/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

This file is part of the QGROUNDCONTROL project

    QGROUNDCONTROL is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    QGROUNDCONTROL is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

======================================================================*/

import QtQuick                  2.4
import QtQuick.Controls         1.3
import QtQuick.Controls.Styles  1.2
import QtQuick.Dialogs          1.2
import QtLocation               5.3
import QtPositioning            5.2

import QGroundControl               1.0
import QGroundControl.ScreenTools   1.0
import QGroundControl.Controls      1.0
import QGroundControl.Palette       1.0
import QGroundControl.Vehicle       1.0
import QGroundControl.FlightMap     1.0

Item {
    id: _root

    property alias guidedModeBar: _guidedModeBar

    property var    _activeVehicle:         QGroundControl.multiVehicleManager.activeVehicle
    property bool   _isSatellite:           _mainIsMap ? (_flightMap ? _flightMap.isSatelliteMap : true) : true
    property bool   _lightWidgetBorders:    _mainIsMap ? (_flightMap ? _flightMap.isSatelliteMap : true) : true

    readonly property real _margins: ScreenTools.defaultFontPixelHeight / 2

    QGCMapPalette { id: mapPal; lightColors: !isBackgroundDark }
    QGCPalette { id: qgcPal }

    function getGadgetWidth() {
        if(ScreenTools.isMobile) {
            if(ScreenTools.isTinyScreen)
                return mainWindow.width * 0.2
            return mainWindow.width * 0.15
        }
        var w = mainWindow.width * 0.15
        return Math.min(w, 200)
    }

    ExclusiveGroup {
        id: _dropButtonsExclusiveGroup
    }

    //-- Map warnings
    Column {
        anchors.horizontalCenter:   parent.horizontalCenter
        anchors.verticalCenter:     parent.verticalCenter
        spacing:                    ScreenTools.defaultFontPixelHeight

        QGCLabel {
            anchors.horizontalCenter:   parent.horizontalCenter
            visible:                    _activeVehicle && !_activeVehicle.coordinateValid && _mainIsMap
            z:                          QGroundControl.zOrderTopMost
            color:                      mapPal.text
            font.pixelSize:             ScreenTools.largeFontPixelSize
            text:                       "No GPS Lock for Vehicle"
        }

        QGCLabel {
            anchors.horizontalCenter:   parent.horizontalCenter
            visible:                    _activeVehicle && !_activeVehicle.coordinateValid
            z:                          QGroundControl.zOrderTopMost
            color:                      mapPal.text
            font.pixelSize:             ScreenTools.largeFontPixelSize
            text:                       _activeVehicle ? _activeVehicle.prearmError : ""
        }
    }

    //-- Dismiss Drop Down (if any)
    MouseArea {
        anchors.fill:   parent
        enabled:        _dropButtonsExclusiveGroup.current != null
        onClicked: {
            if(_dropButtonsExclusiveGroup.current)
                _dropButtonsExclusiveGroup.current.checked = false
            _dropButtonsExclusiveGroup.current = null
        }
    }

    //-- Instrument Panel
    QGCInstrumentWidget {
        id:                     instrumentGadget
        anchors.margins:        ScreenTools.defaultFontPixelHeight / 2
        anchors.right:          altitudeSlider.visible ? altitudeSlider.left : parent.right
        anchors.verticalCenter: parent.verticalCenter
        visible:                !QGroundControl.virtualTabletJoystick
        size:                   getGadgetWidth()
        active:                 _activeVehicle != null
        heading:                _heading
        rollAngle:              _roll
        pitchAngle:             _pitch
        groundSpeedFact:        _groundSpeedFact
        airSpeedFact:           _airSpeedFact
        lightBorders:           _lightWidgetBorders
        z:                      QGroundControl.zOrderWidgets
        qgcView:                parent.parent.qgcView
        maxHeight:              parent.height - (anchors.margins * 2)
    }

    QGCInstrumentWidgetAlternate {
        id:                     instrumentGadgetAlternate
        anchors.margins:        ScreenTools.defaultFontPixelHeight / 2
        anchors.top:            parent.top
        anchors.right:          altitudeSlider.visible ? altitudeSlider.left : parent.right
        visible:                QGroundControl.virtualTabletJoystick
        width:                  getGadgetWidth()
        active:                 _activeVehicle != null
        heading:                _heading
        rollAngle:              _roll
        pitchAngle:             _pitch
        groundSpeedFact:        _groundSpeedFact
        airSpeedFact:           _airSpeedFact
        isSatellite:            _isSatellite
        z:                      QGroundControl.zOrderWidgets
    }

