#include "P01_MianPage.h"
#include "ui_P01_MianPage.h"
#include <QDebug>
#include <QMovie>
#include <QDir>
#include <QVBoxLayout>
#include <QTimer>
#include <GlobalDefinitions/Variable.h>
#include <QImage>
#include <QLabel>
#include <QPainter>
#include <QPen>
#include <QImage>


int TransportPosMaxX = 0;
int TransportPosMaxY = 0;

int OldRollerPos[2][2]={{0,0},{0,0}};
QImage Brush[2];
QElapsedTimer TmpTime;
P01_MianPage::P01_MianPage(QWidget *parent) :
    QWidget(parent),
    ui(new Ui::P01_MianPage),
    mObjLoader(nullptr),
    m_workerThread(nullptr),
    m_workerLoader(nullptr),
    m_loadingStep(0),
    UIRefresh_Timer(nullptr),
    TrailRefresh_Timer(nullptr)
{
    ui->setupUi(this);
    QTimer::singleShot(10, this, &P01_MianPage::PageInit);

   // QTimer::singleShot(1000, this, &P01_MianPage::Show3D);
}
qint64 JgTime;
void P01_MianPage::PageInit()
{
    TmpTime.start();
    QPixmap pix(":/Icos/Icos/Sursor.png");
    QCursor custom(pix, pix.width()/2, pix.height()/2);
    setCursor(custom);
    setWindowFlag(Qt::FramelessWindowHint); // 设置窗口无边框，设置后窗口无法移动
    uiInitTransportPos(85,85);


    QMovie *MLoading = new QMovie(ConfigurationPath + "Gif动画/Radar.gif");
    //qDebug() << "当前工作文件夹:" << QDir::currentPath();
    ui->Gif_Radar->setMovie(MLoading); // 1. 设置要显示的 GIF 动画图片
    ui->Gif_Radar->setScaledContents(true);
    MLoading->start();         // 2. 启动动画
    ui->Gif_Radar->show();

    //所用定时器初始化
    UIRefresh_Timer = new QTimer(this);
    connect(UIRefresh_Timer, &QTimer::timeout, this, &P01_MianPage::UIRefreshTimeOut);
    UIRefresh_Timer->setInterval(100); // 设置定时器间隔为 1000 毫秒（1 秒）
    UIRefresh_Timer->start();

    //所用定时器初始化
    TrailRefresh_Timer = new QTimer(this);
    connect(TrailRefresh_Timer, &QTimer::timeout, this, &P01_MianPage::TrailRefreshTimeOut);
    TrailRefresh_Timer->setInterval(1000); // 设置定时器间隔为 1000 毫秒（1 秒）
    TrailRefresh_Timer->start();
    qDebug()<<"初始化执行完成后,消耗时间"<<TmpTime.elapsed();
    JgTime = TmpTime.elapsed();
}
P01_MianPage::~P01_MianPage()
{
    // 安全清理线程和资源
    if (m_workerThread && m_workerThread->isRunning()) {
        m_workerThread->quit();
        m_workerThread->wait(1000); // 等待1秒
        if (m_workerThread->isRunning()) {
            m_workerThread->terminate(); // 强制终止
        }
        m_workerThread->deleteLater();
        m_workerThread = nullptr;
    }
    
    // 清理ObjLoader对象
    if (mObjLoader) {
        mObjLoader->deleteLater();
        mObjLoader = nullptr;
    }
    
    if (m_workerLoader) {
        m_workerLoader->deleteLater();
        m_workerLoader = nullptr;
    }
    
    // 清理PageInit中创建的定时器
    if (UIRefresh_Timer) {
        UIRefresh_Timer->stop();
        UIRefresh_Timer->deleteLater();
        UIRefresh_Timer = nullptr;
    }
    
    if (TrailRefresh_Timer) {
        TrailRefresh_Timer->stop();
        TrailRefresh_Timer->deleteLater();
        TrailRefresh_Timer = nullptr;
    }
    
    // 清理QMovie对象
    if (ui->Gif_Radar->movie()) {
        ui->Gif_Radar->movie()->stop();
        delete ui->Gif_Radar->movie();
        ui->Gif_Radar->setMovie(nullptr);
    }
    
    delete ui;
}
void P01_MianPage::Show3D()
{
    // 初始化加载状态
    m_loadingStep = 0;
    m_modelPreprocessResults.clear();

    // 初始化3D加载器
    DevName3D = "整机装配";
    mObjLoader = new ObjLoader();
    mObjLoader->setEnDebug(true);
    mObjLoader->init3DScene(ui->Frame_Dev3D);
    mObjLoader->setCameraSpeed(200.0, 200.0);

