#include "mainwindow.h"

#include <QDateTime>
#include <QMessageBox>
#include <QtConcurrent>
#include <QtCore/QVariant>
#include <QtSerialPort/QSerialPort>
#include <QtSerialPort/QSerialPortInfo>
#include <QtWidgets/QLineEdit>

#include "./ui_mainwindow.h"
#include "iflytop_canbus/iflytop_canbus_master.hpp"
#include "logger.hpp"
#include "qt_serial_datachannel.hpp"
#include "zexception.hpp"
#include "zui/z_function_list_box.hpp"
#include "zui/zq_vtab_page.hpp"
//
#include "iflytop_canbus\regid.hpp"
#include "zui/zui.hpp"

using namespace std;
using namespace iflytop;
using namespace zcr;
typedef enum {
  kone_lead_ecg,
  kthree_lead_ecg,
} device_type_t;

static MainWindow   *m_mainWindow;
static QTDataChannel G_QTDataChannel;
static QTDataChannel G_WaveDataChannel;

QT_REQUIRE_CONFIG(groupbox);

#define TAG "MainWindow"

static const char *fmt(const char *fmt, ...) {
  va_list args;
  va_start(args, fmt);
  static char buf[1024] = {0};
  vsnprintf(buf, sizeof(buf), fmt, args);
  va_end(args);
  return buf;
}

void MainWindow::log_output(QtMsgType type, const QMessageLogContext &context, const QString &msg) {}
void MainWindow::doinui_slot(QFunction func) {
  if (func.get()) func.get()();
}

/***********************************************************************************************************************
 *                                                     PreviewShow                                                     *
 ***********************************************************************************************************************/

void MainWindow::instructionPreviewShow(QString text) {
  QString info;
  info.append(QDateTime::currentDateTime().toString("hh:mm:ss.zzz "));
  info.append(" |");
  info.append(text);
  emit doinui_signal(QFunction([this, info]() { ui->instructionPreview->append(info); }));
}
void MainWindow::reportPreviewShow(QString text) {
  QString info;

  info.append(QDateTime::currentDateTime().toString("hh:mm:ss.zzz "));
  info.append(text);
  emit doinui_signal(QFunction([this, info]() {
    if (ui->reportPreview->document()->lineCount() > 1000) {
      ui->reportPreview->document()->clear();
    }
    ui->reportPreview->append(info);
  }));
}
void MainWindow::blockDataUploadPreviewShow(QString text) {
  QString info;

  info.append(QDateTime::currentDateTime().toString("hh:mm:ss.zzz "));
  info.append(text);
  emit doinui_signal(QFunction([this, info]() {
    if (ui->uploadDataPreview->document()->lineCount() > 1000) {
      ui->uploadDataPreview->document()->clear();
    }
    ui->uploadDataPreview->append(info);
  }));
}
void MainWindow::rawDataPreviewShow(QString text) {
  QString info;

  info.append(QDateTime::currentDateTime().toString("hh:mm:ss.zzz"));
  info.append(text);
  emit doinui_signal(QFunction([this, info]() {
    if (ui->rawDataPreview->document()->lineCount() > 1000) {
      ui->rawDataPreview->document()->clear();
    }
    ui->rawDataPreview->append(info);
  }));
}

void MainWindow::instructionPreviewClear() {
  doinui_signal(QFunction([this]() { ui->instructionPreview->clear(); }));
}

#pragma pack(push, 1)
typedef struct {
  uint16_t header;
  int16_t  wave1;
  int16_t  wave2;
  int16_t  wave3;
  int16_t  wave4;
  int16_t  wave5;
  uint8_t  check;
  uint16_t tail;
} Wave_t;
#pragma pack(pop)

void MainWindow::displayWave(int16_t wave1, int16_t wave2, int16_t wave3) {
  // 1. 生成波形数据
  Wave_t wave;
  wave.header = 0xAAAA;
  wave.wave1  = wave1;
  wave.wave2  = wave2;
  wave.wave3  = wave3;
  wave.wave4  = 0;
  wave.wave5  = 0;
  wave.tail   = 0x5555;
  wave.check  = 0;

  uint8_t check = 0;
  for (size_t i = 2; i < sizeof(wave) - 2; i++) {
    check += ((uint8_t *)&wave)[i];
  }
  wave.check = check;
  // 2. 发送波形数据
  G_WaveDataChannel.send((uint8_t *)&wave, sizeof(wave));
}