    ValuesWidget {
        anchors.topMargin:  ScreenTools.defaultFontPixelHeight
        anchors.top:        instrumentGadgetAlternate.bottom
        anchors.left:       instrumentGadgetAlternate.left
        width:              getGadgetWidth()
        qgcView:            parent.parent.qgcView
        textColor:          _isSatellite ? "white" : "black"
        visible:            QGroundControl.virtualTabletJoystick
        maxHeight:          multiTouchItem.y - y
    }

    //-- Vertical Tool Buttons
    Column {
        id:                         toolColumn
        visible:                    _mainIsMap
        anchors.margins:            ScreenTools.defaultFontPixelHeight
        anchors.left:               parent.left
        anchors.top:                parent.top
        spacing:                    ScreenTools.defaultFontPixelHeight

        //-- Map Center Control
        DropButton {
            id:                 centerMapDropButton
            dropDirection:      dropRight
            buttonImage:        "/qmlimages/MapCenter.svg"
            viewportMargins:    ScreenTools.defaultFontPixelWidth / 2
            exclusiveGroup:     _dropButtonsExclusiveGroup
            z:                  QGroundControl.zOrderWidgets
            lightBorders:       _lightWidgetBorders

            dropDownComponent: Component {
                Row {
                    spacing: ScreenTools.defaultFontPixelWidth

                    QGCCheckBox {
                        id:                 followVehicleCheckBox
                        text:               "Follow Vehicle"
                        checked:            _flightMap ? _flightMap._followVehicle : false
                        anchors.baseline:   centerMapButton.baseline

                        onClicked: {
                            _dropButtonsExclusiveGroup.current = null
                            _flightMap._followVehicle = !_flightMap._followVehicle
                        }
                    }

                    QGCButton {
                        id:         centerMapButton
                        text:       "Center map on Vehicle"
                        enabled:    _activeVehicle && !followVehicleCheckBox.checked

                        property var activeVehicle: QGroundControl.multiVehicleManager.activeVehicle

                        onClicked: {
                            _dropButtonsExclusiveGroup.current = null
                            _flightMap.center = activeVehicle.coordinate
                        }
                    }
                }
            }
        }

        //-- Map Type Control
        DropButton {
            id:                 mapTypeButton
            dropDirection:      dropRight
            buttonImage:        "/qmlimages/MapType.svg"
            viewportMargins:    ScreenTools.defaultFontPixelWidth / 2
            exclusiveGroup:     _dropButtonsExclusiveGroup
            z:                  QGroundControl.zOrderWidgets
            lightBorders:       _lightWidgetBorders

            dropDownComponent: Component {
                Column {
                    spacing: ScreenTools.defaultFontPixelWidth

                    Row {
                        spacing: ScreenTools.defaultFontPixelWidth

                        Repeater {
                            model: QGroundControl.flightMapSettings.mapTypes

                            QGCButton {
                                checkable:  true
                                checked:    _flightMap ? _flightMap.mapType == text : false
                                text:       modelData

                                onClicked: {
                                    _flightMap.mapType = text
                                    _dropButtonsExclusiveGroup.current = null
                                }
                            }
                        }
                    }

                    QGCButton {
                        text:       "Clear flight trails"
                        enabled:    QGroundControl.multiVehicleManager.activeVehicle

                        onClicked: {
                            QGroundControl.multiVehicleManager.activeVehicle.clearTrajectoryPoints()
                            _dropButtonsExclusiveGroup.current = null
                        }
                    }
                }
            }
        }

        //-- Zoom Map In
        RoundButton {
            id:                 mapZoomPlus
            visible:            _mainIsMap && !ScreenTools.isTinyScreen
            buttonImage:        "/qmlimages/ZoomPlus.svg"
            exclusiveGroup:     _dropButtonsExclusiveGroup
            z:                  QGroundControl.zOrderWidgets
            lightBorders:       _lightWidgetBorders

            onClicked: {
                if(_flightMap)
                    _flightMap.zoomLevel += 0.5
                checked = false
            }
        }

        //-- Zoom Map Out
        RoundButton {
            id:                 mapZoomMinus
            visible:            _mainIsMap && !ScreenTools.isTinyScreen
            buttonImage:        "/qmlimages/ZoomMinus.svg"
            exclusiveGroup:     _dropButtonsExclusiveGroup
            z:                  QGroundControl.zOrderWidgets
            lightBorders:       _lightWidgetBorders

            onClicked: {
                if(_flightMap)
                    _flightMap.zoomLevel -= 0.5
                checked = false
            }
        }
    }

