MapWidget.cc

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

/**
 * @file
 *   @brief Implementation of MapWidget
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *   @author Mariano Lizarraga
 *
 */

#include <QComboBox>
#include <QGridLayout>
#include <QDir>

#include "QGC.h"
#include "MapWidget.h"
#include "ui_MapWidget.h"
#include "UASInterface.h"
#include "UASManager.h"
#include "MAV2DIcon.h"
#include "Waypoint2DIcon.h"
#include "UASWaypointManager.h"

#include "MG.h"


MapWidget::MapWidget(QWidget *parent) :
        QWidget(parent),
        zoomLevel(0),
        uasIcons(),
        uasTrails(),
        mav(NULL),
        lastUpdate(0),
        m_ui(new Ui::MapWidget)
{
    m_ui->setupUi(this);
    mc = new qmapcontrol::MapControl(this->size());

    //   VISUAL MAP STYLE
    QString buttonStyle("QAbstractButton { background-color: rgba(20, 20, 20, 45%); border-color: rgba(10, 10, 10, 50%)} QAbstractButton:checked { border: 2px solid #379AC3; }");
    mc->setPen(QGC::colorCyan.darker(400));









    waypointIsDrag = false;

    // Accept focus by clicking or keyboard
    this->setFocusPolicy(Qt::StrongFocus);

    // create MapControl

    mc->showScale(true);
    mc->showCoord(true);
    mc->enablePersistentCache();
    mc->setMouseTracking(true); // required to update the mouse position for diplay and capture

    // create MapAdapter to get maps from
    //TileMapAdapter* osmAdapter = new TileMapAdapter("tile.openstreetmap.org", "/%1/%2/%3.png", 256, 0, 17);

    qmapcontrol::MapAdapter* mapadapter_overlay = new qmapcontrol::YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=2.2&t=h&s=256&x=%2&y=%3&z=%1");

    // MAP BACKGROUND
    mapadapter = new qmapcontrol::GoogleSatMapAdapter();
    l = new qmapcontrol::MapLayer("Google Satellite", mapadapter);
    mc->addLayer(l);

    // STREET OVERLAY
    overlay = new qmapcontrol::MapLayer("Overlay", mapadapter_overlay);
    overlay->setVisible(false);
    mc->addLayer(overlay);

    // MAV FLIGHT TRACKS
    tracks = new qmapcontrol::MapLayer("Tracking", mapadapter);
    mc->addLayer(tracks);

    // WAYPOINT LAYER
    // create a layer with the mapadapter and type GeometryLayer (for waypoints)
    geomLayer = new qmapcontrol::GeometryLayer("Waypoints", mapadapter);
    mc->addLayer(geomLayer);



    //
    //    Layer* gsatLayer = new Layer("Google Satellite", gsat, Layer::MapLayer);
    //    mc->addLayer(gsatLayer);


    // Zurich, ETH

    int lastZoom = 16;
    double lastLat = 47.376889;
    double lastLon = 8.548056;

    QSettings settings;
    settings.beginGroup("QGC_MAPWIDGET");
    lastLat = settings.value("LAST_LATITUDE", lastLat).toDouble();
    lastLon = settings.value("LAST_LONGITUDE", lastLon).toDouble();
    lastZoom = settings.value("LAST_ZOOM", lastZoom).toInt();
    settings.endGroup();

    // SET INITIAL POSITION AND ZOOM
    // Set default zoom level
    mc->setZoom(lastZoom);
    mc->setView(QPointF(lastLon, lastLat));

    // Veracruz Mexico
    //mc->setView(QPointF(-96.105208,19.138955));

    // Add controls to select map provider
    /////////////////////////////////////////////////
    QActionGroup* mapproviderGroup = new QActionGroup(this);
    osmAction = new QAction(QIcon(":/images/mapproviders/openstreetmap.png"), tr("OpenStreetMap"), mapproviderGroup);
    yahooActionMap = new QAction(QIcon(":/images/mapproviders/yahoo.png"), tr("Yahoo: Map"), mapproviderGroup);
    yahooActionSatellite = new QAction(QIcon(":/images/mapproviders/yahoo.png"), tr("Yahoo: Satellite"), mapproviderGroup);
    googleActionMap = new QAction(QIcon(":/images/mapproviders/google.png"), tr("Google: Map"), mapproviderGroup);
    googleSatAction = new QAction(QIcon(":/images/mapproviders/google.png"), tr("Google: Sat"), mapproviderGroup);
    osmAction->setCheckable(true);
    yahooActionMap->setCheckable(true);
    yahooActionSatellite->setCheckable(true);
    googleActionMap->setCheckable(true);
    googleSatAction->setCheckable(true);
    googleSatAction->setChecked(true);
    connect(mapproviderGroup, SIGNAL(triggered(QAction*)),
            this, SLOT(mapproviderSelected(QAction*)));