    // 修复：正确初始化QStringList（移除错误的=号赋值方式）
    m_pendingDevices << "整机装配"
                     << "运输机"
                     << "截割部"
                     << "左装载机"
                     << "右装载机"
                     << "滚筒";

    // 创建工作线程用于预处理
    m_workerThread = new QThread(this);
    m_workerLoader = new ObjLoader();
    m_workerLoader->moveToThread(m_workerThread);

    // 连接预处理完成信号（使用现代信号槽语法）
    connect(m_workerLoader, &ObjLoader::preprocessDone,
            this, &P01_MianPage::onPreprocessResult);

    // 处理单个设备预处理完成
    connect(this, &P01_MianPage::preprocessFinished, this, &P01_MianPage::onPreprocessFinished);
    // 设置相机位置
    Qt3DRender::QCamera* cam = mObjLoader->getCamera();
    if (cam) {
        //"相机位置: (X: 15.0894, Y: 12.8326, Z: 13.1512)"
        //"看向位置: (X: 3.9284, Y: 0.3222, Z: 0.0456)"
        //"视野角度: 25.0°"
        cam->setPosition(QVector3D(15.0894, 12.8326, 13.1512));
        cam->setViewCenter(QVector3D(3.9284,0.3222, 0.0456));
    }
    // 所有设备加载完成
    connect(this, &P01_MianPage::allDevicesLoaded, this, [=]() {
        // 清理工作线程
        if (m_workerThread && m_workerThread->isRunning()) {
            m_workerThread->quit();
            m_workerThread->wait(1000); // 等待1秒
            if (m_workerThread->isRunning()) {
                m_workerThread->terminate(); // 强制终止
            }
            m_workerThread->deleteLater();
            m_workerThread = nullptr;
        }
        
        // 清理工作加载器
        if (m_workerLoader) {
            m_workerLoader->deleteLater();
            m_workerLoader = nullptr;
        }

        // 启动旋转定时器
        QTimer *RotateDev_Timer = new QTimer(this);
        connect(RotateDev_Timer, &QTimer::timeout, this, &P01_MianPage::RotateDev);
        RotateDev_Timer->setInterval(33);
        RotateDev_Timer->start();
    });

    // 启动工作线程并开始预处理
    m_workerThread->start();
    QMetaObject::invokeMethod(m_workerLoader, "preprocessDevices", Qt::QueuedConnection,
                             Q_ARG(QStringList, m_pendingDevices),
                             Q_ARG(QString, ConfigurationPath + "3D模型文件/掘锚一体机/本体/"));
}

// 新增：接收预处理结果的槽函数
void P01_MianPage::onPreprocessResult(const QString& deviceName, QVector3D center, float radius)
{
    m_modelPreprocessResults[deviceName] = QPair<QVector3D, float>(center, radius);
    emit preprocessFinished(deviceName);
}

void P01_MianPage::onPreprocessFinished(const QString& deviceName)
{
    // 检查是否是当前需要加载的设备
    if (m_loadingStep >= m_pendingDevices.size()) return;
    if (m_pendingDevices[m_loadingStep] != deviceName) return;

    // 获取预处理结果
    auto result = m_modelPreprocessResults[deviceName];
    QVector3D modelCenter = result.first;
    float modelRadius = result.second;
    QString filePath = ConfigurationPath + "3D模型文件/掘锚一体机/本体/" + deviceName + ".obj";

    // 关键优化：使用定时器将加载操作拆分为小步骤，避免阻塞主线程
    QTimer::singleShot(10, this, [=]() {
        bool LoaderOK = false;

        // 第一步：只执行最核心的加载操作（创建实体）
        switch (m_loadingStep) {
            case 0: // 整机装配
                LoaderOK = mObjLoader->loadDevice(deviceName, filePath, QVector3D(0, 0, 0));
                if (LoaderOK) {
                    mObjLoader->getDevice(deviceName)->modelCenter = modelCenter;
                }
                break;

            case 1: // 运输机
                LoaderOK = mObjLoader->loadChildDevice(deviceName, filePath, "整机装配", QVector3D(0,0,0), QColor(0,255,0,80));
                if (LoaderOK) {
                    mObjLoader->getDevice(deviceName)->modelCenter = modelCenter;
                }
                break;

            case 2: // 截割部
                LoaderOK = mObjLoader->loadChildDevice(deviceName, filePath, "整机装配", QVector3D(0,0,0), QColor(0,255,0,80));
                if (LoaderOK) {
                    mObjLoader->getDevice(deviceName)->modelCenter = modelCenter;
                }
                break;
            case 3: // 左装载机
                LoaderOK = mObjLoader->loadChildDevice(deviceName, filePath, "整机装配", QVector3D(0,0,0), QColor(46, 47, 48,80));
                if (LoaderOK) {
                    mObjLoader->getDevice(deviceName)->modelCenter = modelCenter;
                }
                break;
            case 4: // 右装载机
                LoaderOK = mObjLoader->loadChildDevice(deviceName, filePath, "整机装配", QVector3D(0,0,0), QColor(46, 47, 48,80));
                if (LoaderOK) {
                    mObjLoader->getDevice(deviceName)->modelCenter = modelCenter;
                }
                break;

