#include "mainwindow.h"

#include "QPushButton"
#include "QAction"


#include "QHBoxLayout"



MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
{
    //ui initial
    linkui = new LinkUI(this);
    linkui->hide();

    inspectui = new InspectUI(this);
    inspectui->hide();


    toolsui = new ToolsUI(this);
    toolsui->hide();


    about = new About();
    about->hide();

    help = new Help();
    help->hide();

    setting = new Setting();
    setting->hide();





    dlink = new DLink();

    /*
    connect(dlink->mavlinknode,&MavLinkNode::state_updated,
            this,&MainWindow::updateUI);
            */
    connect(dlink->mavlinknode,SIGNAL(state_updated()),
            this,SLOT(updateUI()));


    map = new mapcontrol::OPMapWidget(this);

    map->SetShowHome(false);
    map->SetShowCompass(false);
    map->SetUseOpenGL(true);

    //QString maptype = myinifile->ReadIni("FGCS.ini","Map","Type");
    map->SetMapType(mapcontrol::Helper::MapTypeFromString("BingSatellite"));
    map->setGeometry(0,
                     0,
                     this->width(),
                     this->height());


    QIcon icon;

    nav = new QNavigationWidget(this);
    nav->setGeometry(0,0,50,this->height());
    nav->setRowHeight(50);
    nav->addItem(tr("Flight"),icon);
    nav->addItem(tr("Mission"),icon);//mission
    nav->addItem(tr("Communication"),icon);//all link
    nav->addItem(tr("Inspector"),icon);// mavlink param
    nav->addItem(tr("Command"),icon);//cmd console
    nav->addItem(tr("Data"),icon);//all data
    nav->addItem(tr("Tools"),icon);//soft setting  help about

    connect(nav,SIGNAL(ItemChanged(int)),
            this,SLOT(onTabIndexChanged(int)));

    copk = new Cockpit(this);
    copk->setGeometry(this->width() - copk->width(),0,300,340);



    updateTimer = new QTimer();

    connect(updateTimer,&QTimer::timeout,
            this,&MainWindow::updateUI);

    updateTimer->start(200);

    //=======信号和槽========
    connect(linkui,&LinkUI::clicked,
            this,&MainWindow::subui);

    connect(inspectui,&InspectUI::clicked,
            this,&MainWindow::subui);

    connect(toolsui,&ToolsUI::clicked,
            this,&MainWindow::subui);

}

MainWindow::~MainWindow()
{
    map->close();
    delete map;

    copk->deleteLater();
    delete  copk;

    QCoreApplication::quit();//退出所有窗口
}


void MainWindow::closeEvent(QCloseEvent *event)
{
    event->accept();
    QCoreApplication::quit();//退出所有
}



void MainWindow::resizeEvent(QResizeEvent *event)
{
    Q_UNUSED(event);

    map->setGeometry(0,
                     0,
                     this->width(),
                     this->height());

    nav->setGeometry(0,0,nav->width(),this->height());

    copk->setGeometry(this->width() - copk->width(),0,copk->width(),copk->height());

}


void MainWindow::keyPressEvent(QKeyEvent *event)   //键盘按下事件
{
    //qDebug() << event;
    switch(event->key())
    {
       case Qt::Key_A:
       break;
       case Qt::Key_D:

            if(event->modifiers() == Qt::AltModifier)
            {
                qInfo() << "alt + D";
                dlink->mavlinknode->Mission->ReadCmd(1,1);
            }
       break;
        case Qt::Key_U :
        {
            if(event->modifiers() == Qt::AltModifier)
            {
              qInfo() << "atl + U";
              //dlink->Mavlink_msg_mission_count(map->WPTotal());
              //qDebug() << map->WPTotal();
            }
        }break;
        case Qt::Key_P :
        {
            if(event->modifiers() == Qt::AltModifier)
            {//下载参数
              qInfo() << "atl + P";
              dlink->mavlinknode->Parameter->ReadCmd(1,1,1);

            }
        }break;
        case Qt::Key_O :
        {
            if(event->modifiers() == Qt::AltModifier)
            {//上传参数
              qInfo() << "atl + O";
              //dlink->Mavlink_msg_mission_count(map->WPTotal());

            }
        }break;
        case Qt::Key_S:
        break;
        case Qt::Key_W:
        break;
        case Qt::Key_K :
        {
            if(event->modifiers() == Qt::ControlModifier)
            {