    // Overlay seems currently broken
    //    yahooActionOverlay = new QAction(tr("Yahoo: street overlay"), this);
    //    yahooActionOverlay->setCheckable(true);
    //    yahooActionOverlay->setChecked(overlay->isVisible());
    //    connect(yahooActionOverlay, SIGNAL(toggled(bool)),
    //            overlay, SLOT(setVisible(bool)));

    //    mapproviderGroup->addAction(googleSatAction);
    //    mapproviderGroup->addAction(osmAction);
    //    mapproviderGroup->addAction(yahooActionOverlay);
    //    mapproviderGroup->addAction(googleActionMap);
    //    mapproviderGroup->addAction(yahooActionMap);
    //    mapproviderGroup->addAction(yahooActionSatellite);

    // Create map provider selection menu
    mapMenu = new QMenu(this);
    mapMenu->addActions(mapproviderGroup->actions());
    mapMenu->addSeparator();
    //    mapMenu->addAction(yahooActionOverlay);

    mapButton = new QPushButton(this);
    mapButton->setText("Map Source");
    mapButton->setMenu(mapMenu);
    mapButton->setStyleSheet(buttonStyle);

    // display the MapControl in the application
    QGridLayout* layout = new QGridLayout(this);
    layout->setMargin(0);
    layout->setSpacing(0);
    layout->addWidget(mc, 0, 0);
    setLayout(layout);

    // create buttons to control the map (zoom, GPS tracking and WP capture)
    QPushButton* zoomin = new QPushButton(QIcon(":/images/actions/list-add.svg"), "", this);
    zoomin->setStyleSheet(buttonStyle);
    QPushButton* zoomout = new QPushButton(QIcon(":/images/actions/list-remove.svg"), "", this);
    zoomout->setStyleSheet(buttonStyle);
    createPath = new QPushButton(QIcon(":/images/actions/go-bottom.svg"), "", this);
    createPath->setStyleSheet(buttonStyle);
    createPath->setToolTip(tr("Start / end waypoint add mode"));
    createPath->setStatusTip(tr("Start / end waypoint add mode"));
//    clearTracking = new QPushButton(QIcon(""), "", this);
//    clearTracking->setStyleSheet(buttonStyle);
    followgps = new QPushButton(QIcon(":/images/actions/system-lock-screen.svg"), "", this);
    followgps->setStyleSheet(buttonStyle);
    followgps->setToolTip(tr("Follow the position of the current MAV with the map center"));
    followgps->setStatusTip(tr("Follow the position of the current MAV with the map center"));
    QPushButton* goToButton = new QPushButton(QIcon(""), "T", this);
    goToButton->setStyleSheet(buttonStyle);
    goToButton->setToolTip(tr("Enter a latitude/longitude position to move the map to"));
    goToButton->setStatusTip(tr("Enter a latitude/longitude position to move the map to"));

    zoomin->setMaximumWidth(30);
    zoomout->setMaximumWidth(30);
    createPath->setMaximumWidth(30);
//    clearTracking->setMaximumWidth(30);
    followgps->setMaximumWidth(30);
    goToButton->setMaximumWidth(30);

    // Set checkable buttons
    // TODO: Currently checked buttons are are very difficult to distinguish when checked.
    //       create a style and the slots to change the background so it is easier to distinguish
    followgps->setCheckable(true);
    createPath->setCheckable(true);