/***********************************************************************************************************************
 *                                                     UI相关构造                                                      *
 ***********************************************************************************************************************/

void MainWindow::constructBaseUI() {
  /**
   * @brief 指令串口UI
   */
  {
    const auto infos = QSerialPortInfo::availablePorts();
    for (const QSerialPortInfo &info : infos) {
      ui->serialPortCB->addItem(info.portName());
    }
  }

  ui->serialBaudrateCB->addItem("9600");
  ui->serialBaudrateCB->addItem("14400");
  ui->serialBaudrateCB->addItem("19200");
  ui->serialBaudrateCB->addItem("38400");
  ui->serialBaudrateCB->addItem("57600");
  ui->serialBaudrateCB->addItem("115200");
  ui->serialBaudrateCB->addItem("460800");
  ui->serialBaudrateCB->addItem("500000");
  ui->serialBaudrateCB->addItem("2000000");
  ui->serialBaudrateCB->setCurrentIndex(6);

  connect(ui->serialPortRefreshKey, &QPushButton::clicked, this, [this](bool check) {
    ui->serialPortCB->clear();
    const auto infos = QSerialPortInfo::availablePorts();
    for (const QSerialPortInfo &info : infos) {
      ui->serialPortCB->addItem(info.portName());
    }
  });

  connect(ui->serialOpenKey, &QPushButton::clicked, this, [=](bool check) {
    // 打开串口
    if (ui->serialOpenKey->text() == "打开") {
      G_QTDataChannel.setPortName(ui->serialPortCB->currentText().toStdString());
      G_QTDataChannel.setBaudRate(ui->serialBaudrateCB->currentText().toInt());
      G_QTDataChannel.setDataBits(QSerialPort::Data8);
      G_QTDataChannel.setParity(QSerialPort::NoParity);
      G_QTDataChannel.setFlowControl(QSerialPort::NoFlowControl);
      G_QTDataChannel.setStopBits(QSerialPort::OneStop);

      /**
       * @brief 串口打开时，初始化相应参数
       */

      if (!G_QTDataChannel.open()) {
        QMessageBox::about(NULL, "提示", "串口无法打开，串口不存在或已被占??");
        return;
      }
      ui->serialOpenKey->setText("关闭");
      // 下拉菜单控件使能
      ui->serialBaudrateCB->setEnabled(false);
      ui->serialPortCB->setEnabled(false);
      ui->serialPortRefreshKey->setEnabled(false);

      IflytopCanbusMaster::ins()->updateChannelConfig();
    } else {
      G_QTDataChannel.close();
      ui->serialOpenKey->setText("打开");
      ui->serialBaudrateCB->setEnabled(true);
      ui->serialPortCB->setEnabled(true);
      ui->serialPortRefreshKey->setEnabled(true);
    }
  });

  /**
   * @brief 波形串口UI
   */
  {
    const auto infos = QSerialPortInfo::availablePorts();
    for (const QSerialPortInfo &info : infos) {
      ui->waveSerialPortCB->addItem(info.portName());
    }
  }

  ui->waveSerialBaudrateCB->addItem("9600");
  ui->waveSerialBaudrateCB->addItem("14400");
  ui->waveSerialBaudrateCB->addItem("19200");
  ui->waveSerialBaudrateCB->addItem("38400");
  ui->waveSerialBaudrateCB->addItem("57600");
  ui->waveSerialBaudrateCB->addItem("115200");
  ui->waveSerialBaudrateCB->addItem("460800");
  ui->waveSerialBaudrateCB->addItem("500000");
  ui->waveSerialBaudrateCB->addItem("2000000");
  // ui->waveSerialBaudrateCB->addItems
  ui->waveSerialBaudrateCB->setCurrentIndex(6);

  connect(ui->waveSerialPortRefreshKey, &QPushButton::clicked, this, [this](bool check) {
    ui->waveSerialPortCB->clear();
    const auto infos = QSerialPortInfo::availablePorts();
    for (const QSerialPortInfo &info : infos) {
      ui->waveSerialPortCB->addItem(info.portName());
    }
  });

  connect(ui->waveSerialOpenKey, &QPushButton::clicked, this, [=](bool check) {
    // 打开串口
    if (ui->waveSerialOpenKey->text() == "打开") {
      G_WaveDataChannel.setPortName(ui->waveSerialPortCB->currentText().toStdString());
      G_WaveDataChannel.setBaudRate(ui->waveSerialBaudrateCB->currentText().toInt());
      G_WaveDataChannel.setDataBits(QSerialPort::Data8);
      G_WaveDataChannel.setParity(QSerialPort::NoParity);
      G_WaveDataChannel.setFlowControl(QSerialPort::NoFlowControl);
      G_WaveDataChannel.setStopBits(QSerialPort::OneStop);

