#ifndef PROPERTYUI_H
#define PROPERTYUI_H

#include <QWidget>
#include "QFile"
#include "QJsonArray"
#include "QJsonDocument"
#include "QJsonObject"
#include "QJsonParseError"

#include "QQuickWidget"
#include "QQuickView"
#include "QtQml"

#include "qqml.h"
#include "QQmlEngine"

#include "QDebug"
#include "mavlink.h"
#include "JsonHelper.h"

#include "QComboBox"
#include "QLineEdit"
#include "QLabel"
#include "QHBoxLayout"
#include "QVBoxLayout"
#include "QGridLayout"

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

#include "QFileDialog"


#include "QtQmlDepends"

#include "MissionUI.h"
#include "ruledialog.h"


#ifdef QtopmapWidget
#include <mapwidgetglobal.h>
class OPMAPWIDGETSHARED_EXPORT MissionCmdParamInfo : public QObject {
#else
class MissionCmdParamInfo : public QObject {
#endif
    Q_OBJECT

public:
    MissionCmdParamInfo(QObject* parent = nullptr);

    MissionCmdParamInfo(const MissionCmdParamInfo& other, QObject* parent = nullptr);
    const MissionCmdParamInfo& operator=(const MissionCmdParamInfo& other);

    Q_PROPERTY(int          decimalPlaces   READ decimalPlaces  CONSTANT)
    Q_PROPERTY(double       defaultValue    READ defaultValue   CONSTANT)
    Q_PROPERTY(QStringList  enumStrings     READ enumStrings    CONSTANT)
    Q_PROPERTY(QVariantList enumValues      READ enumValues     CONSTANT)
    Q_PROPERTY(QString      label           READ label          CONSTANT)
    Q_PROPERTY(int          param           READ param          CONSTANT)
    Q_PROPERTY(QString      units           READ units          CONSTANT)
    Q_PROPERTY(bool         nanUnchanged    READ nanUnchanged   CONSTANT)

    int             decimalPlaces   (void) const { return _decimalPlaces; }
    double          defaultValue    (void) const { return _defaultValue; }
    QStringList     enumStrings     (void) const { return _enumStrings; }
    QVariantList    enumValues      (void) const { return _enumValues; }
    QString         label           (void) const { return _label; }
    int             param           (void) const { return _param; }
    QString         units           (void) const { return _units; }
    bool            nanUnchanged    (void) const { return _nanUnchanged; }

private:
    int             _decimalPlaces;
    double          _defaultValue;
    QStringList     _enumStrings;
    QVariantList    _enumValues;
    QString         _label;
    int             _param;
    QString         _units;
    bool            _nanUnchanged;

    friend class propertyui;
};


#ifdef QtopmapWidget
#include <mapwidgetglobal.h>
class OPMAPWIDGETSHARED_EXPORT FrameType : public QObject {
#else
class FrameType : public QObject {
#endif
    Q_OBJECT Q_ENUMS(Types)
public:
    enum Types {
        MAV_FRAME_GLOBAL=0, /* Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL). | */
        MAV_FRAME_LOCAL_NED=1, /* Local coordinate frame, Z-down (x: north, y: east, z: down). | */
        MAV_FRAME_MISSION=2, /* NOT a coordinate frame, indicates a mission command. | */
        MAV_FRAME_GLOBAL_RELATIVE_ALT=3, /* Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location. | */
        MAV_FRAME_LOCAL_ENU=4, /* Local coordinate frame, Z-up (x: east, y: north, z: up). | */
        MAV_FRAME_GLOBAL_INT=5, /* Global coordinate frame, WGS84 coordinate system. First value / x: latitude in degrees*1.0e-7, second value / y: longitude in degrees*1.0e-7, third value / z: positive altitude over mean sea level (MSL). | */
        MAV_FRAME_GLOBAL_RELATIVE_ALT_INT=6, /* Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude with 0 being at the altitude of the home location. | */
        MAV_FRAME_LOCAL_OFFSET_NED=7, /* Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position. | */
        MAV_FRAME_BODY_NED=8, /* Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right. | */
        MAV_FRAME_BODY_OFFSET_NED=9, /* Offset in body NED frame. This makes sense if adding setpoints to the current flight path, to avoid an obstacle - e.g. useful to command 2 m/s^2 acceleration to the east. | */
        MAV_FRAME_GLOBAL_TERRAIN_ALT=10, /* Global (WGS84) coordinate frame with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model. | */
        MAV_FRAME_GLOBAL_TERRAIN_ALT_INT=11, /* Global (WGS84) coordinate frame with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude in meters with 0 being at ground level in terrain model. | */
        MAV_FRAME_BODY_FRD=12, /* Body fixed frame of reference, Z-down (x: forward, y: right, z: down). | */
        MAV_FRAME_BODY_FLU=13, /* Body fixed frame of reference, Z-up (x: forward, y: left, z: up). | */
        MAV_FRAME_MOCAP_NED=14, /* Odometry local coordinate frame of data given by a motion capture system, Z-down (x: north, y: east, z: down). | */
        MAV_FRAME_MOCAP_ENU=15, /* Odometry local coordinate frame of data given by a motion capture system, Z-up (x: east, y: north, z: up). | */
        MAV_FRAME_VISION_NED=16, /* Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down). | */
        MAV_FRAME_VISION_ENU=17, /* Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: east, y: north, z: up). | */
        MAV_FRAME_ESTIM_NED=18, /* Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down). | */
        MAV_FRAME_ESTIM_ENU=19, /* Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: east, y: noth, z: up). | */
        MAV_FRAME_ENUM_END=20, /*  | */
    };
    static QString StrByType(int const & value)
    {
        QMetaObject metaObject = FrameType().staticMetaObject;
        QMetaEnum metaEnum     = metaObject.enumerator(metaObject.indexOfEnumerator("Types"));
        QString s = metaEnum.valueToKey(value);