    // add buttons to control the map (zoom, GPS tracking and WP capture)
    QGridLayout* innerlayout = new QGridLayout(mc);
    innerlayout->setMargin(3);
    innerlayout->setSpacing(3);
    innerlayout->addWidget(zoomin, 0, 0);
    innerlayout->addWidget(zoomout, 1, 0);
    innerlayout->addWidget(followgps, 2, 0);
    innerlayout->addWidget(createPath, 3, 0);
    //innerlayout->addWidget(clearTracking, 4, 0);
    // Add spacers to compress buttons on the top left
    innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 5, 0);
    innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 0, 1, 0, 7);
    innerlayout->addWidget(mapButton, 0, 6);
    innerlayout->addWidget(goToButton, 0, 7);
    innerlayout->setRowStretch(0, 1);
    innerlayout->setRowStretch(1, 100);
    mc->setLayout(innerlayout);


    // Connect the required signals-slots
    connect(zoomin, SIGNAL(clicked(bool)),
            mc, SLOT(zoomIn()));

    connect(zoomout, SIGNAL(clicked(bool)),
            mc, SLOT(zoomOut()));

    connect(goToButton, SIGNAL(clicked()), this, SLOT(goTo()));

    QList<UASInterface*> systems = UASManager::instance()->getUASList();
    foreach(UASInterface* system, systems)
    {
        addUAS(system);
    }

    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
            this, SLOT(addUAS(UASInterface*)));

    activeUASSet(UASManager::instance()->getActiveUAS());
    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUASSet(UASInterface*)));

    connect(mc, SIGNAL(mouseEventCoordinate(const QMouseEvent*, const QPointF)),
            this, SLOT(captureMapClick(const QMouseEvent*, const QPointF)));

    connect(createPath, SIGNAL(clicked(bool)),
            this, SLOT(createPathButtonClicked(bool)));


    connect(geomLayer, SIGNAL(geometryClicked(Geometry*,QPoint)),
            this, SLOT(captureGeometryClick(Geometry*, QPoint)));

    connect(geomLayer, SIGNAL(geometryDragged(Geometry*, QPointF)),
            this, SLOT(captureGeometryDrag(Geometry*, QPointF)));

    connect(geomLayer, SIGNAL(geometryEndDrag(Geometry*, QPointF)),
            this, SLOT(captureGeometryEndDrag(Geometry*, QPointF)));

    // Configure the WP Path's pen
    pointPen = new QPen(QColor(0, 255,0));
    pointPen->setWidth(3);
    waypointPath = new qmapcontrol::LineString (wps, "Waypoint path", pointPen);
    mc->layer("Waypoints")->addGeometry(waypointPath);

    //Camera Control
    // CAMERA INDICATOR LAYER
    // create a layer with the mapadapter and type GeometryLayer (for camera indicator)
    camLayer = new qmapcontrol::GeometryLayer("Camera", mapadapter);
    mc->addLayer(camLayer);

    //camLine = new qmapcontrol::LineString(camPoints,"Camera Eje", camBorderPen);

    drawCamBorder = false;
    radioCamera = 10;
}

void MapWidget::goTo()
{
    bool ok;
    QString text = QInputDialog::getText(this, tr("Please enter coordinates"),
                                         tr("Coordinates (Lat,Lon):"), QLineEdit::Normal,
                                         QString("%1,%2").arg(mc->currentCoordinate().y()).arg(mc->currentCoordinate().x()), &ok);
    if (ok && !text.isEmpty())
    {
        QStringList split = text.split(",");
        if (split.length() == 2)
        {
            bool convert;
            double latitude = split.first().toDouble(&convert);
            ok &= convert;
            double longitude = split.last().toDouble(&convert);
            ok &= convert;

            if (ok)
            {
                mc->setView(QPointF(longitude, latitude));
            }
        }
    }
}


void MapWidget::mapproviderSelected(QAction* action)
{
    //delete mapadapter;
    mapButton->setText(action->text());
    if (action == osmAction)
    {
        int zoom = mapadapter->adaptedZoom();
        mc->setZoom(0);

        mapadapter = new qmapcontrol::OSMMapAdapter();
        l->setMapAdapter(mapadapter);
        geomLayer->setMapAdapter(mapadapter);

        if (isVisible()) mc->updateRequestNew();
        mc->setZoom(zoom);
        //        yahooActionOverlay->setEnabled(false);
        overlay->setVisible(false);
        //        yahooActionOverlay->setChecked(false);