    //-- Guided mode buttons
    Rectangle {
        id:                         _guidedModeBar
        anchors.margins:            _barMargin
        anchors.bottom:             parent.bottom
        anchors.horizontalCenter:   parent.horizontalCenter
        width:                      guidedModeColumn.width + (_margins * 2)
        height:                     guidedModeColumn.height + (_margins * 2)
        radius:                     _margins
        color:                      _lightWidgetBorders ? qgcPal.mapWidgetBorderLight : qgcPal.mapWidgetBorderDark
        visible:                    _activeVehicle
        opacity:                    0.9
        z:                          QGroundControl.zOrderWidgets
        state:                      "Shown"

        states: [
            State {
                name: "Shown"
                PropertyChanges { target: showAnimation; running: true  }
                PropertyChanges { target: guidedModeHideTimer; running: true }
            },
            State {
                name: "Hidden"
                PropertyChanges { target: hideAnimation; running: true  }
            }
        ]

        PropertyAnimation {
            id:             hideAnimation
            target:         _guidedModeBar
            property:       "_barMargin"
            duration:       1000
            easing.type:    Easing.InOutQuad
            from:           _guidedModeBar._showMargin
            to:             _guidedModeBar._hideMargin
        }

        PropertyAnimation {
            id:             showAnimation
            target:         _guidedModeBar
            property:       "_barMargin"
            duration:       250
            easing.type:    Easing.InOutQuad
            from:           _guidedModeBar._hideMargin
            to:             _guidedModeBar._showMargin
        }

        Timer {
            id:             guidedModeHideTimer
            interval:       7000
            running:        true

            onTriggered: {
                if (ScreenTools.isShortScreen) {
                    _guidedModeBar.state = "Hidden"
                }
            }
        }

        readonly property int confirmHome:          1
        readonly property int confirmLand:          2
        readonly property int confirmTakeoff:       3
        readonly property int confirmArm:           4
        readonly property int confirmDisarm:        5
        readonly property int confirmEmergencyStop: 6
        readonly property int confirmChangeAlt:     7
        readonly property int confirmGoTo:          8
        readonly property int confirmRetask:        9

        property int    confirmActionCode
        property real   _showMargin:    _margins
        property real   _hideMargin:    _margins - _guidedModeBar.height
        property real   _barMargin:     _showMargin

        function actionConfirmed() {
            switch (confirmActionCode) {
            case confirmHome:
                _activeVehicle.guidedModeRTL()
                break;
            case confirmLand:
                _activeVehicle.guidedModeLand()
                break;
            case confirmTakeoff:
                var altitude = altitudeSlider.getValue()
                if (!isNaN(altitude)) {
                    _activeVehicle.guidedModeTakeoff(altitude)
                }
                break;
            case confirmArm:
                _activeVehicle.armed = true
                break;
            case confirmDisarm:
                _activeVehicle.armed = false
                break;
            case confirmEmergencyStop:
                _activeVehicle.emergencyStop()
                break;
            case confirmChangeAlt:
                var altitude = altitudeSlider.getValue()
                if (!isNaN(altitude)) {
                    _activeVehicle.guidedModeChangeAltitude(altitude)
                }
                break;
            case confirmGoTo:
                _activeVehicle.guidedModeGotoLocation(_flightMap._gotoHereCoordinate)
                break;
            case confirmRetask:
                _activeVehicle.setCurrentMissionSequence(_flightMap._retaskSequence)
                break;
            default:
                console.warn("Internal error: unknown confirmActionCode", confirmActionCode)
            }
        }

        function rejectGuidedModeConfirm() {
            guidedModeConfirm.visible = false
            guidedModeBar.visible = true
            altitudeSlider.visible = false
            _flightMap._gotoHereCoordinate = QtPositioning.coordinate()
            guidedModeHideTimer.restart()
        }

        function confirmAction(actionCode) {
            guidedModeHideTimer.stop()
            confirmActionCode = actionCode
            switch (confirmActionCode) {
            case confirmArm:
                guidedModeConfirm.confirmText = "arm"
                break;
            case confirmDisarm:
                guidedModeConfirm.confirmText = "disarm"
                break;
            case confirmEmergencyStop:
                guidedModeConfirm.confirmText = "STOP ALL MOTORS!"
                break;
            case confirmTakeoff:
                altitudeSlider.visible = true
                altitudeSlider.setInitialValueMeters(10)
                guidedModeConfirm.confirmText = "takeoff"
                break;
            case confirmLand:
                guidedModeConfirm.confirmText = "land"
                break;
            case confirmHome:
                guidedModeConfirm.confirmText = "return to launch"
                break;
            case confirmChangeAlt:
                altitudeSlider.visible = true
                altitudeSlider.setInitialValueAppSettingsDistanceUnits(_activeVehicle.altitudeAMSL.value)
                guidedModeConfirm.confirmText = "change altitude"
                break;
            case confirmGoTo:
                guidedModeConfirm.confirmText = "move vehicle"
                break;
            case confirmRetask:
                _guidedModeBar.confirmText = "active waypoint change"
                break;
            }
            guidedModeBar.visible = false
            guidedModeConfirm.visible = true
        }

