/**
 ******************************************************************************
 *
 * @file       opmapwidget.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      The Map Widget, this is the part exposed to the user
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   OPMapWidget
 * @{
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */
#ifndef OPMAPWIDGET_H
#define OPMAPWIDGET_H

#include "mapgraphicitem.h"
#include "geodecoderstatus.h"
#include "maptype.h"
#include "languagetype.h"
#include "diagnostics.h"
#include "configuration.h"
#include <QObject>
#include <QtOpenGL/QGLWidget>
#include "waypointitem.h"
#include "QtSvg/QGraphicsSvgItem"
#include "QGraphicsView"
#include "uavitem.h"
#include "gpsitem.h"
#include "homeitem.h"
#include "mapripper.h"
#include "waypointline.h"
#include "waypointcircle.h"
#include "waypointitem.h"

#include "AltitudeItem.h"
#include "VirtualMargin.h"
#include "VirtualMarginLine.h"
#include <QJsonObject>
#include "QTextStream"

#include <QTranslator>


#include "QDir"
#include "QFileDialog"

namespace mapcontrol {

#ifdef QtopmapWidget
#include <mapwidgetglobal.h>
class OPMAPWIDGETSHARED_EXPORT UAVItem;
class OPMAPWIDGETSHARED_EXPORT GPSItem;
class OPMAPWIDGETSHARED_EXPORT HomeItem;
#else
class UAVItem;
class GPSItem;
class HomeItem;
#endif


/**
 * @brief Collection of static functions to help dealing with various enums used
 *       Contains functions for enumToString conversio, StringToEnum, QStringList of enum values...
 *
 * @class Helper opmapwidget.h "opmapwidget.h"
 */

#ifdef QtopmapWidget
#include <mapwidgetglobal.h>
class OPMAPWIDGETSHARED_EXPORT Helper {
#else
class Helper {
#endif


public:
    static MapType::Types MapTypeFromString(QString const & value)
    {
        return MapType::TypeByStr(value);
    }
    static QString StrFromMapType(MapType::Types const & value)
    {
        return MapType::StrByType(value);
    }
    static QStringList MapTypes()
    {
        return MapType::TypesList();
    }

    static GeoCoderStatusCode::Types GeoCoderStatusCodeFromString(QString const & value)
    {
        return GeoCoderStatusCode::TypeByStr(value);
    }

    static QString StrFromGeoCoderStatusCode(GeoCoderStatusCode::Types const & value)
    {
        return GeoCoderStatusCode::StrByType(value);
    }

    static QStringList GeoCoderTypes()
    {
        return GeoCoderStatusCode::TypesList();
    }


    static internals::MouseWheelZoomType::Types MouseWheelZoomTypeFromString(QString const & value)
    {
        return internals::MouseWheelZoomType::TypeByStr(value);
    }

    static QString StrFromMouseWheelZoomType(internals::MouseWheelZoomType::Types const & value)
    {
        return internals::MouseWheelZoomType::StrByType(value);
    }

    static QStringList MouseWheelZoomTypes()
    {
        return internals::MouseWheelZoomType::TypesList();
    }

    static core::LanguageType::Types LanguageTypeFromString(QString const & value)
    {
        return core::LanguageType::TypeByStr(value);
    }

    static QString StrFromLanguageType(core::LanguageType::Types const & value)
    {
        return core::LanguageType::StrByType(value);
    }

    static QStringList LanguageTypes()
    {
        return core::LanguageType::TypesList();
    }

    static core::AccessMode::Types AccessModeFromString(QString const & value)
    {
        return core::AccessMode::TypeByStr(value);
    }

    static QString StrFromAccessMode(core::AccessMode::Types const & value)
    {
        return core::AccessMode::StrByType(value);
    }

    static QStringList AccessModeTypes()
    {
        return core::AccessMode::TypesList();
    }


    static UAVMapFollowType::Types UAVMapFollowFromString(QString const & value)
    {
        return UAVMapFollowType::TypeByStr(value);
    }

    static QString StrFromUAVMapFollow(UAVMapFollowType::Types const & value)
    {
        return UAVMapFollowType::StrByType(value);
    }

    static QStringList UAVMapFollowTypes()
    {
        return UAVMapFollowType::TypesList();
    }

    static UAVTrailType::Types UAVTrailTypeFromString(QString const & value)
    {
        return UAVTrailType::TypeByStr(value);
    }

    static QString StrFromUAVTrailType(UAVTrailType::Types const & value)
    {
        return UAVTrailType::StrByType(value);
    }

    static QStringList UAVTrailTypes()
    {
        return UAVTrailType::TypesList();
    }
};