    }
    else if (action == yahooActionMap)
    {
        int zoom = mapadapter->adaptedZoom();
        mc->setZoom(0);

        mapadapter = new qmapcontrol::YahooMapAdapter();
        l->setMapAdapter(mapadapter);
        geomLayer->setMapAdapter(mapadapter);

        if (isVisible()) mc->updateRequestNew();
        mc->setZoom(zoom);
        //        yahooActionOverlay->setEnabled(false);
        overlay->setVisible(false);
        //        yahooActionOverlay->setChecked(false);
    }
    else if (action == yahooActionSatellite)
    {
        int zoom = mapadapter->adaptedZoom();
        QPointF a = mc->currentCoordinate();
        mc->setZoom(0);

        mapadapter = new qmapcontrol::YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=1.7&t=a&s=256&x=%2&y=%3&z=%1");
        l->setMapAdapter(mapadapter);

        if (isVisible()) mc->updateRequestNew();
        mc->setZoom(zoom);
        //        yahooActionOverlay->setEnabled(true);
    }
    else if (action == googleActionMap)
    {
        int zoom = mapadapter->adaptedZoom();
        mc->setZoom(0);
        mapadapter = new qmapcontrol::GoogleMapAdapter();
        l->setMapAdapter(mapadapter);
        geomLayer->setMapAdapter(mapadapter);

        if (isVisible()) mc->updateRequestNew();
        mc->setZoom(zoom);
        //        yahooActionOverlay->setEnabled(false);
        overlay->setVisible(false);
        //        yahooActionOverlay->setChecked(false);
    }
    else if (action == googleSatAction)
    {
        int zoom = mapadapter->adaptedZoom();
        mc->setZoom(0);
        mapadapter = new qmapcontrol::GoogleSatMapAdapter();
        l->setMapAdapter(mapadapter);
        geomLayer->setMapAdapter(mapadapter); 

        if (isVisible()) mc->updateRequestNew();
        mc->setZoom(zoom);
        //        yahooActionOverlay->setEnabled(false);
        overlay->setVisible(false);
        //        yahooActionOverlay->setChecked(false);
    }
    else
    {
        mapButton->setText("Select..");
    }
}


void MapWidget::createPathButtonClicked(bool checked)
{
    Q_UNUSED(checked);

    if (createPath->isChecked())
    {
        // change the cursor shape
        this->setCursor(Qt::PointingHandCursor);
        mc->setMouseMode(qmapcontrol::MapControl::None);


        // emit signal start to create a Waypoint global
        //emit createGlobalWP(true, mc->currentCoordinate());

        //        // Clear the previous WP track
        //        // TODO: Move this to an actual clear track button and add a warning dialog
        //        mc->layer("Waypoints")->clearGeometries();
        //        wps.clear();
        //        path->setPoints(wps);
        //        mc->layer("Waypoints")->addGeometry(path);
        //        wpIndex.clear();
    }
    else
    {

        this->setCursor(Qt::ArrowCursor);
        mc->setMouseMode(qmapcontrol::MapControl::Panning);
    }

}

/**
 * Captures a click on the map and if in create WP path mode, it adds the WP on MouseButtonRelease
 *
 * @param event The mouse event
 * @param coordinate The coordinate in which it occured the mouse event
 * @note  This slot is connected to the mouseEventCoordinate of the QMapControl object
 */

void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordinate)
{
    if (QEvent::MouseButtonRelease == event->type() && createPath->isChecked())
    {
        // Create waypoint name
        QString str;

        // create the WP and set everything in the LineString to display the path
        Waypoint2DIcon* tempCirclePoint;

        if (mav)
        {
            double altitude = 0.0;
            double yaw = 0.0;
            int wpListCount = mav->getWaypointManager()->getWaypointList().count();
            if (wpListCount > 0)
            {
                altitude = mav->getWaypointManager()->getWaypointList().at(wpListCount-1)->getAltitude();
                yaw = mav->getWaypointManager()->getWaypointList().at(wpListCount-1)->getYaw();
            }
            mav->getWaypointManager()->addWaypoint(new Waypoint(wpListCount, coordinate.y(), coordinate.x(), altitude, yaw, true));
        }
        else
        {
            str = QString("%1").arg(waypointPath->numberOfPoints());
            tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
            wpIcons.append(tempCirclePoint);

            mc->layer("Waypoints")->addGeometry(tempCirclePoint);

            qmapcontrol::Point* tempPoint = new qmapcontrol::Point(coordinate.x(), coordinate.y(),str);
            wps.append(tempPoint);
            waypointPath->addPoint(tempPoint);