            case 5: // 滚筒
                LoaderOK = mObjLoader->loadChildDevice(deviceName, filePath, "截割部", QVector3D(0,0,0), QColor(46, 47, 48,80));
                if (LoaderOK) {
                    mObjLoader->getDevice(deviceName)->modelCenter = modelCenter;
                }
                break;
        }

        if (!LoaderOK) {
            // 加载失败处理
            m_loadingStep++;
            return;
        }

        // 第二步：延迟执行缩放操作（10ms后）
        QTimer::singleShot(10, this, [=]() {
            switch (m_loadingStep) {
                case 0: mObjLoader->scaleDevice(deviceName, 0.001f); break;
                case 1: mObjLoader->scaleDevice(deviceName, 0.001f); break;
                case 2: mObjLoader->scaleDevice(deviceName, 0.001f); break;
                case 3: mObjLoader->scaleDevice(deviceName, 0.001f); break;
                case 4: mObjLoader->scaleDevice(deviceName, 0.001f); break;
                case 5: mObjLoader->scaleDevice(deviceName, 0.001f); break;
            }

            // 第三步：延迟执行坐标轴和位置设置（再10ms后）
            QTimer::singleShot(10, this, [=]() {
                switch (m_loadingStep) {
                    case 0: // 整机装配
                        //mObjLoader->addAxisGizmo(nullptr, 5.0f);
                        //mObjLoader->addAxisGizmo(mObjLoader->getDevice(deviceName)->entity, 3.0f);
                        mObjLoader->setParentDevicePosition(deviceName, QVector3D(-33.394, 1021.68, 190.52));
                        mObjLoader->moveArmLocalOriginTo(deviceName, QVector3D(0, 0, 0));
                        break;

                    case 1: // 运输机
                        //mObjLoader->addAxisGizmo(mObjLoader->getDevice(deviceName)->entity, 3.0f);
                        mObjLoader->setParentDevicePosition(deviceName, QVector3D(0,617.183, 95239.7));
                        mObjLoader->moveArmLocalOriginTo(deviceName, QVector3D(0,1,96.48));
                        mObjLoader->adjustChildDeviceOffset(deviceName, QVector3D(-3.61, 1.25, 0.25));
                        mObjLoader->rotateArmToAbsoluteYAngle(deviceName, 90);
                        break;

                    case 2: // 截割部
                        //mObjLoader->addAxisGizmo(mObjLoader->getDevice(deviceName)->entity, 5.0f);
                        mObjLoader->setParentDevicePosition(deviceName, QVector3D(0, -3633.7, 4141.31));
                        mObjLoader->moveArmLocalOriginTo(deviceName, QVector3D(0, -2.9800, 1.3800));
                        mObjLoader->adjustChildDeviceOffset(deviceName, QVector3D(0.5000, 0.7100, 0.2500));
                        mObjLoader->rotateArmToAbsoluteYAngle(deviceName, 90);
                        break;
                    case 3: // 左装载机
                        //mObjLoader->addAxisGizmo(mObjLoader->getDevice(deviceName)->entity, 5.0f);
                        mObjLoader->setParentDevicePosition(deviceName, QVector3D(33.5, -42.4635, -11.9246));
                        mObjLoader->moveArmLocalOriginTo(deviceName, QVector3D(0, 0, 0));
                        mObjLoader->setParentDevicePosition(deviceName, QVector3D(4.0300, -0.3500, 1.5400));
                        mObjLoader->rotateArmToAbsoluteZAngle(deviceName, 45);
                        break;
                    case 4: // 右装载机
                        //mObjLoader->addAxisGizmo(mObjLoader->getDevice(deviceName)->entity, 5.0f);
                        mObjLoader->setParentDevicePosition(deviceName, QVector3D(33.5, -42.4635, 11.9246));
                        mObjLoader->moveArmLocalOriginTo(deviceName, QVector3D(0, 0, 0));
                        mObjLoader->setParentDevicePosition(deviceName, QVector3D(4.0300, -0.3500, -0.9300));
                        mObjLoader->rotateArmToAbsoluteZAngle(deviceName, 45);
                        break;
                    case 5: // 滚筒
                        mObjLoader->rotateDevice(deviceName,10260,0,0);
                        //mObjLoader->addAxisGizmo(mObjLoader->getDevice(deviceName)->entity, 10.0f);
                        mObjLoader->setParentDevicePosition(deviceName, QVector3D(-0.927338, 2800, 1.00699));
                        mObjLoader->moveArmLocalOriginTo(deviceName, QVector3D(1.0050, 4.2200, 0.5000));
                        mObjLoader->adjustChildDeviceOffset(deviceName, QVector3D(0, 0, 0));
                        mObjLoader->moveArmLocalOriginTo(deviceName, QVector3D(0, -10, 0));
                        mObjLoader->rotateArmToAbsoluteZAngle(deviceName, 90);
                        mObjLoader->adjustChildDeviceOffset(deviceName, QVector3D(4.2000, -1.600, 5.0000));
                        mObjLoader->rotateArmToAbsoluteXAngle(deviceName, 1);
                        break;
                }