      if (!G_WaveDataChannel.open()) {
        QMessageBox::about(NULL, "提示", "串口无法打开，串口不存在或已被占??");
        return;
      }
      ui->waveSerialOpenKey->setText("关闭");
      // 下拉菜单控件使能
      ui->waveSerialBaudrateCB->setEnabled(false);
      ui->waveSerialPortCB->setEnabled(false);
      ui->waveSerialPortRefreshKey->setEnabled(false);
    } else {
      G_WaveDataChannel.close();
      ui->waveSerialOpenKey->setText("打开");
      ui->waveSerialBaudrateCB->setEnabled(true);
      ui->waveSerialPortCB->setEnabled(true);
      ui->waveSerialPortRefreshKey->setEnabled(true);
    }
  });
}

void MainWindow::displayInfo(bool suc, QString info) {}

MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWindow) {
  /**
   * @brief QT初始化
   */
  ui->setupUi(this);
  m_mainWindow = this;
  qRegisterMetaType<int32_t>("int32_t");
  qRegisterMetaType<uint32_t>("uint32_t");
  qRegisterMetaType<float>("float");
  qRegisterMetaType<function<void()>>("function<void()>");
  qRegisterMetaType<QFunction>("QFunction");
  connect(this, SIGNAL(doinui_signal(QFunction)), this, SLOT(doinui_slot(QFunction)));
  ZQUI::ins()->initialize();
  ZQUI::ins()->setBlockDataUploadPreviewShow([this](QString text) { blockDataUploadPreviewShow(text); });
  ZQUI::ins()->setInstructionPreviewShow([this](QString text) { instructionPreviewShow(text); });
  ZQUI::ins()->setReportPreviewShow([this](QString text) { reportPreviewShow(text); });
  ZQUI::ins()->setRawDataPreviewShow([this](QString text) { rawDataPreviewShow(text); });
  ZQUI::ins()->setInstructionPreviewClear([this]() { instructionPreviewClear(); });

  /**
   * @brief 页面逻辑初始化
   */
  constructBaseUI();
  constructAppUI();

  /**
   * @brief 业务逻辑构造
   */
  G_QTDataChannel.init();
  G_WaveDataChannel.init();
  IflytopCanbusMaster::ins()->initialize(&G_QTDataChannel);

  IflytopCanbusMaster::ins()->regOnRawData([this](raw_data_type_t type, uint8_t *hex, uint32_t hexlen) {
    if (type == kcmd_cmd) {
      iflytop_canbus_frame_t *frame = (iflytop_canbus_frame_t *)hex;
      ZQUI::ins()->rawDataPreviewShow("[CMD    ] %s %s [id:%d cmd:%d,%d]", zhex2str(hex, sizeof(iflytop_canbus_frame_t)).c_str(),  //
                                      zhex2str(frame->data, hexlen - sizeof(iflytop_canbus_frame_t)).c_str(),                      //
                                      frame->device_id, frame->cmd_main_id, frame->cmd_sub_id                                      //
      );
    } else if (type == kcmd_receipt) {
      ZQUI::ins()->rawDataPreviewShow("[RECEIPT] %s", zhex2str(hex, hexlen).c_str());
    } else if (type == kcmd_report) {
      ZQUI::ins()->rawDataPreviewShow("[REPORT ] %s", zhex2str(hex, hexlen).c_str());
    }
  });
}
MainWindow::~MainWindow() { delete ui; }

void MainWindow::processException(const zexception &e) {  //
  ZQUI::ins()->instructionPreviewShow("%s", e.what());
}

int32_t MainWindow::getDeviceId() { return ui->PublicState_DeviceID->toPlainText().toInt(); }

void MainWindow::constructAppUI() {
  // int32_t motor_read_enc_val(int32_t device_id) {
  //   callcmd0(device_id, kmotor_read_enc_val);
  //   int32_t ret = *(int32_t *)m_receipt_frame->data;
  // }
  // void    motor_set_enc_resolution(int32_t device_id, int32_t resolution) { callcmd1(device_id, kmotor_set_enc_resolution, resolution); }
  // int32_t motor_get_enc_resolution(int32_t device_id) {
  //   callcmd0(device_id, kmotor_get_enc_resolution);
  //   int32_t ret = *(int32_t *)m_receipt_frame->data;
  // }

  {
    ZQVTabPage *tab = new ZQVTabPage(ui->buttonTabWidget, "模块操作");