            // Refresh the screen
            if (isVisible()) mc->updateRequest(tempPoint->boundingBox().toRect());
        }

        // emit signal mouse was clicked
        //emit captureMapCoordinateClick(coordinate);
    }
}

void MapWidget::updateWaypoint(int uas, Waypoint* wp)
{
    // Update waypoint list and redraw map (last parameter)
    updateWaypoint(uas, wp, true);
}

/**
 * This function is called if a a single waypoint is updated and
 * also if the whole list changes.
 */
void MapWidget::updateWaypoint(int uas, Waypoint* wp, bool updateView)
{
    // Make sure this is the right UAS
    if (uas == this->mav->getUASID())
    {
        // Only accept waypoints in global coordinate frame
        if (wp->getFrame() == MAV_FRAME_GLOBAL)
        {
            // We're good, this is a global waypoint

            // Get the index of this waypoint
            // note the call to getGlobalFrameIndexOf()
            // as we're only handling global waypoints
            int wpindex = UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameIndexOf(wp);
            // If not found, return (this should never happen, but helps safety)
            if (wpindex == -1) return;

            // Check if wp exists yet in map
            if (!(wpIcons.count() > wpindex))
            {
                // Waypoint is new, a new icon is created
                QPointF coordinate;
                coordinate.setX(wp->getLongitude());
                coordinate.setY(wp->getLatitude());
                createWaypointGraphAtMap(wpindex, coordinate);
            }
            else
            {
                // Waypoint exists, update it if we're not
                // currently dragging it with the mouse
                if(!waypointIsDrag)
                {
                    QPointF coordinate;
                    coordinate.setX(wp->getLongitude());
                    coordinate.setY(wp->getLatitude());

                    Point* waypoint;
                    waypoint = wps.at(wpindex);
                    if (waypoint)
                    {
                        // First set waypoint coordinate
                        waypoint->setCoordinate(coordinate);
                        // Now update icon position
                        wpIcons.at(wpindex)->setCoordinate(coordinate);
                        // Update pen
                        wpIcons.at(wpindex)->setPen(mavPens.value(uas));
                        // Then waypoint line coordinate
                        Point* linesegment = NULL;
                        // If the line segment already exists, just update it
                        // else create a new one
                        if (waypointPath->points().size() > wpindex)
                        {
                            linesegment = waypointPath->points().at(wpindex);
                            if (linesegment) linesegment->setCoordinate(coordinate);
                        }
                        else
                        {
                            waypointPath->addPoint(waypoint);
                        }

                        // Update view
                        if (updateView) if (isVisible()) mc->updateRequest(waypoint->boundingBox().toRect());
                    }
                }
            }
        }
        else
        {
            // Check if the index of this waypoint is larger than the global
            // waypoint list. This implies that the coordinate frame of this
            // waypoint was changed and the list containing only global
            // waypoints was shortened. Thus update the whole list
            if (waypointPath->points().count() > UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameCount())
            {
                updateWaypointList(uas);
            }
        }
    }
}

void MapWidget::createWaypointGraphAtMap(int id, const QPointF coordinate)
{
    //if (!wpExists(coordinate))
    {
        // Create waypoint name
        QString str;

        // create the WP and set everything in the LineString to display the path
        //CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
        Waypoint2DIcon* tempCirclePoint;

        if (mav)
        {
            int uas = mav->getUASID();
            str = QString("%1").arg(id);
            qDebug() << "Waypoint list count:" << str;
            tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, mavPens.value(uas));
        }
        else
        {
            str = QString("%1").arg(id);
            tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
        }


        mc->layer("Waypoints")->addGeometry(tempCirclePoint);
        wpIcons.append(tempCirclePoint);

        Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
        wps.append(tempPoint);
        waypointPath->addPoint(tempPoint);

        //wpIndex.insert(str,tempPoint);
        qDebug()<<"Funcion createWaypointGraphAtMap WP= "<<str<<" -> x= "<<tempPoint->latitude()<<" y= "<<tempPoint->longitude();

