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

# 平移(COM4)
class Pan_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)
        # 打开串口COM4，波特率为250000
        # self.ser_com4 = serial.Serial('COM4', 9600, timeout=1)
        # time.sleep(2)
        # print("USB COM4的操作已完成。")
        # self.flag = False

    def run(self):
        # 打开串口COM4，波特率为250000
        self.ser_com4 = serial.Serial('COM4', 9600, timeout=1)
        time.sleep(2)
        print("USB COM4的操作已完成。")
        self.move_home()
        self.flag = False
        while True:
            message = self.ser_com4.readline().decode().strip()
            # print(str(message))
            if str(message) =="Motor emergency stop 010":
                self.sinOut.emit('Motor emergency stop 010')
            if str(message) =="Motor emergency stop 100":
                self.sinOut.emit('Motor emergency stop 100')
            if self.flag == True:
                self.ser_com4.write(b'1\n')
                time.sleep(0.02)
                self.flag = False
                time.sleep(1.5)
                self.sinOut.emit('move_end')
            time.sleep(0.05)


    def move(self):
        # 自动发送命令给COM4中的Arduino
        # self.ser_com4.write(b'1\n')
        self.flag = True
        print("已自動發送命令给USB COM4！")

    def move_home(self):
        # time.sleep(0.02)
        self.ser_com4.write(b'2\n')