Utils.h

#pragma once

#include "QmlObjectListModel.h"
#include "SimpleMissionItem.h"

#include <QVariant>

class PlanMasterController;
class QGeoCoordinate;

namespace WaypointManager {
namespace Utils {

template <class CoordinateType>
CoordinateType getCoordinate(const SimpleMissionItem *item) {
  return item->coordinate();
}

template <> QVariant getCoordinate(const SimpleMissionItem *item) {
  return QVariant::fromValue(item->coordinate());
}

/// extracts the coordinates stored in missionItems (list of MissionItems) and
/// stores them in coordinateList.
template <class CoordinateType, template <class, class...> class ContainerType>
bool extract(const QmlObjectListModel &missionItems,
             ContainerType<CoordinateType> &coordinateList,
             std::size_t startIndex, std::size_t endIndex) {

  if (startIndex < std::size_t(missionItems.count()) &&
      endIndex < std::size_t(missionItems.count()) &&
      missionItems.count() > 0) {
    if (startIndex > endIndex) {
      if (!extract(missionItems, coordinateList, startIndex,
                   std::size_t(missionItems.count() - 1)) /*recursion*/)
        return false;
      if (!extract(missionItems, coordinateList, 0, endIndex) /*recursion*/)
        return false;
    } else {
      for (std::size_t i = startIndex; i <= endIndex; ++i) {
        const QObject *obj = missionItems[int(i)];
        auto *mItem = qobject_cast<const SimpleMissionItem *>(obj);

        if (mItem == nullptr) {
          coordinateList.clear();
          return false;
        }
        coordinateList.append(getCoordinate<CoordinateType>(mItem));
      }
    }
  } else
    return false;

  return true;
}

/// extracts the coordinates stored in missionItems (list of MissionItems) and
/// stores them in coordinateList.
template <class CoordinateType, template <class, class...> class ContainerType>
bool extract(const QmlObjectListModel &missionItems,
             ContainerType<CoordinateType> &coordinateList) {

  return extract(missionItems, coordinateList, std::size_t(0),
                 std::size_t(missionItems.count()));
}

/// extracts the coordinates stored in missionItems (list of MissionItems) and
/// stores them in coordinateList.
template <class CoordinateType, template <class, class...> class ContainerType>
bool extract(const ContainerType<CoordinateType> &source,
             ContainerType<CoordinateType> &destination, std::size_t startIndex,
             std::size_t endIndex) {

  if (startIndex < std::size_t(source.size()) &&
      endIndex < std::size_t(source.size()) && source.size() > 0) {
    if (startIndex > endIndex) {
      if (!extract(source, destination, startIndex,
                   std::size_t(long(source.size()) - 1)) /*recursion*/)
        return false;
      if (!extract(source, destination, 0, endIndex) /*recursion*/)
        return false;
    } else {
      for (std::size_t i = startIndex; i <= endIndex; ++i) {
        destination.append(source[i]);
      }
    }
  } else
    return false;

  return true;
}

//!
//! \brief Makes the SimpleMissionItem \p item a takeoff command.
//! \param item SimpleMissionItem
//! \return Returns true if successfull, false either.
//!
bool makeTakeOffCmd(SimpleMissionItem *item,
                    PlanMasterController *masterController);

//!
//! \brief Makes the SimpleMissionItem \p item a land command.
//! \param item SimpleMissionItem
//! \return Returns true if successfull, false either.
//!
bool makeLandCmd(SimpleMissionItem *item,
                 PlanMasterController *masterController);

//!
//! \brief Makes the SimpleMissionItem \p item a MAV_CMD_DO_CHANGE_SPEED item.
//! \param item SimpleMissionItem.
//! \param speed Speed (must be greater zero).
//!
void makeSpeedCmd(SimpleMissionItem *item, double speed);

//!
//! \brief Initializes the list \p list.
//!
//! Adds a MissionSettingsItem to \p list.
//! \param list List of VisualMissionItems.
//! \param flyView Fly- or planview.
void initialize(QmlObjectListModel &list,
                PlanMasterController *masterController, bool flyView = true);

//! @brief Creates (from QGeoCoordinate) and inserts a SimpleMissionItem at the
//! given index to list. \param coordinate Coordinate of the SimpleMissionItem.
//! \param index Index to insert SimpleMissionItem.
//! \param list List of SimpleMissionItems.
//! \param flyView Fly- or planview.
//! \param parent Parent of the SimpleMissionItem (Set to &list if nullptr).
//! \param doUpdates Neccessary update are performed to the list \p list if set
//! to true. Set this to true for the last item only, if inserting multiple
//! items. \return Returns true on success, false either.
//!
//! @note The list must be initialized. (\see \fn initialize)
//! @note This function doesn't establish any signal-slot connections (\see \fn
//! MissionController::_initVisualItem).
//! @note This function doesn't set the MissionFlightStatus_t (\see \fn
//! VisualMissionItem::setMissionFlightStatus).
bool insertMissionItem(const QGeoCoordinate &coordinate, long index,
                       QmlObjectListModel &list,
                       PlanMasterController *masterController,
                       bool flyView = true, QObject *parent = nullptr,
                       bool doUpdates = true);
//!
//! \brief Performs a list update.
//!
//! Updates the home position of the MissionSettingsItem, the parent child
//! hirarchy and the sequence numbers. \param list List containing
//! VisualMissionItems. \return Returns true if no errors occured, false either.
bool updateList(QmlObjectListModel &list);

//! @brief Updates the sequence numbers of the VisualMissionItems inside \p
//! list.
//!
//! \param list List containing VisualMissionItems.
//! \param firstSeqNumber The sequence number of the fisrt list entry (defaul =
//! 0). \return Returns true if successfull, false either.
//!
//! \note If the list \p list contains only one VisualMissionItem it's sequence
//! number is set to 0.
bool updateSequenceNumbers(QmlObjectListModel &list, size_t firstSeqNumber = 0);

//! @brief Update the parent child item hierarchy of the VisualMissionItems
//! inside \p list.
//!
//! \param list List containing VisualMissionItems.
//! \return Returns true if successfull, false either.
//!
//! \note Returns true on success, false either.
bool updateHirarchy(QmlObjectListModel &list);

//! @brief Updates the home position to the first valid coordinate of the
//! VisualMissionItems inside \p list.
//!
//! \param list List containing VisualMissionItems.
//! \return Returns true if the home position was updated, false either.
bool updateHomePosition(QmlObjectListModel &list);

//!
//! \brief Prints the \p list.
//! \param list List containing VisualMissionItems.
void printList(QmlObjectListModel &list);

namespace detail {
size_t nextSequenceNumber(QmlObjectListModel &list);
bool previousAltitude(QmlObjectListModel &list, size_t index, double &altitude,
                      int &altitudeMode);

} // namespace detail
} // namespace Utils
} // namespace WaypointManager