, inf_from_ed_packet.low_azim);
    int geted_angle_elev = VALFROMBYTES(inf_from_ed_packet.high_angle_elev, inf_from_ed_packet.low_angle_elev);
    if(geted_azimuth || geted_angle_elev)
    {
        int azimuth = 0, angle_elevation = 0;
        inf_to_ed_packet.low_azim = LOWBYTE(azimuth);
        inf_to_ed_packet.high_azim = HIGHBYTE(azimuth);
        inf_to_ed_packet.low_angle_elev = LOWBYTE(angle_elevation);
        inf_to_ed_packet.high_angle_elev = HIGHBYTE(angle_elevation);
        if(imitTsl) imitTsl -> writeFromCtrlContinuous();
    }
}

/// Отсчет оставшегося времени работы прожектора
void ContinueRotation::timerTicks()
{
    int secs = QTime::currentTime().secsTo(finished_time);
    QTime t;    t = t.addSecs(secs);
    int el_t = t.hour() * 60 * 60 * 1000 + t.minute() * 60 * 1000 + t.second() * 1000 + t.msec();
    int _t = _time.hour() * 60 * 60 * 1000 + _time.minute() * 60 * 1000 + _time.second() * 1000 + _time.msec();
    float diff = _t - el_t;
    mutex.lock();
    _time = t;
    if(fabs(diff) >= 1000) emit _timeout(_time);
    mutex.unlock();
}

/// Слот работы прожектора - вращения в обеих плоскостях
void ContinueRotation::workSpotlight()
{
    timerTicks();

    int geted_angle_elev = -1, geted_azimuth = -1;

    /// Перемещение вниз и вправо до упора
    int angle_elevation = -110 * 10, azimuth = 172 * 10;
    inf_to_ed_packet.low_angle_elev = LOWBYTE(angle_elevation);
    inf_to_ed_packet.high_angle_elev = HIGHBYTE(angle_elevation);
    inf_to_ed_packet.low_azim = LOWBYTE(azimuth);
    inf_to_ed_packet.high_azim = HIGHBYTE(azimuth);
    if(imitTsl) imitTsl -> writeFromCtrlContinuous();
    readAngleElevation(geted_angle_elev, (double)angle_elevation / 10.);
    readAzimuth(geted_azimuth, (double) azimuth / 10.);

    timerTicks();

    /// Перемещение вверх и влево до упора
    angle_elevation = 10 * 10;        azimuth = -172 * 10;
    inf_to_ed_packet.low_angle_elev = LOWBYTE(angle_elevation);
    inf_to_ed_packet.high_angle_elev = HIGHBYTE(angle_elevation);
    inf_to_ed_packet.low_azim = LOWBYTE(azimuth);
    inf_to_ed_packet.high_azim = HIGHBYTE(azimuth);
    if(imitTsl) imitTsl -> writeFromCtrlContinuous();
    readAngleElevation(geted_angle_elev, (double)angle_elevation / 10.);
    readAzimuth(geted_azimuth, (double)azimuth / 10.);

    timerTicks();

    /// Возврат в исходное положение
    angle_elevation = 0;        azimuth = 0;
    inf_to_ed_packet.low_angle_elev = LOWBYTE(angle_elevation);
    inf_to_ed_packet.high_angle_elev = HIGHBYTE(angle_elevation);
    inf_to_ed_packet.low_azim = LOWBYTE(azimuth);
    inf_to_ed_packet.high_azim = HIGHBYTE(azimuth);
    if(imitTsl) imitTsl -> writeFromCtrlContinuous();

    timerTicks();
}

/// Запуск потока вращения в обеих плоскостях длительный промежуток времени
void ContinueRotation::run()
{
    timerTicks();
    originPosition();
    readAngles();

    connect(&_working_spotlight, SIGNAL(timeout()), this, SLOT(workSpotlight()));
    const int working_time = 60 * 1000;
    _working_spotlight.start(working_time);

    while(QTime::currentTime() <= finished_time)
    {
        timerTicks();
        msleep(1000);
    }
    if(QTime::currentTime() > finished_time && _working_spotlight.isActive())
        _working_spotlight.stop();
}