                // 延迟加载下一个设备，给主线程足够时间处理UI事件
                QTimer::singleShot(100, this, [=]() {
                    m_loadingStep++;
                    if (m_loadingStep < m_pendingDevices.size()) {
                        QString nextDevice = m_pendingDevices[m_loadingStep];
                        QMetaObject::invokeMethod(m_workerLoader, "preprocessSingleDevice", Qt::QueuedConnection,
                                                Q_ARG(QString, nextDevice),
                                                Q_ARG(QString, ConfigurationPath + "3D模型文件/掘锚一体机/本体/"));
                    } else {
                        emit allDevicesLoaded();
                    }
                });
            });
        });
    });
}

uint32_t TCount =0 ;
void P01_MianPage::UIRefreshTimeOut()
{
    if(gPageIndexStr != "P01")
        return;

    uint32_t TmpBools[10];
    TmpBools[0] = getNodeValue("PageBOOLS.B0")    .toUInt();
    TmpBools[1] = getNodeValue("PageBOOLS.B1")    .toUInt();
    TmpBools[2] = getNodeValue("PageBOOLS.B2")    .toUInt();
    TmpBools[3] = getNodeValue("PageBOOLS.B3")    .toUInt();
    TmpBools[4] = getNodeValue("PageBOOLS.B4")    .toUInt();
    TmpBools[5] = getNodeValue("PageBOOLS.B5")    .toUInt();
    TmpBools[6] = getNodeValue("PageBOOLS.B6")    .toUInt();
    TmpBools[7] = getNodeValue("PageBOOLS.B7")    .toUInt();
    TmpBools[8] = getNodeValue("PageBOOLS.B8")    .toUInt();
    TmpBools[9] = getNodeValue("PageBOOLS.B9")    .toUInt();

    //杂进度条显示
    QStringList LevelCor = {"color: #ef4444","color: #f59e0b","#22c55e","color: rgb(0, 233, 253)"};
    ProgressBar_LCD(ui->PB_SpareTemp,ui->LCD_SpareTemp,"PB_SpareTemp.PageGroup","IN_Sersor.SpareTemp",glMotorTempColor);
    ProgressBar_LCD(ui->PB_OilLevel,ui->LCD_OilLevel,"PB_OilLevel.PageGroup","IN_Sersor.OilLevel",LevelCor);
    ProgressBar_LCD(ui->PB_OilTemp,ui->LCD_OilTemp,"PB_OilTemp.PageGroup","IN_Sersor.OilTemp",glMotorTempColor);

    QStringList NullColor = {"color: rgb(0, 233, 253)","color: rgb(0, 233, 253)","color: rgb(0, 233, 253)","color: rgb(0, 233, 253)"};
    ProgressBar_LCD(ui->PB_PressurePump_1,ui->LCD_PressurePump_1,"PB_PressurePump1.PageGroup","IN_Sersor.Pressure_Pump1",NullColor);
    ProgressBar_LCD(ui->PB_PressurePump_2,ui->LCD_PressurePump_2,"PB_PressurePump2.PageGroup","IN_Sersor.Pressure_Pump2",NullColor);
    ProgressBar_LCD(ui->PB_PressurePump_3,ui->LCD_PressurePump_3,"PB_PressurePump3.PageGroup","IN_Sersor.Pressure_Pump3",NullColor);

    // 编码器数值显示
    ui->LCD_EncoderL->display(QString::number(getNodeValue("IN_Encoder.EncoderL")    .toUInt()));
    ui->LCD_EncoderR->display(QString::number(getNodeValue("IN_Encoder.EncoderR")    .toUInt()));
    // 急停的显示
    for (uint8_t i=0;i<12;i++) {
        QString TextObjName = QString("Led_EStop_%1").arg(i);
        QLabel* Label = findChild<QLabel*>(TextObjName);
        if (Label) {
            SetStyleStr(Label,getBitOf32Data(TmpBools[0], i,false),"color: #ef4444","color: #22c55e");
        }
    }