        return s;
    }
    static Types TypeByStr(QString const & value)
    {
        QMetaObject metaObject = FrameType().staticMetaObject;
        QMetaEnum metaEnum     = metaObject.enumerator(metaObject.indexOfEnumerator("Types"));
        Types s = (Types)metaEnum.keyToValue(value.toLatin1());

        return s;
    }
    static QStringList TypesList()
    {
        QStringList ret;
        QMetaObject metaObject = FrameType().staticMetaObject;
        QMetaEnum metaEnum     = metaObject.enumerator(metaObject.indexOfEnumerator("Types"));

        for (int x = 0; x < metaEnum.keyCount(); ++x) {
            ret.append(metaEnum.key(x));
        }
        return ret;
    }

    friend class propertyui;

};



//#include "waypointitem.h"


#ifdef QtopmapWidget
#include <mapwidgetglobal.h>
namespace Ui {
class OPMAPWIDGETSHARED_EXPORT propertyui;
}

class OPMAPWIDGETSHARED_EXPORT propertyui : public QWidget{
#else

namespace Ui {
class propertyui;
}

class propertyui : public QWidget{
#endif
    Q_OBJECT

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


    Q_PROPERTY(QString  category                READ category               CONSTANT)
    Q_PROPERTY(QString  description             READ description            CONSTANT)
    Q_PROPERTY(bool     friendlyEdit            READ friendlyEdit           CONSTANT)
    Q_PROPERTY(QString  friendlyName            READ friendlyName           CONSTANT)
    Q_PROPERTY(QString  rawName                 READ rawName                CONSTANT)
    Q_PROPERTY(bool     isStandaloneCoordinate  READ isStandaloneCoordinate CONSTANT)
    Q_PROPERTY(bool     specifiesCoordinate     READ specifiesCoordinate    CONSTANT)
    Q_PROPERTY(bool     specifiesAltitudeOnly   READ specifiesAltitudeOnly  CONSTANT)
    Q_PROPERTY(int      command                 READ intCommand             CONSTANT)

    MAV_CMD command(void) const { return _command; }
    int     intCommand(void) const { return (int)_command; }

    QString category                (void) const;
    QString description             (void) const;
    bool    friendlyEdit            (void) const;
    QString friendlyName            (void) const;
    QString rawName                 (void) const;
    bool    isStandaloneCoordinate  (void) const;
    bool    specifiesCoordinate     (void) const;
    bool    specifiesAltitudeOnly   (void) const;

    void _loadMavCmdInfoJson(const QString& jsonFilename, bool baseCommandList);
    bool loadJsonInfo(const QJsonObject& jsonObject, bool requireFullObject, QString& errorString);

public slots:

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

    void setWayPointProperty(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 measureState(bool flag);

    void closeMissionDialog(bool flag);

Q_SIGNALS:

    void WayPointPropertyChanged(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 WPnearPoint(int dir);
    void WPotherPoint(int seq);
    void WPInsert();
    void WPDelete();
    void WPDeleteAll(void);
    void WPAdd(void);


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

    void searchall(void);

    void WPGroup(int group);

    void settableGroup(int);

    void getAllPoints(int group);

   // void ruler_clicked();


    void createFenceCircle(int,qreal radius, bool inclusion, qreal lat, qreal lng);
    void createFencePolygon(int,qreal vertex,bool inclusion,QList<QPointF> latlng);

    void setFenceCircle(int group,qreal radius, bool inclusion, qreal lat, qreal lng);
    void setFencePolygon(int group,qreal vertex,bool inclusion,QList<QPointF> latlng);

    void updateFenceCircle(int group,qreal radius, bool inclusion, qreal lat, qreal lng);
    void updateFencePolygon(int group,qreal vertex,bool inclusion,QList<QPointF> latlng);

    void addCircle();
    void addPolygon();
    void delFence(int group);

    void currentPointSeleted(int group,int point);
    void getCurrentPoint(int group);

    void FenceGroupChanged(int old,int cur);

    void clearTable();


    void GetPoint(quint8);
    void exitRuler();

    void mousePosition(qreal lat,qreal lng);

    void MeasurePosition(int num,qreal lat,qreal lng);