    {
      ZQFunctionListBox *box = new ZQFunctionListBox(tab, "模块基础操作", 4);
      box->newFunc("扫描模块", {}, [this](int argn, const char **args) {  //
        for (size_t i = 1; i < 255; i++) {
          try {
            IflytopCanbusMaster::ins()->ping(i);
            ZQUI::ins()->instructionPreviewShow("module :%d isOnline", i);
          } catch (const zexception &e) {
            if (e.ecode() != ke_overtime) {
              processException(e);
              break;
            }
          }
        }
        ZQUI::ins()->instructionPreviewShow("ScanModuleEnd");
      });
    }

    {
      ZQFunctionListBox *box = new ZQFunctionListBox(tab, "电机配置", 4);
      box->newFunc("电机设置编码器分辨率", {"resolution"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_set_enc_resolution(getDeviceId(), atoi(args[0])); });
      box->newFunc("设置IRUM", {"[0-31]"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->writereg(getDeviceId(), kreg_stepmotor_irun, atoi(args[0])); });
      box->newFunc("设置IHOLD", {"[0-31]"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->writereg(getDeviceId(), kreg_stepmotor_ihold, atoi(args[0])); });
      box->newFunc("设置默认速度", {"velocity"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->writereg(getDeviceId(), kreg_motor_default_velocity, atoi(args[0])); });
      box->newFunc("激活配置", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_active_cfg(getDeviceId()); });
    }

    {
      ZQFunctionListBox *box = new ZQFunctionListBox(tab, "电机状态读取", 4);
      box->newFunc("电机读取编码器值", {}, [this](int argn, const char **args) {
        int32_t retval = IflytopCanbusMaster::ins()->motor_read_enc_val(getDeviceId());
        ZQUI::ins()->instructionPreviewShow("encVal %d", retval);
      });
      box->newFunc("电机读取编码器分辨率", {}, [this](int argn, const char **args) {
        int32_t retval = IflytopCanbusMaster::ins()->motor_get_enc_resolution(getDeviceId());
        ZQUI::ins()->instructionPreviewShow("encResolution %d", retval);
      });
    }

    {
      ZQFunctionListBox *box = new ZQFunctionListBox(tab, "电机操作", 4);
      box->newFunc("停止电机", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_stop(getDeviceId()); });
      box->newFunc("急停电机", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_break(getDeviceId()); });
      box->newFunc("激活配置", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_active_cfg(getDeviceId()); });
      box->newFunc("电机使能", {"enable"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_enable(getDeviceId(), atoi(args[0])); });
      box->newFunc("电机旋转", {"direction"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_rotate(getDeviceId(), atoi(args[0])); });
      box->newFunc("电机移动", {"distance"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_move_by(getDeviceId(), atoi(args[0])); });
      box->newFunc("电机移动到", {"position"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_move_to(getDeviceId(), atoi(args[0])); });
      box->newFunc("电机归零", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_move_to_zero(getDeviceId()); });
      box->newFunc("电机设置当前位置", {"position"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_set_current_pos(getDeviceId(), atoi(args[0])); });
      box->newFunc("电机移动到IO", {"io"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_easy_move_to_io(getDeviceId(), atoi(args[0])); });
      box->newFunc("电机设置子设备寄存器", {"regaddr", "val"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_set_subdevice_reg(getDeviceId(), atoi(args[0]), atoi(args[1])); });
      box->newFunc("电机读取子设备寄存器", {"regaddr"}, [this](int argn, const char **args) {
        int32_t retval = IflytopCanbusMaster::ins()->motor_get_subdevice_reg(getDeviceId(), atoi(args[0]));
        ZQUI::ins()->instructionPreviewShow("regVal 0x%08x", retval);
      });
    }
    {
      ZQFunctionListBox *box = new ZQFunctionListBox(tab, "驱动底层配置", 4);
      box->newFunc("电机设置子设备寄存器", {"regaddr", "val"}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->motor_set_subdevice_reg(getDeviceId(), atoi(args[0]), atoi(args[1])); });
      box->newFunc("电机读取子设备寄存器", {"regaddr"}, [this](int argn, const char **args) {
        int32_t retval = IflytopCanbusMaster::ins()->motor_get_subdevice_reg(getDeviceId(), atoi(args[0]));
        ZQUI::ins()->instructionPreviewShow("regVal 0x%08x", retval);
      });
    }

    tab->addSpacer();
  }

  {
    ZQVTabPage *tab = new ZQVTabPage(ui->buttonTabWidget, "寄存器操作");