    // ESR状态显示
    SetStyleStr(ui->Status_IESR_1,getBitOf32Data(TmpBools[0], 12,false),"border-image: url(:/Icos/Icos/LED2_Green.png);","border-image: url(:/Icos/Icos/LED1_Rad.png);");
    SetStyleStr(ui->Status_IESR_2,getBitOf32Data(TmpBools[0], 13,false),"border-image: url(:/Icos/Icos/LED2_Green.png);","border-image: url(:/Icos/Icos/LED1_Rad.png);");
    SetStyleStr(ui->Status_QESR_1,getBitOf32Data(TmpBools[0], 14,false),"border-image: url(:/Icos/Icos/LED2_Green.png);","border-image: url(:/Icos/Icos/LED3_Rad (2).png);");
    SetStyleStr(ui->Status_QESR_2,getBitOf32Data(TmpBools[0], 15,false),"border-image: url(:/Icos/Icos/LED2_Green.png);","border-image: url(:/Icos/Icos/LED3_Rad (2).png);");


    //传感器及阀控模块输出的显示
    SetStyleStr(ui->Status_P1_1,getBitOf32Data(TmpBools[2], 1,false),"color: #22c55e","");
    SetStyleStr(ui->Status_P1_2,getBitOf32Data(TmpBools[2], 3,false),"color: #22c55e","");
    SetStyleStr(ui->Status_P1_3,getBitOf32Data(TmpBools[2], 5,false),"color: #22c55e","");
    SetStyleStr(ui->Status_P1_4,getBitOf32Data(TmpBools[2], 4,false),"color: #22c55e","");
    SetStyleStr(ui->Status_P1_5,getBitOf32Data(TmpBools[1], 23,false),"color: #22c55e","");
    SetStyleStr(ui->Status_P1_6,getBitOf32Data(TmpBools[2], 0,false),"color: #22c55e","");

    SetStyleStr(ui->Status_P2_1,getBitOf32Data(TmpBools[1], 22,false),"color: #22c55e","");
    SetStyleStr(ui->Status_P2_2,getBitOf32Data(TmpBools[1], 30,false),"color: #22c55e","");
    SetStyleStr(ui->Status_P2_3,getBitOf32Data(TmpBools[1], 21,false),"color: #22c55e","");
    SetStyleStr(ui->Status_P2_4,getBitOf32Data(TmpBools[1], 20,false),"color: #22c55e","");
    SetStyleStr(ui->Status_P2_5,getBitOf32Data(TmpBools[1], 29,false),"color: #22c55e","");

    SetStyleStr(ui->Status_P3_1,getBitOf32Data(TmpBools[1], 24,false),"color: #22c55e","");
    SetStyleStr(ui->Status_P3_2,getBitOf32Data(TmpBools[1], 25,false),"color: #22c55e","");
    SetStyleStr(ui->Status_P3_3,getBitOf32Data(TmpBools[1], 26,false),"color: #22c55e","");
    SetStyleStr(ui->Status_P3_4,getBitOf32Data(TmpBools[1], 27,false),"color: #22c55e","");
    SetStyleStr(ui->Status_P3_5,getBitOf32Data(TmpBools[1], 28,false),"color: #22c55e","");

    //油缸伸缩状态显示
    QStringList OilCylindStyle = {"","border-image: url(:/Icos/Icos/icon_stretch.png);","border-image: url(:/Icos/Icos/icon_shorten.png);"};
    SetStyleStr(ui->Status_Oil_1, getBitOf32Data(TmpBools[3], 24,false),getBitOf32Data(TmpBools[3], 25,false),OilCylindStyle);
    SetStyleStr(ui->Status_Oil_2, getBitOf32Data(TmpBools[1], 12,false),getBitOf32Data(TmpBools[1], 13,false),OilCylindStyle);
    SetStyleStr(ui->Status_Oil_3, getBitOf32Data(TmpBools[1], 14,false),getBitOf32Data(TmpBools[1], 15,false),OilCylindStyle);
    SetStyleStr(ui->Status_Oil_4, getBitOf32Data(TmpBools[3], 26,false),getBitOf32Data(TmpBools[3], 27,false),OilCylindStyle);

    SetStyleStr(ui->Status_Oil_5, getBitOf32Data(TmpBools[1], 8 ,false),getBitOf32Data(TmpBools[1], 9 ,false),OilCylindStyle);
    SetStyleStr(ui->Status_Oil_6, getBitOf32Data(TmpBools[1], 0 ,false),getBitOf32Data(TmpBools[1], 1 ,false),OilCylindStyle);
    SetStyleStr(ui->Status_Oil_7, getBitOf32Data(TmpBools[1], 10,false),getBitOf32Data(TmpBools[1], 11,false),OilCylindStyle);
    SetStyleStr(ui->Status_Oil_8, getBitOf32Data(TmpBools[1], 2 ,false),getBitOf32Data(TmpBools[1], 3 ,false),OilCylindStyle);