#ifdef QtopmapWidget
#include <mapwidgetglobal.h>
class OPMAPWIDGETSHARED_EXPORT OPMapWidget : public QGraphicsView {
#else
class OPMapWidget : public QGraphicsView {
#endif


    Q_OBJECT
    // Q_PROPERTY(int MaxZoom READ MaxZoom WRITE SetMaxZoom)
    Q_PROPERTY(int MinZoom READ MinZoom WRITE SetMinZoom)
    Q_PROPERTY(bool ShowTileGridLines READ ShowTileGridLines WRITE SetShowTileGridLines)
    Q_PROPERTY(double Zoom READ ZoomTotal WRITE SetZoom)
    Q_PROPERTY(qreal Rotate READ Rotate WRITE SetRotate)
    Q_ENUMS(internals::MouseWheelZoomType::Types)
    Q_ENUMS(core::GeoCoderStatusCode::Types)

public:
    QSize sizeHint() const;
    /**
     * @brief Constructor
     *
     * @param parent parent widget
     * @param config pointer to configuration classed to be used
     * @return
     */
    OPMapWidget(QWidget *parent = 0, Configuration *config = new Configuration);
    ~OPMapWidget();


    bool ShowTileGridLines() const
    {
        return map->showTileGridLines;
    }

    void SetShowTileGridLines(bool const & value)
    {
        map->showTileGridLines = value; map->update();
    }

    int MaxZoom() const
    {
        return map->MaxZoom();
    }

    // void SetMaxZoom(int const& value){map->maxZoom = value;}


    int MinZoom() const
    {
        return map->minZoom;
    }

    void SetMinZoom(int const & value)
    {
        map->minZoom = value;
    }

    internals::MouseWheelZoomType::Types GetMouseWheelZoomType()
    {
        return map->core->GetMouseWheelZoomType();
    }
    void SetMouseWheelZoomType(internals::MouseWheelZoomType::Types const & value)
    {
        map->core->SetMouseWheelZoomType(value);
    }
    // void SetMouseWheelZoomTypeByStr(const QString &value){map->core->SetMouseWheelZoomType(internals::MouseWheelZoomType::TypeByStr(value));}
    // QString GetMouseWheelZoomTypeStr(){return map->GetMouseWheelZoomTypeStr();}

    internals::RectLatLng SelectedArea() const
    {
        return map->selectedArea;
    }
    void SetSelectedArea(internals::RectLatLng const & value)
    {
        map->selectedArea = value; this->update();
    }

    bool CanDragMap() const
    {
        return map->CanDragMap();
    }
    void SetCanDragMap(bool const & value)
    {
        map->SetCanDragMap(value);
    }

    internals::PointLatLng CurrentPosition() const
    {
        return map->core->CurrentPosition();
    }

    void SetCurrentPosition();
    void SetCurrentPosition(internals::PointLatLng const & value);



    double ZoomReal()
    {
        return map->Zoom();
    }
    double ZoomDigi()
    {
        return map->ZoomDigi();
    }
    double ZoomTotal()
    {
        return map->ZoomTotal();
    }
    void SetZoom(double const & value)
    {
        map->SetZoom(value);
    }

    qreal Rotate()
    {
        return map->rotation;
    }
    void SetRotate(qreal const & value);

    void ReloadMap()
    {
        map->ReloadMap(); map->resize();
    }

    GeoCoderStatusCode::Types SetCurrentPositionByKeywords(QString const & keys)
    {
        return map->SetCurrentPositionByKeywords(keys);
    }

    bool UseOpenGL()
    {
        return useOpenGL;
    }
    void SetUseOpenGL(bool const & value);

    MapType::Types GetMapType()
    {
        return map->core->GetMapType();
    }
    void SetMapType(MapType::Types const & value)
    {
        map->lastimage = QImage(); map->core->SetMapType(value);
    }

    bool isStarted()
    {
        return map->core->isStarted();
    }


    int getUAVCurrent(void);

    Configuration *configuration;

    internals::PointLatLng currentMousePosition();

    void SetFollowMouse(bool const & value)
    {
        followmouse = value; this->setMouseTracking(followmouse);
    }
    bool FollowMouse()
    {
        return followmouse;
    }

    internals::PointLatLng GetFromLocalToLatLng(QPointF p)
    {
        return map->FromLocalToLatLng(p.x(), p.y());
    }

    WayPointItem *WPCreate();
    void WPCreate(WayPointItem *item);
    WayPointItem *WPCreate(internals::PointLatLng const & coord, int const & altitude);
    WayPointItem *WPCreate(internals::PointLatLng const & coord, int const & altitude, QString const & description);
    WayPointItem *WPCreate(const distBearingAltitude &relativeCoord, const QString &description);


    void WPRenumber(WayPointItem *item, int const & newnumber);
    void SetShowCompass(bool const & value);
    void setOverlayOpacity(qreal value);