        // Refresh the screen
        if (isVisible()) if (isVisible()) mc->updateRequest(tempPoint->boundingBox().toRect());
    }

    ////    // emit signal mouse was clicked
    //    emit captureMapCoordinateClick(coordinate);
}

int MapWidget::wpExists(const QPointF coordinate)
{
    for (int i = 0; i < wps.size(); i++){
        if (wps.at(i)->latitude() == coordinate.y() &&
            wps.at(i)->longitude()== coordinate.x())
        {
            return 1;
        }
    }
    return 0;
}


void MapWidget::captureGeometryClick(Geometry* geom, QPoint point)
{
    Q_UNUSED(geom);
    Q_UNUSED(point);

    mc->setMouseMode(qmapcontrol::MapControl::None);
}

void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate)
{
    waypointIsDrag = true;

    // Refresh the screen
    if (isVisible()) mc->updateRequest(geom->boundingBox().toRect());

    int temp = 0;

    // Get waypoint index in list
    bool wpIndexOk;
    int index = geom->name().toInt(&wpIndexOk);

    Waypoint2DIcon* point2Find = dynamic_cast <Waypoint2DIcon*> (geom);

    if (wpIndexOk && point2Find && wps.count() > index)
    {
        // Update visual
        point2Find->setCoordinate(coordinate);
        waypointPath->points().at(index)->setCoordinate(coordinate);
        if (isVisible()) mc->updateRequest(waypointPath->boundingBox().toRect());

        // Update waypoint data storage
        if (mav)
        {
            QVector<Waypoint*> wps = mav->getWaypointManager()->getGlobalFrameWaypointList();

            if (wps.size() > index)
            {
                Waypoint* wp = wps.at(index);
                wp->setLatitude(coordinate.y());
                wp->setLongitude(coordinate.x());
                mav->getWaypointManager()->notifyOfChange(wp);
            }
        }

        // qDebug() << geom->name();
        temp = geom->get_myIndex();
        //qDebug() << temp;
        emit sendGeometryEndDrag(coordinate,temp);
    }

    waypointIsDrag = false;
}

void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
{
    Q_UNUSED(geom);
    Q_UNUSED(coordinate);
    // TODO: Investigate why when creating the waypoint path this slot is being called

    // Only change the mouse mode back to panning when not creating a WP path
    if (!createPath->isChecked())
    {
        waypointIsDrag = false;
        mc->setMouseMode(qmapcontrol::MapControl::Panning);
    }

}

MapWidget::~MapWidget()
{
    delete m_ui;
}
/**
 *
 * @param uas the UAS/MAV to monitor/display with the HUD
 */
void MapWidget::addUAS(UASInterface* uas)
{
    connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
    connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
    connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(updateSystemSpecs(int)));
}

/**
 * Update the whole list of waypoints. This is e.g. necessary if the list order changed.
 * The UAS manager will emit the appropriate signal whenever updating the list
 * is necessary.
 */
void MapWidget::updateWaypointList(int uas)
{
    // Get already existing waypoints
    UASInterface* uasInstance = UASManager::instance()->getUASForId(uas);
    if (uasInstance)
    {
        // Get update rect of old content, this is what will be redrawn
        // in the last step
        QRect updateRect = waypointPath->boundingBox().toRect();

        // Get all waypoints, including non-global waypoints
        QVector<Waypoint*> wpList = uasInstance->getWaypointManager()->getWaypointList();

        // Clear if necessary
        if (wpList.count() == 0)
        {
            clearWaypoints(uas);
            return;
        }

        // Trim internal list to number of global waypoints in the waypoint manager list
        int overSize = waypointPath->points().count() - uasInstance->getWaypointManager()->getGlobalFrameCount();
        if (overSize > 0)
        {
            // Remove n waypoints at the end of the list
            // the remaining waypoints will be updated
            // in the next step
            for (int i = 0; i < overSize; ++i)
            {
                wps.removeLast();
                mc->layer("Waypoints")->removeGeometry(wpIcons.last());
                wpIcons.removeLast();
                waypointPath->points().removeLast();
            }
        }