    ZRegTableList *tableBox = new ZRegTableList(tab, "寄存器操作");
    tableBox->initializeRegOperation(
        [this](int32_t add, int32_t val) {  //
          IflytopCanbusMaster::ins()->writereg(getDeviceId(), add, val);
          return true;
        },
        [this](int32_t add, int32_t *val) {  //
          IflytopCanbusMaster::ins()->readreg(getDeviceId(), add, val);
          return true;
        });

    tableBox->newFunc("激活配置", {}, [this](int argn, const char **args) { IflytopCanbusMaster::ins()->module_active_cfg(getDeviceId()); });

    // tableBox->add
    tableBox->addReg("module_version", kreg_module_version, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("module_type", kreg_module_type, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("module_status", kreg_module_status, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("module_errorcode", kreg_module_errorcode, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("module_initflag", kreg_module_initflag, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("module_enableflag", kreg_module_enableflag, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("module_errorbitflag0", kreg_module_errorbitflag0, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("module_errorbitflag1", kreg_module_errorbitflag1, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("module_input_state", kreg_module_input_state, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("module_output_state", kreg_module_output_state, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("module_raw_sector_size", kreg_module_raw_sector_size, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("module_raw_sector_num", kreg_module_raw_sector_num, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("module_is_online", kreg_module_is_online, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("module_last_cmd_exec_status", kreg_module_last_cmd_exec_status, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("module_last_cmd_exec_val0", kreg_module_last_cmd_exec_val0, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_last_cmd_exec_val1", kreg_module_last_cmd_exec_val1, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_last_cmd_exec_val2", kreg_module_last_cmd_exec_val2, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_last_cmd_exec_val3", kreg_module_last_cmd_exec_val3, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_last_cmd_exec_val4", kreg_module_last_cmd_exec_val4, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_last_cmd_exec_val5", kreg_module_last_cmd_exec_val5, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_private0", kreg_module_private0, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_private1", kreg_module_private1, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_private2", kreg_module_private2, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_private3", kreg_module_private3, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_private4", kreg_module_private4, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_private5", kreg_module_private5, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_private6", kreg_module_private6, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_private7", kreg_module_private7, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_private8", kreg_module_private8, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_private9", kreg_module_private9, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_do_action0", kreg_module_do_action0, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_param1", kreg_module_action_param1, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_param2", kreg_module_action_param2, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_param3", kreg_module_action_param3, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_param4", kreg_module_action_param4, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_param5", kreg_module_action_param5, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_param6", kreg_module_action_param6, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_param7", kreg_module_action_param7, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_param8", kreg_module_action_param8, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_param9", kreg_module_action_param9, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_ack1", kreg_module_action_ack1, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_ack2", kreg_module_action_ack2, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_ack3", kreg_module_action_ack3, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_ack4", kreg_module_action_ack4, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_ack5", kreg_module_action_ack5, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_ack6", kreg_module_action_ack6, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_ack7", kreg_module_action_ack7, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_ack8", kreg_module_action_ack8, ZRegItem::krw | ZRegItem::kdec);
    // tableBox->addReg("module_action_ack9", kreg_module_action_ack9, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_current", kreg_sensor_current, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_voltage", kreg_sensor_voltage, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_temperature", kreg_sensor_temperature, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_humidity", kreg_sensor_humidity, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_wind_speed", kreg_sensor_wind_speed, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_wind_dir", kreg_sensor_wind_dir, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_air_press", kreg_sensor_air_press, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_pm25", kreg_sensor_pm25, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_pm10", kreg_sensor_pm10, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_co", kreg_sensor_co, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_co2", kreg_sensor_co2, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_no2", kreg_sensor_no2, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_so2", kreg_sensor_so2, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_o3", kreg_sensor_o3, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_light_intensity", kreg_sensor_light_intensity, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_radiation", kreg_sensor_radiation, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_hydrogen_peroxide_volume", kreg_sensor_hydrogen_peroxide_volume, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_h2o_h2o2_rs", kreg_sensor_h2o_h2o2_rs, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_relative_humidity", kreg_sensor_relative_humidity, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_absolute_hydrogen_peroxide", kreg_sensor_absolute_hydrogen_peroxide, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_h2o_h2o2dew_point_temperature", kreg_sensor_h2o_h2o2dew_point_temperature, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_water_volume", kreg_sensor_water_volume, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