// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2016/09/02
//  filename:   GuiGcs.h
//
//  authors:    Thomas Fuhrmann
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Implementation of GuiInterface, using sockets
//
//
/*********************************************************************/

#include "GuiGcs.h"
#include "GuiInterface.h"

#include <Socket.h>
#include <FrameworkManager.h>

#include "MavlinkUDP.h"

#include <ListWidget.h>

//todo remove for tests
#include <iostream>

using namespace std;
using namespace flair::core;
using namespace flair::gui;

GuiGcs::GuiGcs(const FrameworkManager *parent, string name,
  		 	   std::string &outputAddress, int outputPort):
			   GuiInterface(parent, name) {
  cout << "MavPlanner GuiGcs constructor" << endl;
  //outputSocket = new Socket((Thread *)this, "output socket", outputAddress + ":" + to_string(outputPort));

  mavCom = new MavlinkUDP(outputAddress, outputPort);
  if (mavCom) {
    // mavCom->startThreads();    
  } else {
    //TODO handle the error
  }
  
}

GuiGcs::~GuiGcs() {
  if (mavCom) {
    mavCom->stopThreads();
    delete mavCom;
  }
}

void GuiGcs::MissionStart() {
  cout << "MavPlanner GuiGcs MissionStart" << endl;
  outputSocket->SendMessage("MavPlanner GuiGcs MissionStart");
}

void GuiGcs::MissionStop() {
  cout << "MavPlanner GuiGcs MissionStop" << endl;
  outputSocket->SendMessage("MavPlanner GuiGcs MissionStop");
}

void GuiGcs::MissionResume() {
  cout << "MavPlanner GuiGcs MissionResume" << endl;
  outputSocket->SendMessage("MavPlanner GuiGcs MissionResume");
}

void GuiGcs::MissionSend() {
  cout << "MavPlanner GuiGcs MissionSend" << endl;


  // upload a flight plan
  cout << "---------------\n";
  cout << "Flight planning \n";
  cout << "---------------\n";

  // get the list of commands to send
  std::vector<std::string> missionCommandList = listMissionItems->GetItemList();

  // reset all the previous waypoints
  mavCom->sendMissionClearAll(mavCom->target.getSysID(), mavCom->target.getCompID());

  cout << "[INFO] Mission write partial list.\n";
  // write partial list, takeoff + 4 waypoints + land
  mavCom->sendMissionWritePartialList(mavCom->target.getSysID(),mavCom->target.getCompID(), 0, missionCommandList.size());
  mavCom->waitMissionAck(ACK_TIMEOUT);

  // sending mission items
  cout << "[INFO] Mission items.\n";
  std::string delimiter = "|";
  for (auto &missionCommand : missionCommandList) {
    cout << "[INFO] Mission item : " << missionCommand << "\n";
    // Parse command
    std::string command = missionCommand.substr(0, missionCommand.find(delimiter));
    missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
    // Parse param1
    float param1 = std::stof(missionCommand.substr(0, missionCommand.find(delimiter)));
    missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
    // Parse param2
    float param2 = std::stof(missionCommand.substr(0, missionCommand.find(delimiter)));
    missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
    // Parse param3
    float param3 = std::stof(missionCommand.substr(0, missionCommand.find(delimiter)));
    // cout << "[INFO] Mission item commands : " << command << ", " << param1 << ", " << param2 << ", " << param3 << std::endl;
    mavCom->sendMissionItem(mavCom->target.getSysID(), mavCom->target.getCompID(), 0, MAV_FRAME_GLOBAL_RELATIVE_ALT, MavCommandGet(command), 0, 1, 0, 0, 0, 0, param1, param2, param3);
    mavCom->waitMissionAck(ACK_TIMEOUT);
  }

  cout << "[INFO] Check mission item list.\n";
  // mission request list (to check)
  mavCom->sendMissionRequestList(mavCom->target.getSysID(), mavCom->target.getCompID());
  //mavCom.waitMissionCount(ACK_TIMEOUT);

  cout << "----------------\n";
  cout << "Flight plan sent \n";
  cout << "----------------\n";
}

uint16_t GuiGcs::MavCommandGet(const std::string& command) const {
  uint16_t returnValue = -1;
  if (command == "WAYPOINT") {
    returnValue = MAV_CMD_NAV_WAYPOINT;
  }
  if (command == "TAKEOFF") {
    returnValue = MAV_CMD_NAV_TAKEOFF;
  }
  if (command == "LAND") {
    returnValue = MAV_CMD_NAV_LAND;
  }
  if (command == "RETURN") {
    returnValue = MAV_CMD_NAV_RETURN_TO_LAUNCH;
  }
  if (command == "JUMP") {
    returnValue = MAV_CMD_DO_JUMP;
  }
  return returnValue;
}