        // Load all existing waypoints into map view
        foreach (Waypoint* wp, wpList)
        {
            // Block map draw updates, since we update everything in the next step
            // but update internal data structures.
            // Please note that updateWaypoint() ignores non-global waypoints
            updateWaypoint(mav->getUASID(), wp, false);
        }

        // Update view
        if (isVisible()) mc->updateRequest(updateRect);
    }
}

void MapWidget::redoWaypoints(int uas)
{
    //    QObject* sender = QObject::sender();
    //    UASWaypointManager* manager = dynamic_cast<UASWaypointManager*>(sender);
    //    if (sender)
    //    {
    // Get waypoint list for this MAV

    // Clear all waypoints
    //clearWaypoints();
    // Re-add the updated waypoints

    //    }

    updateWaypointList(uas);
}

void MapWidget::activeUASSet(UASInterface* uas)
{
    // Disconnect old MAV
    if (mav)
    {
        // Disconnect the waypoint manager / data storage from the UI
        disconnect(mav->getWaypointManager(), SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int)));
        disconnect(mav->getWaypointManager(), SIGNAL(waypointChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
        disconnect(this, SIGNAL(waypointCreated(Waypoint*)), mav->getWaypointManager(), SLOT(addWaypoint(Waypoint*)));
    }

    if (uas)
    {
        mav = uas;
        QColor color = mav->getColor();
        color.setAlphaF(0.9);
        QPen* pen = new QPen(color);
        pen->setWidth(3.0);
        mavPens.insert(mav->getUASID(), pen);
        // FIXME Remove after refactoring
        waypointPath->setPen(pen);

        // Delete all waypoints and add waypoint from new system
        //redoWaypoints();
        updateWaypointList(uas->getUASID());

        // Connect the waypoint manager / data storage to the UI
        connect(mav->getWaypointManager(), SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int)));
        connect(mav->getWaypointManager(), SIGNAL(waypointChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
        connect(this, SIGNAL(waypointCreated(Waypoint*)), mav->getWaypointManager(), SLOT(addWaypoint(Waypoint*)));

        updateSystemSpecs(mav->getUASID());
        updateSelectedSystem(mav->getUASID());
        mc->updateRequest(waypointPath->boundingBox().toRect());
    }
}

void MapWidget::updateSystemSpecs(int uas)
{
    foreach (qmapcontrol::Point* p, uasIcons.values())
    {
        MAV2DIcon* icon = dynamic_cast<MAV2DIcon*>(p);
        if (icon && icon->getUASId() == uas)
        {
            // Set new airframe
            icon->setAirframe(UASManager::instance()->getUASForId(uas)->getAirframe());
            icon->drawIcon();
        }
    }
}

void MapWidget::updateSelectedSystem(int uas)
{
    foreach (qmapcontrol::Point* p, uasIcons.values())
    {
        MAV2DIcon* icon = dynamic_cast<MAV2DIcon*>(p);
        if (icon)
        {
            // Set as selected if ids match
            icon->setSelectedUAS((icon->getUASId() == uas));
        }
    }
}

void MapWidget::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 usec)
{
    Q_UNUSED(roll);
    Q_UNUSED(pitch);
    Q_UNUSED(usec);

    if (uas)
    {
        MAV2DIcon* icon = dynamic_cast<MAV2DIcon*>(uasIcons.value(uas->getUASID(), NULL));
        if (icon)
        {
            icon->setYaw(yaw);
        }
    }
}

/**
 * Updates the global position of one MAV and append the last movement to the trail
 *
 * @param uas The unmanned air system
 * @param lat Latitude in WGS84 ellipsoid
 * @param lon Longitutde in WGS84 ellipsoid
 * @param alt Altitude over mean sea level
 * @param usec Timestamp of the position message in milliseconds FIXME will move to microseconds
 */
void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec)
{
    Q_UNUSED(usec);
    Q_UNUSED(alt); // FIXME Use altitude

    // create a LineString
    //QList<Point*> points;
    // Points with a circle
    // A QPen can be used to customize the
    //pointpen->setWidth(3);
    //points.append(new CirclePoint(lat, lon, 10, uas->getUASName(), Point::Middle, pointpen));

    qmapcontrol::Point* p;
    QPointF coordinate;
    coordinate.setX(lon);
    coordinate.setY(lat);

    if (!uasIcons.contains(uas->getUASID()))
    {
        // Get the UAS color
        QColor uasColor = uas->getColor();