    SetStyleStr(ui->Status_Oil_9, getBitOf32Data(TmpBools[1], 16,false),getBitOf32Data(TmpBools[1], 17,false),OilCylindStyle);
    SetStyleStr(ui->Status_Oil_10,getBitOf32Data(TmpBools[1], 18,false),getBitOf32Data(TmpBools[1], 19,false),OilCylindStyle);
    SetStyleStr(ui->Status_Oil_11,getBitOf32Data(TmpBools[1], 4 ,false),getBitOf32Data(TmpBools[1], 5 ,false),OilCylindStyle);
    SetStyleStr(ui->Status_Oil_12,getBitOf32Data(TmpBools[1], 6 ,false),getBitOf32Data(TmpBools[1], 7 ,false),OilCylindStyle);

    SetStyleStr(ui->Status_Oil_13,getBitOf32Data(TmpBools[3], 28,false),getBitOf32Data(TmpBools[3], 29,false),OilCylindStyle);



    //电机温度电流,进度条和LCD的显示
    PB_Refresh("Pump");
    PB_Refresh("Cut");
    PB_Refresh("LoaderL");
    PB_Refresh("LoaderR");
    PB_Refresh("TransportL");
    PB_Refresh("TransportR");
    PB_Refresh("Standby");


}
void P01_MianPage::ProgressBar_LCD(QProgressBar *QPB,QLCDNumber *QLCD,QString NodeID_Bar,QString NodeID_Value,QStringList Colors){
    uint32_t PB_Group1      = getNodeValue(NodeID_Bar)    .toUInt();
    float Value = getNodeValue(NodeID_Value)    .toFloat();
    uint16_t  PValue= static_cast<uint16_t>(PB_Group1 >> 16);   // 高 16 位
    uint16_t  PColor  = static_cast<uint16_t>(PB_Group1 & 0xFFFF);// 低 16 位
    SetProgressBar(QPB,PValue,PColor,Colors);
    QLCD->display(QString::number(Value,'f',2));
}
void P01_MianPage::PB_Refresh(QString Dev){

    uint32_t PB_Group1      = getNodeValue("PB_Curr_"+Dev+".PageGroup1")    .toUInt();
    uint32_t PB_Group2      = getNodeValue("PB_Curr_"+Dev+".PageGroup2")    .toUInt();
    uint32_t PB_MotorTemp   = getNodeValue("PB_Temp_"+Dev+".PageGroup")     .toUInt();
    uint16_t  PercentageCurU = static_cast<uint16_t>(PB_Group1 >> 16);   // 高 16 位
    uint16_t  PercentageCurV  = static_cast<uint16_t>(PB_Group1 & 0xFFFF);// 低 16 位
    uint16_t  PercentageCurW = static_cast<uint16_t>(PB_Group2 >> 16);   // 高 16 位
    uint16_t  PercentageTmpColor  = static_cast<uint16_t>(PB_Group2 & 0xFFFF);// 低 16 位

    uint8_t ColorU = (PercentageTmpColor / 10) % 10;
    uint8_t ColorV = (PercentageTmpColor / 100) % 10;
    uint8_t ColorW = PercentageTmpColor % 10;

    uint16_t  PercentageMotorTemp = static_cast<uint16_t>(PB_MotorTemp >> 16);   // 高 16 位
    uint16_t  ColorTemp  = static_cast<uint16_t>(PB_MotorTemp & 0xFFFF);// 低 16 位

    qreal CurrU = getNodeValue("IN_Phase"+Dev+".Filtered30_U")    .toReal();
    qreal CurrV = getNodeValue("IN_Phase"+Dev+".Filtered30_V")    .toReal();
    qreal CurrW = getNodeValue("IN_Phase"+Dev+".Filtered30_W")    .toReal();
    qreal Temp = getNodeValue("IN_Phase"+Dev+".Filtered_Temp")    .toReal();
    qreal Curr = fmax(CurrU,fmax(CurrV,CurrW));

    qreal Rated;
    if (Dev == "LoaderL" || Dev == "LoaderR" )
        Rated = getNodeValue("PS.gRatedCur_Loader")    .toReal();
    else if(Dev == "TransportL" || Dev == "TransportR" )
        Rated = getNodeValue("PS.gRatedCur_Transport")    .toReal();
    else{
        Rated = getNodeValue("PS.gRatedCur_"+Dev)    .toReal();
    }