_water_vapor_pressure", kreg_sensor_water_vapor_pressure, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_absolute_humidity", kreg_sensor_absolute_humidity, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_water_vapor_saturation_pressure_h2o", kreg_sensor_water_vapor_saturation_pressure_h2o, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_h2o2_vapor_pressure", kreg_sensor_h2o2_vapor_pressure, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_water_vapor_saturation_pressure_h2o_h2o2", kreg_sensor_water_vapor_saturation_pressure_h2o_h2o2, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_temperature0", kreg_sensor_temperature0, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_temperature1", kreg_sensor_temperature1, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_temperature2", kreg_sensor_temperature2, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_temperature3", kreg_sensor_temperature3, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_temperature4", kreg_sensor_temperature4, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_temperature5", kreg_sensor_temperature5, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_temperature6", kreg_sensor_temperature6, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_temperature7", kreg_sensor_temperature7, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_temperature8", kreg_sensor_temperature8, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_temperature9", kreg_sensor_temperature9, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_pressure0", kreg_sensor_pressure0, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_pressure1", kreg_sensor_pressure1, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_pressure2", kreg_sensor_pressure2, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_pressure3", kreg_sensor_pressure3, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_pressure4", kreg_sensor_pressure4, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_pressure5", kreg_sensor_pressure5, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_pressure6", kreg_sensor_pressure6, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_pressure7", kreg_sensor_pressure7, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_pressure8", kreg_sensor_pressure8, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_pressure9", kreg_sensor_pressure9, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_humidity0", kreg_sensor_humidity0, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_humidity1", kreg_sensor_humidity1, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_humidity2", kreg_sensor_humidity2, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_humidity3", kreg_sensor_humidity3, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_humidity4", kreg_sensor_humidity4, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_humidity5", kreg_sensor_humidity5, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_humidity6", kreg_sensor_humidity6, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_humidity7", kreg_sensor_humidity7, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_humidity8", kreg_sensor_humidity8, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("sensor_humidity9", kreg_sensor_humidity9, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm0_ctrl", kreg_pwm0_ctrl, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm0_duty", kreg_pwm0_duty, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm0_freq", kreg_pwm0_freq, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm1_ctrl", kreg_pwm1_ctrl, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm1_duty", kreg_pwm1_duty, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm1_freq", kreg_pwm1_freq, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm2_ctrl", kreg_pwm2_ctrl, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm2_duty", kreg_pwm2_duty, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm2_freq", kreg_pwm2_freq, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm3_ctrl", kreg_pwm3_ctrl, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm3_duty", kreg_pwm3_duty, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm3_freq", kreg_pwm3_freq, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm4_ctrl", kreg_pwm4_ctrl, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm4_duty", kreg_pwm4_duty, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm4_freq", kreg_pwm4_freq, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm5_ctrl", kreg_pwm5_ctrl, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm5_duty", kreg_pwm5_duty, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm5_freq", kreg_pwm5_freq, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm6_ctrl", kreg_pwm6_ctrl, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm6_duty", kreg_pwm6_duty, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm6_freq", kreg_pwm6_freq, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm7_ctrl", kreg_pwm7_ctrl, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm7_duty", kreg_pwm7_duty, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm7_freq", kreg_pwm7_freq, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_move", kreg_robot_move, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_pos", kreg_robot_pos, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_velocity", kreg_robot_velocity, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_torque", kreg_robot_torque, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_shift", kreg_motor_shift, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_shaft", kreg_motor_shaft, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_one_circle_pulse", kreg_motor_one_circle_pulse, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_one_circle_pulse_denominator", kreg_motor_one_circle_pulse_denominator, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_default_velocity", kreg_motor_default_velocity, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_default_acc", kreg_motor_default_acc, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_default_dec", kreg_motor_default_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_default_break_dec", kreg_motor_default_break_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("stepmotor_ihold", kreg_stepmotor_ihold, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("stepmotor_irun", kreg_stepmotor_irun, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("stepmotor_iholddelay", kreg_stepmotor_iholddelay, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("stepmotor_iglobalscaler", kreg_stepmotor_iglobalscaler, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_run_to_zero_max_d", kreg_motor_run_to_zero_max_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_look_zero_edge_max_d", kreg_motor_look_zero_edge_max_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_run_to_zero_speed", kreg_motor_run_to_zero_speed, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_run_to_zero_dec", kreg_motor_run_to_zero_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_look_zero_edge_speed", kreg