// %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:   GuiInterface.cpp
//
//  authors:    Thomas Fuhrmann
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Create the GUI and give an abstract interface to it
//
//
/*********************************************************************/

#include "GuiInterface.h"

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

#include <Tab.h>
#include <TabWidget.h>
#include <DoubleSpinBox.h>
#include <PushButton.h>
#include <GroupBox.h>
#include <ListWidget.h>

#include <string>
#include <sstream>

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

GuiInterface::GuiInterface(const FrameworkManager *parent, string name)
                  : Thread(parent, name, 6),
                  mainTab(new Tab(parent->GetTabWidget(), name)) {

  tabWidget = new TabWidget(mainTab->NewRow(), name);

  // Main tab
  Tab* settingsTab = new Tab(tabWidget, "Settings");
  
  // Controls group
  controlsGroupBox = new GroupBox(settingsTab->NewRow(), "Controls");
  btnInitialize = new PushButton(controlsGroupBox->LastRowLastCol(), "Initialize");
  btnStartMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Start mission");
  btnStopMission = new PushButton(controlsGroupBox->LastRowLastCol(), "Stop mission");
  btnKill = new PushButton(controlsGroupBox->LastRowLastCol(), "Kill");

  // Add wpt group
  addWptGroupBox = new GroupBox(settingsTab->NewRow(), "Add waypoint");
  latField = new DoubleSpinBox(addWptGroupBox->NewRow(), "Latitude",
                                -90, 90, 0.001, 3, 3);
  lonField = new DoubleSpinBox(addWptGroupBox->LastRowLastCol(), "Longitude",
                                -180, 180, 0.001, 3, 3);
  btnAddMissionWpt = new PushButton(addWptGroupBox->NewRow(), "Add mission wpt");
  btnAddEntranceWpt = new PushButton(addWptGroupBox->LastRowLastCol(), "Add entrance wpt");
  btnAddExitWpt = new PushButton(addWptGroupBox->LastRowLastCol(), "Add exit wpt");

  // Show wpt group
  showWptGroupBox = new GroupBox(settingsTab->NewRow(), "Show waypoints");
  listMissionWpt = new ListWidget(showWptGroupBox->NewRow(), "Mission wpt");
  listEntranceWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Entrance wpt");
  listExitWpt = new ListWidget(showWptGroupBox->LastRowLastCol(), "Exit wpt");
  btnRemoveMissionWpt = new PushButton(showWptGroupBox->NewRow(), "Remove mission wpt");
  btnRemoveEntranceWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove entrance wpt");
  btnRemoveExitWpt = new PushButton(showWptGroupBox->LastRowLastCol(), "Remove exit wpt");

  // Action wpt group
  actionWptGroupBox = new GroupBox(settingsTab->NewRow(), "Action");
  btnSendWpt = new PushButton(actionWptGroupBox->NewRow(), "Send wpt");
  btnClearWpt = new PushButton(actionWptGroupBox->LastRowLastCol(), "Clear wpt");
  btnLoop = new PushButton(actionWptGroupBox->LastRowLastCol(), "Loop");

  //TODO IP & PORT from config.h file
  sendSocket = new Socket((Thread *)this, "send socket", "127.0.0.1:5000");
}

GuiInterface::~GuiInterface() {
}

void GuiInterface::Run() {
  Thread::Info("Debug: enter MavPlanner acquisition loop\n");

  if (getFrameworkManager()->ErrorOccured()) {
    SafeStop();
    Thread::Err("An error occurred, we don't launch the Run loop.\n");
  }

  while (!ToBeStopped()) {
    // TODO : time from config.h
    Thread::SleepMS(500);
    // Buttons to control GUI
  	if (btnAddMissionWpt->Clicked()) {
  		listMissionWpt->AddItem(GetWptLatLon());
    }
  	if (btnAddEntranceWpt->Clicked()) {
  		listEntranceWpt->AddItem(GetWptLatLon());
    }
  	if (btnAddExitWpt->Clicked()) {
  		listExitWpt->AddItem(GetWptLatLon());
    }
    if (btnRemoveMissionWpt->Clicked()) {
      listMissionWpt->RemoveItem();
    }
    if (btnRemoveEntranceWpt->Clicked()) {
      listEntranceWpt->RemoveItem();
    }
    if (btnRemoveExitWpt->Clicked()) {
      listExitWpt->RemoveItem();
    }
    // Buttons to send commands
  	if (btnInitialize->Clicked()) {
  		MissionInitialize();
    }
  	if (btnStartMission->Clicked()) {
  		MissionStart();
    }
  	if (btnStopMission->Clicked()) {
  		MissionStop();
    }
  	if (btnKill->Clicked()) {
  		MissionKill();
    }
    if (btnSendWpt->Clicked()) {
  		WptSend();
    }
  	if (btnClearWpt->Clicked()) {
  		WptClear();
    }
  	if (btnLoop->Clicked()) {
  		WptLoopSend();
    }
  }
}

std::string GuiInterface::GetWptLatLon() {
  std::ostringstream stringStream;
  stringStream.precision(3);
  stringStream << fixed;
  stringStream << latField->Value() << " - " << lonField->Value();
  return stringStream.str();
}