    void Lineinfo(qreal dis,qreal bearing);
    void valuechanged(int num,qreal value);

private slots:

    void GroupChanged(int value);
    void waypointSelect(int group,int idx);

    void setSeqNav(QVariant value);
    void setFriendlyName(QVariant value);
    void setAltType(QVariant value);
    void setAltitude(QVariant value);
    void setGroup(QVariant value);
    void setLatitude(QVariant value);

    void setLongitude(QVariant value);
    void setParam1(QVariant value);
    void setParam2(QVariant value);
    void setParam3(QVariant value);
    void setParam4(QVariant value);
    void setParam5(QVariant value);
    void setParam6(QVariant value);
    void setParam7(QVariant value);

    void setLoad(QVariant value);

    void WayPointPropertyUpdate(bool flag);

    void on_pushButton_friendlyName_clicked();

    void on_pushButton_Alt_clicked();

    void on_pushButton_Param1_clicked();

    void on_pushButton_Param2_clicked();

    void on_pushButton_Param3_clicked();

    void on_pushButton_Param4_clicked();

    void on_pushButton_Param5_clicked();

    void on_pushButton_Param6_clicked();

    void on_pushButton_Param7_clicked();

    void on_pushButton_Previous_clicked();

    void on_pushButton_Next_clicked();

    void on_pushButton_Insert_clicked();

    void on_pushButton_Delete_clicked();

    void on_pushButton_Upload_clicked();

    void on_pushButton_Download_clicked();

    void on_pushButton_Load_clicked();

    void on_pushButton_Save_clicked();

    void on_pushButton_Seq_clicked();

    void on_pushButton_AltType_clicked();

    void on_pushButton_Lat_clicked();

    void on_pushButton_Lng_clicked();

    void on_pushButton_Group_clicked();

    void on_pushButton_Ruler_clicked();

    void on_pushButton_Table_clicked();

private:
    QString _loadErrorString(const QString& errorString) const;
    bool _infoAvailable(const QString& key) const { return _infoMap.contains(key); }
    const QVariant _infoValue(const QString& key) const { return _infoMap[key]; }
    void _setInfoValue(const QString& key, const QVariant& value) { _infoMap[key] = value; }
    void _overrideInfo(propertyui* uiInfo);

    void rebuildUI(QString CMD);
    void clearLayout(QLayout *layout);

private:

    MAV_CMD                         _command;
    QMap<QString, QVariant>         _infoMap;//一个
    QMap<int, MissionCmdParamInfo*> _paramInfoMap;//一个
    QList<int>                      _paramRemoveList;

    static const char* _categoryJsonKey;
    static const char* _decimalPlacesJsonKey;
    static const char* _defaultJsonKey;
    static const char* _descriptionJsonKey;
    static const char* _enumStringsJsonKey;
    static const char* _enumValuesJsonKey;
    static const char* _nanUnchangedJsonKey;
    static const char* _friendlyNameJsonKey;
    static const char* _friendlyEditJsonKey;
    static const char* _idJsonKey;
    static const char* _labelJsonKey;
    static const char* _mavCmdInfoJsonKey;
    static const char* _param1JsonKey;
    static const char* _param2JsonKey;
    static const char* _param3JsonKey;
    static const char* _param4JsonKey;
    static const char* _param5JsonKey;
    static const char* _param6JsonKey;
    static const char* _param7JsonKey;
    static const char* _paramJsonKeyFormat;
    static const char* _paramRemoveJsonKey;
    static const char* _rawNameJsonKey;
    static const char* _standaloneCoordinateJsonKey;
    static const char* _specifiesCoordinateJsonKey;
    static const char* _specifiesAltitudeOnlyJsonKey;
    static const char* _unitsJsonKey;
    static const char* _commentJsonKey;
    static const char* _advancedCategory;
    static const char* _versionJsonKey;

    Ui::propertyui *ui;

    MissionUI *table = nullptr;
    RuleDialog *ruler = nullptr;


    QByteArray allBytes;
    QJsonArray MAV_CMD_infoArray;


    bool isShowDetails = false;


    //因为无法使用其他类定义的东西，因此这里自己定义
    float m_param1;
    float m_param2;
    float m_param3;
    float m_param4;
    int32_t m_x;
    int32_t m_y;
    float m_z;
    uint16_t m_seq;
    uint16_t m_group;
    uint16_t m_command;
    uint8_t m_target_system;
    uint8_t m_target_component;
    uint8_t m_frame;
    uint8_t m_current;
    uint8_t m_autocontinue;
    uint8_t m_mission_type;

    QString param1_type = "QComboBox";
    QString param2_type = "QComboBox";
    QString param3_type = "QComboBox";
    QString param4_type = "QComboBox";
    QString param5_type = "QLineEdit";
    QString param6_type = "QLineEdit";
    QString param7_type = "QLineEdit";

    int missionGroups = 3;


    QMap<int,QVector<QString>> allPoint;//所有航点

};

#endif // PROPERTYUI_H