_motor_look_zero_edge_speed, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_look_zero_edge_dec", kreg_motor_look_zero_edge_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_default_torque", kreg_motor_default_torque, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_max_d", kreg_motor_max_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_min_d", kreg_motor_min_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_x_move", kreg_robot_x_move, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_x_pos", kreg_robot_x_pos, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_x_velocity", kreg_robot_x_velocity, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_x_torque", kreg_robot_x_torque, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_x_shift", kreg_motor_x_shift, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_x_shaft", kreg_motor_x_shaft, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_x_one_circle_pulse", kreg_motor_x_one_circle_pulse, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_x_default_velocity", kreg_motor_x_default_velocity, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_x_default_acc", kreg_motor_x_default_acc, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_x_default_dec", kreg_motor_x_default_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_x_default_break_dec", kreg_motor_x_default_break_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("stepmotor_x_ihold", kreg_stepmotor_x_ihold, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("stepmotor_x_irun", kreg_stepmotor_x_irun, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("stepmotor_x_iholddelay", kreg_stepmotor_x_iholddelay, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_run_to_zero_max_x_d", kreg_motor_run_to_zero_max_x_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_look_zero_edge_max_x_d", kreg_motor_look_zero_edge_max_x_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_x_run_to_zero_speed", kreg_motor_x_run_to_zero_speed, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_x_run_to_zero_dec", kreg_motor_x_run_to_zero_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_x_look_zero_edge_speed", kreg_motor_x_look_zero_edge_speed, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_x_look_zero_edge_dec", kreg_motor_x_look_zero_edge_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_x_default_torque", kreg_motor_x_default_torque, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_max_x_d", kreg_motor_max_x_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_min_x_d", kreg_motor_min_x_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_y_move", kreg_robot_y_move, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_y_pos", kreg_robot_y_pos, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_y_velocity", kreg_robot_y_velocity, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_y_torque", kreg_robot_y_torque, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_y_shift", kreg_motor_y_shift, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_y_shaft", kreg_motor_y_shaft, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_y_one_circle_pulse", kreg_motor_y_one_circle_pulse, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_y_default_velocity", kreg_motor_y_default_velocity, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_y_default_acc", kreg_motor_y_default_acc, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_y_default_dec", kreg_motor_y_default_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_y_default_break_dec", kreg_motor_y_default_break_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("stepmotor_y_ihold", kreg_stepmotor_y_ihold, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("stepmotor_y_irun", kreg_stepmotor_y_irun, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("stepmotor_y_iholddelay", kreg_stepmotor_y_iholddelay, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_run_to_zero_max_y_d", kreg_motor_run_to_zero_max_y_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_look_zero_edge_max_y_d", kreg_motor_look_zero_edge_max_y_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_y_run_to_zero_speed", kreg_motor_y_run_to_zero_speed, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_y_run_to_zero_dec", kreg_motor_y_run_to_zero_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_y_look_zero_edge_speed", kreg_motor_y_look_zero_edge_speed, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_y_look_zero_edge_dec", kreg_motor_y_look_zero_edge_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_y_default_torque", kreg_motor_y_default_torque, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_max_y_d", kreg_motor_max_y_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_min_y_d", kreg_motor_min_y_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_z_move", kreg_robot_z_move, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_z_pos", kreg_robot_z_pos, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_z_velocity", kreg_robot_z_velocity, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("robot_z_torque", kreg_robot_z_torque, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_z_shift", kreg_motor_z_shift, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_z_shaft", kreg_motor_z_shaft, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_z_one_circle_pulse", kreg_motor_z_one_circle_pulse, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_z_default_velocity", kreg_motor_z_default_velocity, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_z_default_acc", kreg_motor_z_default_acc, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_z_default_dec", kreg_motor_z_default_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_z_default_break_dec", kreg_motor_z_default_break_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("stepmotor_z_ihold", kreg_stepmotor_z_ihold, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("stepmotor_z_irun", kreg_stepmotor_z_irun, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("stepmotor_z_iholddelay", kreg_stepmotor_z_iholddelay, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_run_to_zero_max_z_d", kreg_motor_run_to_zero_max_z_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_look_zero_edge_max_z_d", kreg_motor_look_zero_edge_max_z_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_z_run_to_zero_speed", kreg_motor_z_run_to_zero_speed, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_z_run_to_zero_dec", kreg_motor_z_run_to_zero_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_z_look_zero_edge_speed", kreg_motor_z_look_zero_edge_speed, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_z_look_zero_edge_dec", kreg_motor_z_look_zero_edge_dec, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_z_default_torque", kreg_motor_z_default_torque, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_max_z_d", kreg_motor_max_z_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("motor_min_z_d", kreg_motor_min_z_d, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("xyrobot_robot_type", kreg_xyrobot_robot_type, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pid_target", kreg_pid_target, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pid_nowoutput", kreg_pid_nowoutput, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pid_feedbackval", kreg_pid_feedbackval, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pid_kp", kreg_pid_kp, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pid_ki", kreg_pid_ki, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pid_kd", kreg_pid_kd, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pid_max_output", kreg_pid_max_output, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pid_min_output", kreg_pid_min_output, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pid_max_integral", kreg_pid_max_integral, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pid_min_integral", kreg_pid_min_integral, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("error_limit", kreg_error_limit, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("compute_interval", kreg_compute_interval, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("fan0_ctrl_speed_level", kreg_fan0_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("fan1_ctrl_speed_level", kreg_fan1_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("fan2_ctrl_speed_level", kreg_fan2_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("fan3_ctrl_speed_level", kreg_fan3_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("fan4_ctrl_speed_level", kreg_fan4_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("fan0_speed_level", kreg_fan0_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("fan1_speed_level", kreg_fan1_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("fan2_speed_level", kreg_fan2_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("fan3_speed_level", kreg_fan3_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("fan4_speed_level", kreg_fan4_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm_pump0_ctrl_speed_level", kreg_pwm_pump0_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm_pump1_ctrl_speed_level", kreg_pwm_pump1_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm_pump2_ctrl_speed_level", kreg_pwm_pump2_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm_pump3_ctrl_speed_level", kreg_pwm_pump3_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm_pump4_ctrl_speed_level", kreg_pwm_pump4_ctrl_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm_pump0_speed_level", kreg_pwm_pump0_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm_pump1_speed_level", kreg_pwm_pump1_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm_pump2_speed_level", kreg_pwm_pump2_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm_pump3_speed_level", kreg_pwm_pump3_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pwm_pump4_speed_level", kreg_pwm_pump4_speed_level, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pipette_pos_ul", kreg_pipette_pos_ul, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pipette_capactitance_val", kreg_pipette_capactitance_val, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pipette_tip_state", kreg_pipette_tip_state, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("pipette_limit_ul", kreg_pipette_limit_ul, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("self_reflecting_laser_sensor_transmitting_power", kreg_self_reflecting_laser_sensor_transmitting_power, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("self_reflecting_laser_sensor_receiving_tube_gain", kreg_self_reflecting_laser_sensor_receiving_tube_gain, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("self_reflecting_laser_sensor_sample_interval_ms", kreg_self_reflecting_laser_sensor_sample_interval_ms, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("self_reflecting_laser_sensor_num_samples", kreg_self_reflecting_laser_sensor_num_samples, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("boditech_optical_scan_type", kreg_boditech_optical_scan_type, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("boditech_optical_scan_start_pos", kreg_boditech_optical_scan_start_pos, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("boditech_optical_scan_direction", kreg_boditech_optical_scan_direction, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("boditech_optical_scan_step_interval", kreg_boditech_optical_scan_step_interval, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("boditech_optical_scan_pointnum", kreg_boditech_optical_scan_pointnum, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("boditech_optical_channel_select_num", kreg_boditech_optical_channel_select_num, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("boditech_optical_laster_gain", kreg_boditech_optical_laster_gain, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("boditech_optical_scan_gain", kreg_boditech_optical_scan_gain, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("boditech_optical_trf_uvled_on_duration_us", kreg_boditech_optical_trf_uvled_on_duration_us, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("boditech_optical_trf_uvled_off_duration_us", kreg_boditech_optical_trf_uvled_off_duration_us, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("boditech_optical_trf_scan_delay_us", kreg_boditech_optical_trf_scan_delay_us, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("boditech_optical_trf_scan_duration_us", kreg_boditech_optical_trf_scan_duration_us, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("boditech_optical_scan_gain_adjust_suggestion", kreg_boditech_optical_scan_gain_adjust_suggestion, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("boditech_optical_adc_result_overflow", kreg_boditech_optical_adc_result_overflow, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("boditech_optical_laster_intensity", kreg_boditech_optical_laster_intensity, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("laster_scaner_scan_type", kreg_laster_scaner_scan_type, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("laster_scaner_scan_start_pos", kreg_laster_scaner_scan_start_pos, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("laster_scaner_scan_direction", kreg_laster_scaner_scan_direction, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("laster_scaner_scan_step_interval", kreg_laster_scaner_scan_step_interval, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("laster_scaner_scan_pointnum", kreg_laster_scaner_scan_pointnum, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("laster_scaner_laster_gain", kreg_laster_scaner_laster_gain, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("laster_scaner_scan_gain", kreg_laster_scaner_scan_gain, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("laster_scaner_scan_gain_adjust_suggestion", kreg_laster_scaner_scan_gain_adjust_suggestion, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("laster_scaner_adc_result_overflow", kreg_laster_scaner_adc_result_overflow, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addReg("laster_scaner_laster_intensity", kreg_laster_scaner_laster_intensity, ZRegItem::krw | ZRegItem::kdec);
    tableBox->addSpacer();
    tab->addSpacer();
  }
}