    UAVItem *UAV;
    GPSItem *GPS;
    HomeItem *Home;


    AltitudeItem *altitudeitem;

    void SetShowUAV(bool const & value);
    bool ShowUAV() const
    {
        return showuav;
    }
    void SetShowHome(bool const & value);
    bool ShowHome() const
    {
        return showhome;
    }
    void SetShowDiagnostics(bool const & value);
    void SetUavPic(QString UAVPic);
    WayPointLine *WPLineCreate(WayPointItem *from, WayPointItem *to, QColor color, bool dashed = false, int width = -1);
    WayPointLine *WPLineCreate(HomeItem *from, WayPointItem *to, QColor color, bool dashed = false, int width = -1);
    WayPointCircle *WPCircleCreate(WayPointItem *center, double radius, bool clockwise, QColor color, bool dashed = false, int width = -1);
    WayPointCircle *WPCircleCreate(HomeItem *center, double radius, bool clockwise, QColor color, bool dashed = false, int width = -1);
    void deleteAllOverlays();
    void WPSetVisibleAll(bool value);
    WayPointItem *magicWPCreate();
    bool WPPresent();



    WayPointItem *WPFind(int number);

    QList<WayPointItem *> WPSelected();
    void setSelectedWP(QList<WayPointItem *> list);
    void setSelectedWP(int number);
    void setSelectedWP(WayPointItem *item);


    bool WPLock() const
    {
        return isWPLock;
    }

    void setWPLock(bool const & lock);



    bool WPCreate() const
    {
        return isWPCreate;
    }

    void setWPCreate(bool const & value);


    void setUAVPos(int sysid,int compid,double x,double y,double z);
    void setUAVHeading(int sysid,int compid,float Heading);
    void DeleteTrail(void);




    double TotalDistance(void)
    {
        return totalDistance;
    }



private:
    internals::Core *core;
    MapGraphicItem *map;
    QGraphicsScene mscene;
    bool useOpenGL;
    GeoCoderStatusCode x;
    MapType y;
    core::AccessMode xx;
    internals::PointLatLng currentmouseposition;
    bool followmouse;
    void ConnectWP(WayPointItem *item);
    QGraphicsSvgItem *compass;
    bool showuav;
    bool showhome;
    QTimer *diagTimer;
    QGraphicsTextItem *diagGraphItem;
    bool showDiag;
    qreal overlayOpacity;

    bool isWPCreate;
    bool isWPLock;
    bool isLNOP = false;

    QString waypointMessage;

    double totalDistance = 0;


    QTimer *NoOperationTimer = nullptr;

    QMap<int,QMap<int,VirtualMargin *>> VirtualMarginPoints;//type index point
    QMap<int,QMap<int,VirtualMarginLine *>> VirtualMarginlinemapLines;//type index line



    QMap<int,VirtualMargin *> virtualmarginmap_red;
    QMap<int,VirtualMarginLine *> virtualmarginlinemap_red;

    QMap<int,VirtualMargin *> virtualmarginmap_orange;
    QMap<int,VirtualMarginLine *> virtualmarginlinemap_orange;

    QColor WarningColor = QColor("#F64034");
    QColor NoticeColor  = QColor("#F1B243");
    QColor Drop1Color   = QColor("#0000FF");
    QColor Drop2Color   = QColor("#0000FF");


private slots:
    void diagRefresh();
    // WayPointItem* item;//apagar

    void NOPTimeout();

protected:
    void resizeEvent(QResizeEvent *event);
    void showEvent(QShowEvent *event);
    void closeEvent(QCloseEvent *event);
    void mouseMoveEvent(QMouseEvent *event);
    void mouseDoubleClickEvent(QMouseEvent *event);
    void mousePressEvent(QMouseEvent *event);
    void mouseReleaseEvent(QMouseEvent *event);
    // private slots:
signals:
    void showMessage(const QString &message,int TimeOut = 0);

