from PyQt5.QtWidgets import QWidget, QFileDialog,QMainWindow, QLabel, QSizePolicy, QApplication, QAction, QHBoxLayout
from PyQt5.QtCore import *
from PyQt5 import QtCore, QtGui, QtWidgets
import sys
# 串口通信
import serial
import time
import threading
import torch

class Arduino_class(QtCore.QThread):
    sinOut = pyqtSignal(str)  # 聲明一個帶字串參數的信號
    def __init__(self, parent=None):
        super().__init__(parent)
        self.ser_com5 = serial.Serial('COM4', 9600, timeout=1)
        self.run_flag = False
        self.img_count=0
        self.move_count=0
    def run(self):
        time.sleep(2)
        print("Arduino 已連線")
        self.Home()
        while True:
            if self.run_flag:
                while True:
                    message = self.ser_com5.readline().decode().strip()
                    if message == "Turn_finsh":
                        if self.img_count == 21:
                            self.move_one_fov()
                        else:
                            time.sleep(0.02)
                            self.sinOut.emit('Turn_finsh')
                    if message == "Motor_finsh":
                        if self.move_count <= 5:
                            self.sinOut.emit('Motor_finsh')
                            time.sleep(0.1)
                            self.turn_one_angle()
                        else:
                            self.move_count = 0
                            self.sinOut.emit('end')


                    if message == "Motor_in_End":
                        print(message)
                        self.sinOut.emit('Motor_finsh')
                    if message == "Motor_in_Home":
                        print(message)
                        self.sinOut.emit('Motor_in_Home')
                        self.run_flag = False
                        break

            time.sleep(0.05)
    def start_run(self):
        print("已自動發送命令给Arduino！")
        self.run_flag = True
        self.turn_one_angle()

    def turn_one_angle(self):
        self.img_count = self.img_count+1
        self.ser_com5.write(b'turn_one_angle\n')

    def move_one_fov(self):
        self.ser_com5.write(b'move_one_fov\n')
        self.move_count = self.move_count+1
        self.img_count = 0

    def Home(self):
        self.ser_com5.write(b'move_home\n')
        self.run_flag = True
        print("已自動發送命令给USB COM5！")