        // Icon
        //QPen* pointpen = new QPen(uasColor);
        qDebug() << "2D MAP: ADDING" << uas->getUASName() << __FILE__ << __LINE__;
        p = new MAV2DIcon(uas, 68, uas->getSystemType(), uas->getColor(), QString("%1").arg(uas->getUASID()), qmapcontrol::Point::Middle);
        uasIcons.insert(uas->getUASID(), p);
        mc->layer("Waypoints")->addGeometry(p);

        // Line
        // A QPen also can use transparency

        //        QList<qmapcontrol::Point*> points;
        //        points.append(new qmapcontrol::Point(coordinate.x(), coordinate.y()));
        //        QPen* linepen = new QPen(uasColor.darker());
        //        linepen->setWidth(2);

        //        // Create tracking line string
        //        qmapcontrol::LineString* ls = new qmapcontrol::LineString(points, QString("%1").arg(uas->getUASID()), linepen);
        //        uasTrails.insert(uas->getUASID(), ls);

        //        // Add the LineString to the layer
        //        mc->layer("Waypoints")->addGeometry(ls);
    }
    else
    {
        //        p = dynamic_cast<MAV2DIcon*>(uasIcons.value(uas->getUASID()));
        //        if (p)
        //        {
        p = uasIcons.value(uas->getUASID());
        p->setCoordinate(QPointF(lon, lat));
        //p->setYaw(uas->getYaw());
        //        }
        // Extend trail
        //        uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(coordinate.x(), coordinate.y()));
    }

    if (isVisible()) mc->updateRequest(p->boundingBox().toRect());

    //if (isVisible()) mc->updateRequestNew();//(uasTrails.value(uas->getUASID())->boundingBox().toRect());

    if (this->mav && uas->getUASID() == this->mav->getUASID())
    {
        // Limit the position update rate
        quint64 currTime = MG::TIME::getGroundTimeNow();
        if (currTime - lastUpdate > 120)
        {
            lastUpdate = currTime;
            // Sets the view to the interesting area
            if (followgps->isChecked())
            {
                updatePosition(0, lon, lat);
            }
            else
            {
                // Refresh the screen
                //if (isVisible()) mc->updateRequestNew();
            }
        }
    }
}

/**
 * Center the view on this position
 */
void MapWidget::updatePosition(float time, double lat, double lon)
{
    Q_UNUSED(time);
    //gpsposition->setText(QString::number(time) + " / " + QString::number(lat) + " / " + QString::number(lon));
    if (followgps->isChecked() && isVisible())
    {
        mc->setView(QPointF(lat, lon));
    }
}

void MapWidget::wheelEvent(QWheelEvent *event)
{
    int numDegrees = event->delta() / 8;
    int numSteps = numDegrees / 15;
    // Calculate new zoom level
    int newZoom = mc->currentZoom()+numSteps;
    // Set new zoom level, level is bounded by map control
    mc->setZoom(newZoom);
    // Detail zoom level is the number of steps zoomed in further
    // after the bounding has taken effect
    detailZoom = qAbs(qMin(0, mc->currentZoom()-newZoom));

    // visual field of camera
    updateCameraPosition(20*newZoom,0,"no");

}

void MapWidget::keyPressEvent(QKeyEvent *event)
{
    switch (event->key()) {
    case Qt::Key_Plus:
        mc->zoomIn();
        break;
    case Qt::Key_Minus:
        mc->zoomOut();
        break;
    case Qt::Key_Left:
        mc->scrollLeft(this->width()/scrollStep);
        break;
    case Qt::Key_Right:
        mc->scrollRight(this->width()/scrollStep);
        break;
    case Qt::Key_Down:
        mc->scrollDown(this->width()/scrollStep);
        break;
    case Qt::Key_Up:
        mc->scrollUp(this->width()/scrollStep);
        break;
    default:
        QWidget::keyPressEvent(event);
    }
}

void MapWidget::resizeEvent(QResizeEvent* event )
{
    Q_UNUSED(event);
    mc->resize(this->size());
}

void MapWidget::showEvent(QShowEvent* event)
{
    Q_UNUSED(event);