    //map property
    void MapTypes(QStringList list);


    void TotalDistanceUpdate(double);

    void WPNeedToUpdata(int number);

    void WPChanged(int Number,double Lat,double Lng);
    void EmitCurrentMousePosition(internals::PointLatLng);

    void zoomChanged(double zoomt, double zoom, double zoomd);

    void WPNumberChanged(int const & oldnumber, int const & newnumber, WayPointItem *waypoint);
    void WPValuesChanged(WayPointItem *waypoint);

    void WPReached(WayPointItem *waypoint);

    void WPCreated(int const & number, WayPointItem *waypoint);

    void WPInserted(int const & number, WayPointItem *waypoint);
    void WPDeleted(int const & number, WayPointItem *waypoint);

    void WPLocalPositionChanged(QPointF, WayPointItem *);
    void WPManualCoordChange(WayPointItem *);
    void UAVReachedWayPoint(int const & waypointnumber, WayPointItem *waypoint);
    void UAVLeftSafetyBouble(internals::PointLatLng const & position);
    void OnCurrentPositionChanged(internals::PointLatLng point);

    void OnTileLoadComplete();
    void OnTileLoadStart();
    void OnMapDrag();
    void OnMapZoomChanged();
    void OnMapTypeChanged(MapType::Types type);
    void OnEmptyTileError(int zoom, core::Point pos);

    void OnTilesStillToLoad(int number);
    void OnWayPointDoubleClicked(WayPointItem *waypoint);

    void selectedWPChanged(QList<WayPointItem *>);


    void MousePressEvent(QMouseEvent *event);
    void MouseReleaseEvent(QMouseEvent *event);
    void MouseDoubleClickEvent(QMouseEvent *event);


    void PointNumber(QList<int> nums);

    void setWPProperty(float param1,float param2,float param3,float param4,
                         int32_t x,int32_t y,float z,
                         uint16_t seq,
                         uint16_t group,
                         uint16_t command,
                         uint8_t target_system,
                         uint8_t target_component,
                         uint8_t frame,
                         uint8_t current,
                         uint8_t autocontinue,
                         uint8_t mission_type);

    void WPProperty(float param1,float param2,float param3,float param4,
                         int32_t x,int32_t y,float z,
                         uint16_t seq,
                         uint16_t group,
                         uint16_t command,
                         uint8_t target_system,
                         uint8_t target_component,
                         uint8_t frame,
                         uint8_t current,
                         uint8_t autocontinue,
                         uint8_t mission_type);

    void allPoint(QMap<int,int> list);



    void signal_WPDownload(uint8_t m_sysid, uint8_t m_compid);
    void signal_WPUpload(uint8_t m_sysid, uint8_t m_compid, uint32_t count);


    void transmitPoint(float param1,float param2,float param3,float param4,
                         int32_t x,int32_t y,float z,
                         uint16_t seq,
                         uint16_t group,
                         uint16_t command,
                         uint8_t target_system,
                         uint8_t target_component,
                         uint8_t frame,
                         uint8_t current,
                         uint8_t autocontinue,
                         uint8_t mission_type);



    void uav_selected(int sys,int comp);


    void setCurrent(int seq);


public slots:

    void report(QString path);

    void find_PointNumber();

    void updateMessage(void);

    void addUAV(int sysid, int compid);



    void getMapTypes(void);
    void setMapTypes(QVariant value);

    void AddVirtualMargin(int type, int index, double lat, double lng, double alt, QColor color);
    void CloseVirtualMargin(int type);
    void RemoveVirtualMargin(int type);
    void FlushVirtualMargin(int type);

    void ElevationChanged(int seq,double value);
    void AltitudeChanged(int seq,double value);
    void setCurrentPoint(int value);


    void receivedPoint(float param1,float param2,float param3,float param4,
                         int32_t x,int32_t y,float z,
                         uint16_t seq,
                         uint16_t group,
                         uint16_t command,
                         uint8_t target_system,
                         uint8_t target_component,
                         uint8_t frame,
                         uint8_t current,
                         uint8_t autocontinue,
                         uint8_t mission_type);


    void WPLineDelete(WayPointItem *from, WayPointItem *to);
    WayPointLine *WPLineFind(WayPointItem *from, WayPointItem *to);


    void WPDelete(WayPointItem *item);
    void WPDelete(int number);
    void WPDeleteAll();

    void WPInsert(int const & position);
    void WPInsert(WayPointItem *item, int const & position);
    WayPointItem *WPInsert(internals::PointLatLng const & coord, int const & altitude, int const & position);
    WayPointItem *WPInsert(internals::PointLatLng const & coord, int const & altitude, QString const & description, int const & position);
    WayPointItem *WPInsert(const distBearingAltitude &relative, const QString &description, const int &position);

   void  WPLocalChanged(QPointF p, WayPointItem *w);

    void WPFollowPrevious(bool flag,WayPointItem *waypoint);

    void WPSetCurrent(int seq);


    void WPLoad(QString path);
    void WPSave(QString path);
    void WPDownload(void);
    void WPUpload(void);


    void WPotherPoint(int number);

    void WPsearchall(void);

    void WPSendItemOK(uint16_t seq,bool flag);

    void RipMap();
    void OnSelectionChanged();
};
}
#endif // OPMAPWIDGET_H