#ifndef PARAMETERINSPECTOR_H
#define PARAMETERINSPECTOR_H

#include <QWidget>

#include <QObject>
#include <QWidget>
#include "QThread"
#include "QPushButton"
#include "QTreeView"
#include "QDebug"
#include <QTreeWidgetItemIterator>
#include "QMap"
#include <QList>
#include "QStandardItemModel"
#include "QTimer"
#include "QKeyEvent"
#include "QFile"
#include "QDir"
#include "QFileDialog"

#include "QDateTime"

#include "mavlink.h"
#include "mavlink_get_info.h"

#include "QHeaderView"

#include "QTreeWidgetItem"



#include "multiselector.h"
#include "Selector.h"
#include "Inputter.h"
#include "CharInputter.h"


#ifdef QtMavlinkNode
#include <mavlinknodeglobal.h>
namespace Ui {
class ParameterInspector;
}

class MAVLINKNODESHARED_EXPORT ParameterInspector : public QWidget{
#else
namespace Ui {
class ParameterInspector;
}

class ParameterInspector : public QWidget
{
#endif


    Q_OBJECT

public:
    explicit ParameterInspector(QWidget *parent = nullptr);
    ~ParameterInspector();

    void resizeEvent(QResizeEvent * event);


    const QHash<int, QString> _mavlinkCompIdHash {
        { MAV_COMP_ID_CAMERA,   "Camera1" },
        { MAV_COMP_ID_CAMERA2,  "Camera2" },
        { MAV_COMP_ID_CAMERA3,  "Camera3" },
        { MAV_COMP_ID_CAMERA4,  "Camera4" },
        { MAV_COMP_ID_CAMERA5,  "Camera5" },
        { MAV_COMP_ID_CAMERA6,  "Camera6" },
        { MAV_COMP_ID_SERVO1,   "Servo1" },
        { MAV_COMP_ID_SERVO2,   "Servo2" },
        { MAV_COMP_ID_SERVO3,   "Servo3" },
        { MAV_COMP_ID_SERVO4,   "Servo4" },
        { MAV_COMP_ID_SERVO5,   "Servo5" },
        { MAV_COMP_ID_SERVO6,   "Servo6" },
        { MAV_COMP_ID_SERVO7,   "Servo7" },
        { MAV_COMP_ID_SERVO8,   "Servo8" },
        { MAV_COMP_ID_SERVO9,   "Servo9" },
        { MAV_COMP_ID_SERVO10,  "Servo10" },
        { MAV_COMP_ID_SERVO11,  "Servo11" },
        { MAV_COMP_ID_SERVO12,  "Servo12" },
        { MAV_COMP_ID_SERVO13,  "Servo13" },
        { MAV_COMP_ID_SERVO14,  "Servo14" },
        { MAV_COMP_ID_GIMBAL,   "Gimbal1" },
        { MAV_COMP_ID_ADSB,     "ADSB" },
        { MAV_COMP_ID_OSD,      "OSD" },
        { MAV_COMP_ID_FLARM,    "FLARM" },
        { MAV_COMP_ID_IMU,      "IMU1" },
        { MAV_COMP_ID_IMU_2,    "IMU2" },
        { MAV_COMP_ID_IMU_3,    "IMU3" },
        { MAV_COMP_ID_GPS,      "GPS1" },
        { MAV_COMP_ID_GPS2,     "GPS2" }
    };


    typedef struct{
        char name[16];
        union{
            double *d;
            float *s;
            uint32_t *I;
            int32_t *i;
            uint16_t *H;
            int16_t *h;
            uint8_t *B;
            int8_t *b;
        } val_ptr;
        MAV_PARAM_TYPE typ;
    } _param_props;

    _param_props param_props;


    void refreshView();


signals:

    void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);

    void WriteCmd(uint8_t m_sysid, uint8_t m_compid , const char *id, uint8_t type, float value);

public slots:

    void addVehicles(int sysid, int compid);
    void appendParameter(mavlink_message_t msg);




protected:
    void keyPressEvent(QKeyEvent *event);
    void keyReleaseEvent(QKeyEvent *event);


private slots:

    void ParamsEncode(QString fileName);
    void ParamsDecode(QString fileName);

    void mReflush();

    void clearview(void);


    void on_ReadButton_clicked();

    void on_treeWidget_itemDoubleClicked(QTreeWidgetItem *item, int column);

    void on_clearButton_clicked();


    QVariant param_value(mavlink_param_value_t param);

    float param_getvalue(QVariant param,uint8_t type);

    QVariant param_type(mavlink_param_value_t param);

    uint8_t param_gettype(QVariant type);

    char* param_id(char *id);



    //==================================

    void setsystem(QVariant vehicle);

    void setvalue(QVariant value);




    //==================================
    void on_WriteButton_clicked();

    void on_CancelpushButton_clicked();

    void on_pushButton_system_clicked();

    void on_pushButton_value_clicked();

    void on_pushButton_Save_clicked();

    void on_pushButton_Load_clicked();

private:


    QString parentItem;
    uint8_t currentSelectType;

    //char * S



    bool TimerRunningFlag = false;
    bool isReflush = false;
    uint16_t currentpersent;




    int selectedSystemID;      ///< Currently selected system
    int selectedComponentID;   ///< Currently selected component
    QMap<int, int> systems;    ///< Already observed systems
    QMap<int, int> components; ///< Already observed components







    QMap<int, QTreeWidgetItem* > uasTopLevelItems;
    //QMap<int, QTreeWidgetItem* > uasTreeWidgetItems; ///< Tree of available uas with their widget



    QMap<int, QMap<int, QTreeWidgetItem*>> uasParamTreeItems; ///< Stores the widget of the received parameter for each UAS

    QMap<int,QMap<int,mavlink_param_value_t>> vehicles;


    Ui::ParameterInspector *ui;


    QTimer *flushTimer = nullptr;

    bool isNew = true;

    QString fineItem;



};
#endif // PARAMETERINSPECTOR_H