        Column {
            id:                 guidedModeColumn
            anchors.margins:    _margins
            anchors.top:        parent.top
            anchors.left:       parent.left
            spacing:            _margins

            Row {
                spacing: _margins

                QGCButton {
                    text:       (_activeVehicle && _activeVehicle.armed) ? (_activeVehicle.flying ? "Emergency Stop" : "Disarm") : "Arm"
                    onClicked:  _guidedModeBar.confirmAction(_activeVehicle.armed ? (_activeVehicle.flying ? _guidedModeBar.confirmEmergencyStop : _guidedModeBar.confirmDisarm) : _guidedModeBar.confirmArm)
                }

                QGCButton {
                    text:       "RTL"
                    visible:    _activeVehicle && _activeVehicle.guidedModeSupported && _activeVehicle.flying
                    onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmHome)
                }

                QGCButton {
                    text:       (_activeVehicle && _activeVehicle.flying) ? "Land" : "Takeoff"
                    visible:    _activeVehicle && _activeVehicle.guidedModeSupported && _activeVehicle.armed
                    onClicked:  _guidedModeBar.confirmAction(_activeVehicle.flying ? _guidedModeBar.confirmLand : _guidedModeBar.confirmTakeoff)
                }

                QGCButton {
                    text:       "Pause"
                    visible:    _activeVehicle && _activeVehicle.pauseVehicleSupported && _activeVehicle.flying
                    onClicked:  {
                        guidedModeHideTimer.restart()
                        _activeVehicle.pauseVehicle()
                    }
                }

                QGCButton {
                    text:       "Change Altitude"
                    visible:    _activeVehicle && _activeVehicle.guidedModeSupported && _activeVehicle.armed
                    onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmChangeAlt)
                }
            } // Row

            QGCLabel {
                anchors.horizontalCenter: parent.horizontalCenter
                color:      qgcPal.button
                text:       "Click in map to move vehicle"
                visible:    _activeVehicle && _activeVehicle.guidedMode && _activeVehicle.flying
            }
        } // Column
    } // Rectangle - Guided mode buttons

    MouseArea {
        anchors.fill:   parent
        enabled:        guidedModeConfirm.visible
        onClicked:      _guidedModeBar.rejectGuidedModeConfirm()
    }

    // Action confirmation control
    SliderSwitch {
        id:                         guidedModeConfirm
        anchors.bottomMargin:       _margins
        anchors.bottom:             parent.bottom
        anchors.horizontalCenter:   parent.horizontalCenter
        height:                     ScreenTools.defaultFontPixelHeight * 3
        visible:                    false
        z:                          QGroundControl.zOrderWidgets

        onAccept: {
            guidedModeConfirm.visible = false
            guidedModeBar.visible = true
            _guidedModeBar.actionConfirmed()
            altitudeSlider.visible = false
            guidedModeHideTimer.restart()
        }

        onReject: _guidedModeBar.rejectGuidedModeConfirm()
    }

    //-- Altitude slider
    Rectangle {
        id:                 altitudeSlider
        anchors.margins:    _margins
        anchors.right:      parent.right
        anchors.top:        parent.top
        anchors.bottom:     parent.bottom
        color:              qgcPal.window
        width:              ScreenTools.defaultFontPixelWidth * 10
        opacity:            0.8
        visible:            false

        function setInitialValueMeters(meters) {
            altSlider.value = QGroundControl.metersToAppSettingsDistanceUnits(meters)
        }

        function setInitialValueAppSettingsDistanceUnits(height) {
            altSlider.value = height
        }

        /// Returns NaN for bad value
        function getValue() {
            var value =  parseFloat(altField.text)
            if (!isNaN(value)) {
                return QGroundControl.appSettingsDistanceUnitsToMeters(value);
            } else {
                return value;
            }
        }

        Column {
            id:                 headerColumn
            anchors.margins:    _margins
            anchors.top:        parent.top
            anchors.left:       parent.left
            anchors.right:      parent.right

            QGCLabel {
                anchors.horizontalCenter: parent.horizontalCenter
                text: "Alt (rel)"
            }

            QGCLabel {
                anchors.horizontalCenter: parent.horizontalCenter
                text: QGroundControl.appSettingsDistanceUnitsString
            }

            QGCTextField {
                id:             altField
                anchors.left:   parent.left
                anchors.right:  parent.right
                text:           altSlider.value.toFixed(1)
            }
        }

        Slider {
            id:                 altSlider
            anchors.margins:    _margins
            anchors.top:        headerColumn.bottom
            anchors.bottom:     parent.bottom
            anchors.left:       parent.left
            anchors.right:      parent.right
            orientation:        Qt.Vertical
            minimumValue:       0
            maximumValue:       QGroundControl.metersToAppSettingsDistanceUnits(100)
        }
    }
}