    QProgressBar* CurPB_1 = findChild<QProgressBar*>("PB_Cur"+Dev+"_1");
    QProgressBar* CurPB_2 = findChild<QProgressBar*>("PB_Cur"+Dev+"_2");
    QProgressBar* CurPB_3 = findChild<QProgressBar*>("PB_Cur"+Dev+"_3");
    QProgressBar* TempPB = findChild<QProgressBar*>("PB_Temp"+Dev);

    QLCDNumber* CurLCD_1 = findChild<QLCDNumber*>("LCD_Cur"+Dev+"_1");
    QLCDNumber* CurLCD_2 = findChild<QLCDNumber*>("LCD_Cur"+Dev+"_2");
    QLCDNumber* CurLCD_3 = findChild<QLCDNumber*>("LCD_Cur"+Dev+"_3");
    QLCDNumber* CurLCD = findChild<QLCDNumber*>("LCD_Cur"+Dev);
    QLCDNumber* TempLCD = findChild<QLCDNumber*>("LCD_Temp"+Dev);

    QLabel* CurRated_Label = findChild<QLabel*>("Label_UnitCur"+Dev);
    SetProgressBar(CurPB_1,PercentageCurU,ColorU,glMotorCurColor);
    SetProgressBar(CurPB_2,PercentageCurV,ColorV,glMotorCurColor);
    SetProgressBar(CurPB_3,PercentageCurW,ColorW,glMotorCurColor);
    SetProgressBar(TempPB,PercentageMotorTemp,ColorTemp,glMotorTempColor);

    CurLCD_1->display(QString::number(CurrU,'f',2));
    CurLCD_2->display(QString::number(CurrV,'f',2));
    CurLCD_3->display(QString::number(CurrW,'f',2));
    CurLCD->display(QString::number(Curr,'f',2));
    TempLCD->display(QString::number(Temp,'f',2));
    CurRated_Label->setText("A/"+QString::number(Rated,'f',1)+"A");

}
void P01_MianPage::SetProgressBar(QProgressBar *PB,uint16_t Value,uint8_t ColorIndex,QStringList Color){
    if(Value > PB->maximum()) Value = PB->maximum();
    PB->setValue(Value);
    if(ColorIndex < Color.length()){
        QString Style = "QProgressBar {\n	background-color: transparent;\n	border: 2px solid #888888;\n	border-radius: 3px;\n}\nQProgressBar::chunk {\n	background-color:"+Color[ColorIndex]+";\n}";
        if(PB->styleSheet() != Style){
            PB->setStyleSheet(Style);
        }
    }
}
uint16_t OldRoller_Length = 0;
void P01_MianPage::TrailRefreshTimeOut(){
    if(gPageIndexStr != "P01")
        return;
    // 画板的显示
    uint32_t Diameter = getNodeValue("RollerPosition.Diameter")    .toUInt();
    uint32_t LengthHeight = getNodeValue("RollerPosition.LengthHeight")    .toUInt();
    uint32_t SideView = getNodeValue("RollerPosition.SideView")    .toUInt();
    uint32_t FaceView = getNodeValue("RollerPosition.FaceView")    .toUInt();

    uint32_t TransPos = getNodeValue("RollerPosition.TransportPos")    .toUInt();
    uint32_t TmpHaul = getNodeValue("RollerPosition.ShowHaulSpeed")    .toUInt();
    float CenterHeight = getNodeValue("RollerPosition.CenterHeight")    .toFloat();

    int16_t  Roller_SideX = static_cast<int16_t>(SideView >> 16);   // 高 16 位
    int16_t  Roller_SideY  = static_cast<int16_t>(SideView & 0xFFFF);// 低 16 位
    int16_t  Roller_FaceX = static_cast<int16_t>(FaceView >> 16);   // 高 16 位
    int16_t  Roller_FaceY  = static_cast<int16_t>(FaceView & 0xFFFF);// 低 16 位
    int16_t  Roller_Length = static_cast<int16_t>(LengthHeight >> 16);   // 高 16 位

    int16_t TransPos_SideX =  static_cast<int16_t>(TransPos >> 16);   // 高 16 位
    int16_t TransPos_SideY  = static_cast<int16_t>(TransPos & 0xFFFF);// 低 16 位
    int16_t TmpSpeedL =  static_cast<int16_t>(TmpHaul >> 16);   // 高 16 位
    int16_t TmpSpeedR  = static_cast<int16_t>(TmpHaul & 0xFFFF);// 低 16 位
    uint16_t  Roller_Diameter_Img = static_cast<int16_t>(Diameter >> 16);   // 高 16 位
    uint16_t  Roller_Diameter_mm = static_cast<int16_t>(Diameter & 0xFFFF);   // 低 16 位
    if(Brush[0].isNull()){
        Brush[0] = QImage(":/Devices/Devices/ICO_Cutting1.png");
        Brush[0] = Brush[0].scaled(Roller_Diameter_Img, Roller_Diameter_Img, Qt::KeepAspectRatio, Qt::SmoothTransformation);
        ui->TrailDisplay_1->setBrushImage(Brush[0]);
    }
    if(Brush[1].isNull() || OldRoller_Length != Roller_Length){
        Brush[1] = QImage(Roller_Length, Roller_Diameter_Img, QImage::Format_ARGB32);
        Brush[1].fill(Qt::green);
        ui->TrailDisplay_2->setBrushImage(Brush[1]);
        OldRoller_Length = Roller_Length;
    }
    uiRollerPosition(0,Roller_SideX,Roller_SideY);
    uiRollerPosition(1,Roller_FaceX,Roller_FaceY);
    uiSetTransportPos(TransPos_SideX,TransPos_SideY);