            }
        }
        break;
        case Qt::Key_Space :
        {
            internals::PointLatLng LatLng;
            //LatLng.SetLat(dlink->v*1e-7);
            //LatLng.SetLng(dlink->vehicle.gps_raw_int.lon*1e-7);
            map->SetCurrentPosition(LatLng);
        }
        break;
        case Qt::Key_Equal :
        {
            if(event->modifiers() == Qt::ShiftModifier)
            {
               //map->WPFind(rechcount)->SetReached(true);
            }
            else
            {
               map->SetZoom(map->ZoomReal() + 1);
            }
        }
        break;
        case Qt::Key_Plus :
        {
            if(event->modifiers() == Qt::ShiftModifier)
            {
               //map->WPFind(rechcount)->SetReached(true);
               //rechcount++;
               //qDebug() << rechcount;
            }
        }
        break;
        case Qt::Key_Minus:
        {
            if(event->modifiers() == Qt::ShiftModifier)
            {
               //map->WPFind(rechcount)->SetReached(true);
               //rechcount--;
               //qDebug() << rechcount;
            }
            else
            {
               map->SetZoom(map->ZoomReal() - 1);
            }
        }
        break;
        case Qt::Key_C:
        {
            if(event->modifiers() == Qt::AltModifier)
            {
                 map->UAV->DeleteTrail();
            }
        }
        break;
    }



}


void MainWindow::subui(QString arg)//子界面管理
{
     if(arg == tr("SerialPort"))
     {
         dlink_triggered();
     }
     else if(arg == tr("UDP"))
     {
         client_triggered();
     }
     else if(arg == tr("Mavlink"))
     {
         dlink->mavlinknode->mavlinkinspector->show();
     }
     else if(arg == tr("Parameter"))
     {
         dlink->mavlinknode->Parameter->paramInspect->show();
     }
     else if(arg == tr("About"))
     {
         about->show();
     }
     else if(arg == tr("Setting"))
     {
         setting->show();
     }
     else if(arg == tr("Help"))
     {
         help->show();
     }
}


void MainWindow::onTabIndexChanged(const int &index)//界面选择管理
{
    if((index == 0)||(index == 1))//隐藏
    {
        map->show();
        copk->show();
    }
    else
    {
        map->hide();
        copk->hide();
    }


    if(index == 2) linkui->show();
    else           linkui->hide();

    if(index == 3) inspectui->show();
    else           inspectui->hide();

    if(index == 4)
    {
        qDebug() << "index:" << index;
    }
    else
    {

    }

    if(index == 5)
    {
        qDebug() << "index:" << index;
    }
    else
    {

    }


    if(index == 6) toolsui->show();
    else           toolsui->hide();
}


void MainWindow::dlink_triggered()
{

    if(dlink->statesPort())
    {
        disconnectdialog dlg(this);

        dlg.setWindowTitle(tr("SerialPort"));
        dlg.setWindowIcon(QIcon(":/images/LinkUI/SerialPort.ico"));

        int ret = dlg.exec();
        if (QDialog::Accepted == ret)
        {
            dlink->stopPort();
        }
    }
    else
    {
        ConnectDialog dlg(this);

        dlg.setWindowTitle(tr("SerialPort"));
        dlg.setWindowIcon(QIcon(":/images/LinkUI/SerialPort.ico"));

        dlg.baudrate = 115200;
        dlg.parity = QSerialPort::NoParity;
        int ret = dlg.exec();
        if (QDialog::Accepted == ret)
        {
            dlink->setupPort(dlg.port, dlg.baudrate,dlg.parity);
        }
    }

}

void MainWindow::client_triggered()
{
    ClientLinkDialog dlg(this);

    dlg.setWindowTitle(tr("ClientLink"));
    dlg.setWindowIcon(QIcon(":/images/LinkUI/Client.ico"));

    int ret = dlg.exec();
    if (QDialog::Accepted == ret)
    {
        dlink->setupClient(dlg.remote_addr,dlg.remote_port,dlg.local_port);
    }
}


void MainWindow::updateUI()//事件驱动式更新数据
{
    copk->setAttitude(dlink->mavlinknode->vehicle.attitude.pitch * 57.3,
                      dlink->mavlinknode->vehicle.attitude.roll * 57.3,
                      dlink->mavlinknode->vehicle.attitude.yaw * 57.3);

    copk->setAltitude(dlink->mavlinknode->vehicle.gps_raw_int.alt * 10e-3 );
    copk->setAirSpeed(dlink->mavlinknode->vehicle.airspeed_autocal.vx);

}