#ifndef MISSIONUI_H
#define MISSIONUI_H

#include <QWidget>

#include "Inputter.h"
#include "Selector.h"
#include "QComboBox"
#include "QLineEdit"
#include "QTableWidget"
#include "QFileDialog"

#include "CustomButton.h"
#include "QSpacerItem"

namespace Ui {
class MissionUI;
}

class MissionUI : public QWidget
{
    Q_OBJECT

public:

    QMap<int,QString> commandtext = {
        {16,tr("waypoint")},
        {20,tr("return")},
        {21,tr("landing")},
        {22,tr("takeoff")},
    };

    QMap<int,QString> waypointtext = {
        {-2,tr("hold")},
        {-1,tr("hold")},
        {0,tr("hold")},
        {1,tr("ias")},
        {2,tr("qclimb")},
    };




    explicit MissionUI(QWidget *parent = nullptr);
    ~MissionUI();


public slots:
    void pointCreate(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 pointDelete(int idx);


    void setCurrent(int group,int idx);

    void settableGroup(int group);

    void createFenceCircle(int group,qreal radius, bool inclusion, qreal lat, qreal lng);
    void createFencePolygon(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 currentPointSeleted(int group,int point);

    void FenceGroupChanged(int old,int cur);

    void clearTable();
    /**
     * @brief 删除指定航线中的所有航点信息
     * @param air_route 指定航线
     */
    void clearAirRouteInfo(int air_route);


protected slots:
   void closeEvent(QCloseEvent *event);
   void resizeEvent(QResizeEvent *event);
   /**
    * @brief 事件过滤器,用来处理航点参数cmmand的combobox失去焦点后自动删除
    * @param obj
    * @param event
    * @return
    */
   bool eventFilter(QObject *obj, QEvent *event) override;


private slots:
   void itemSelectionChanged();

   void itemClicked(QTableWidgetItem *item);
   void itemDoubleClicked(QTableWidgetItem *item);

signals:
   /**
    * @brief 表格中QComboBox失去焦点，发出信号
    */
   void comboBoxFocusOut();

   void setCommand(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 WPnearPoint(int dir);
   void WPotherPoint(int seq);


   void WPSave(QString path);
   void WPLoad(QString path);
   void WPUpload(void);
   void WPDownload(void);
   void WPInsert(void);
   void WPDelete(void);
   void WPDeleteAll(void);
   void WPAdd(void);

   void groupChanged(int);

   void waypointSelect(int group,int idx);


   void getAllPoints(int group);//读取一下所有的航点

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


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

   void getCurrentPoint(int group);

private:
    Ui::MissionUI *ui;

    QMap<int,QTableWidget *> tablelist;


    QTableWidget *opwidget;
    QTableWidgetItem *opitem;

};

#endif // MISSIONUI_H