    uiSetHaulSpeed(TmpSpeedL,TmpSpeedR);
    // 采高卧底的显示
    uiSetMining(CenterHeight,Roller_Diameter_mm);
}
void P01_MianPage::uiRollerPosition(uint8_t Index,uint16_t aX,uint16_t aY){
    //qDebug()<<Index<<aX<<aY<<OldRollerPos[Index][0]<<OldRollerPos[Index][1] ;
    //掘锚机运输机位置的显示
    if(gPageIndexStr != "P01")
        return;
    if(OldRollerPos[Index][0] != aX || OldRollerPos[Index][1] != aY){
        QPoint localPos(aX,aY);
        if(Index == 0)
            ui->TrailDisplay_1->moveBrush(localPos);
        else
            ui->TrailDisplay_2->moveBrush(localPos);
    }
    OldRollerPos[Index][0] = aX;
    OldRollerPos[Index][1] = aY;
}
void P01_MianPage::uiInitHaulSpeed(int Max){

    ui->Slider_Haul_L->setMinimum(0-Max);
    ui->Slider_Haul_L->setMaximum(Max);
    ui->Slider_Haul_R->setMinimum(0-Max);
    ui->Slider_Haul_R->setMaximum(Max);
}
void P01_MianPage::uiInitMining(int Max,int Min){
    ui->Slider_Mining->setMinimum(Min);
    ui->Slider_Mining->setMaximum(Max);
}
void P01_MianPage::uiInitTransportPos(int MaxX,int MaxY){
    TransportPosMaxX = MaxX;
    TransportPosMaxY = MaxY;
}
void P01_MianPage::uiSetHaulSpeed(int SpeedL,int SpeedR){
    if(gPageIndexStr != "P01")
        return;
    ui->Slider_Haul_L->setValue(SpeedL);
    ui->LCD_MainHaul_L->display(QString::number(SpeedL));
    ui->Slider_Haul_R->setValue(SpeedR);
    ui->LCD_MainHaul_R->display(QString::number(SpeedR));
}
void P01_MianPage::uiSetMining(float CenterHeight,uint16_t Roller_Diameter_mm){
    if(gPageIndexStr != "P01")
        return;
    int16_t CH = CenterHeight*1000;
    ui->Slider_Mining->setValue(CH);
    ui->LCD_MiningB1->display(QString::number(CenterHeight - Roller_Diameter_mm * 0.001, 'f', 2));
    ui->LCD_MiningT1->display(QString::number(CenterHeight + Roller_Diameter_mm * 0.001, 'f', 2));
}
void P01_MianPage::uiSetTransportPos(int rx,int ry){
    if(gPageIndexStr != "P01")
        return;
    int NewRX = 29+(130/2)+rx;
    int NewRY = -6+(130/2)+ry;
    //qDebug()<<NewRX<<NewRY;
    ui->Label_TransportPos->move(NewRX,NewRY);
}
void P01_MianPage::SetStyleStr(QLabel *L,bool Status,QString TStr,QString FStr){
    if(L == nullptr) return;
    QString Style = "";
    if(Status){
        Style = TStr;
    }else{
        Style = FStr;
    }
    if(L->styleSheet() != Style)
        L->setStyleSheet(Style);
}
void P01_MianPage::SetStyleStr(QLabel *L,bool B1,bool B2,QStringList StyStr){
    if(L == nullptr) return;
    QString Style = "";
    if(B1 && ! B2){
        Style = StyStr[1];
    }else if(!B1 && B2){
        Style = StyStr[2];
    }else if(!B1 && !B2){
        Style = StyStr[0];
    }else{
        Style = "";
    }

    if(L->styleSheet() != Style)
        L->setStyleSheet(Style);
}

void P01_MianPage::RotateDev(){
    if(gPageIndexStr != "P01")
        return;
    mAngle = mAngle + 1;
    if(mAngle > 360) mAngle =0;
    //mObjLoader->rotateArmToAbsoluteYAngle(DevName3D, jd);
}