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

PIXHAWK Micro Air Vehicle Flying Robotics Toolkit

(c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>

This file is part of the PIXHAWK project

    PIXHAWK 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.

    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.

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

/**
 * @file
 *   @brief Waypoint class
 *
 *   @author Benjamin Knecht <mavteam@student.ethz.ch>
 *   @author Petri Tanskanen <mavteam@student.ethz.ch>
 *
 */

#ifndef WAYPOINT_H
#define WAYPOINT_H

#include <QObject>
#include <QString>
#include <QtQml>
#include <QTextStream>
#include <QGeoCoordinate>

#include "QGCMAVLink.h"
#include "QGC.h"

class Waypoint : public QObject
{
    Q_OBJECT
public:
    Waypoint(
        QObject *parent = 0,
        quint16 id = 0,
        double  x = 0.0,
        double  y = 0.0,
        double  z = 0.0,
        double  param1 = 0.0,
        double  param2 = 0.0,
        double  param3 = 0.0,
        double  param4 = 0.0,
        bool    autocontinue = true,
        bool    current = false,
        int     frame = MAV_FRAME_GLOBAL,
        int     action = MAV_CMD_NAV_WAYPOINT,
        const QString& description=QString(""));

    Waypoint(const Waypoint& other);
    ~Waypoint();

    const Waypoint& operator=(const Waypoint& other);

    Q_PROPERTY(QGeoCoordinate coordinate READ coordinate NOTIFY coordinateChanged)
    Q_PROPERTY(QString type READ type NOTIFY typeChanged)
    
    Q_PROPERTY(double  longitude READ longitude  NOTIFY longitudeChanged)
    Q_PROPERTY(double  latitude  READ latitude   NOTIFY latitudeChanged)
    Q_PROPERTY(double  altitude  READ altitude   NOTIFY altitudeChanged)
    Q_PROPERTY(quint16 id        READ id         CONSTANT)

    double  latitude()  { return _x; }
    double  longitude() { return _y; }
    double  altitude()  { return _z; }
    quint16 id()        { return _id; }

    quint16 getId() const {
        return _id;
    }
    double getX() const {
        return _x;
    }
    double getY() const {
        return _y;
    }
    double getZ() const {
        return _z;
    }
    double getLatitude() const {
        return _x;
    }
    double getLongitude() const {
        return _y;
    }
    double getAltitude() const {
        return _z;
    }
    double getYaw() const {
        return _yaw;
    }
    bool getAutoContinue() const {
        return _autocontinue;
    }
    bool getCurrent() const {
        return _current;
    }
    double getLoiterOrbit() const {
        return _orbit;
    }
    double getAcceptanceRadius() const {
        return _param2;
    }
    double getHoldTime() const {
        return _param1;
    }
    double getParam1() const {
        return _param1;
    }
    double getParam2() const {
        return _param2;
    }
    double getParam3() const {
        return _orbit;
    }
    double getParam4() const {
        return _yaw;
    }
    double getParam5() const {
        return _x;
    }
    double getParam6() const {
        return _y;
    }
    double getParam7() const {
        return _z;
    }
    int getTurns() const {
        return _param1;
    }
    // MAV_FRAME
    int getFrame() const {
        return _frame;
    }
    // MAV_CMD
    int getAction() const {
        return _action;
    }
    const QString& getName() const {
        return _name;
    }
    const QString& getDescription() const {
        return _description;
    }

    /** @brief Returns true if x, y, z contain reasonable navigation data */
    bool isNavigationType();

    /** @brief Get the time this waypoint was reached */
    quint64 getReachedTime() const { return _reachedTime; }

    void save(QTextStream &saveStream);
    bool load(QTextStream &loadStream);
    
    QGeoCoordinate coordinate(void);
    QString type(void);

protected:
    quint16 _id;
    double  _x;
    double  _y;
    double  _z;
    double  _yaw;
    int     _frame;
    int     _action;
    bool    _autocontinue;
    bool    _current;
    double  _orbit;
    double  _param1;
    double  _param2;
    int     _turns;
    QString _name;
    QString _description;
    quint64 _reachedTime;

public:
    void setId          (quint16 _id);
    void setX           (double _x);
    void setY           (double _y);
    void setZ           (double _z);
    void setLatitude    (double lat);
    void setLongitude   (double lon);
    void setAltitude    (double alt);
    /** @brief Yaw angle in COMPASS DEGREES: 0-360 */
    void setYaw         (int _yaw);
    /** @brief Yaw angle in COMPASS DEGREES: 0-360 */
    void setYaw         (double _yaw);
    /** @brief Set the waypoint action */
    void setAction      (int _action);
    void setFrame       (int _frame);
    void setAutocontinue(bool autoContinue);
    void setCurrent     (bool _current);
    void setLoiterOrbit (double _orbit);
    void setParam1      (double _param1);
    void setParam2      (double _param2);
    void setParam3      (double param3);
    void setParam4      (double param4);
    void setParam5      (double param5);
    void setParam6      (double param6);
    void setParam7      (double param7);
    void setAcceptanceRadius(double radius);
    void setHoldTime    (int holdTime);
    void setHoldTime    (double holdTime);
    /** @brief Number of turns for loiter waypoints */
    void setTurns       (int _turns);
    /** @brief Set waypoint as reached */
    void setReached     () { _reachedTime = QGC::groundTimeMilliseconds(); }
    /** @brief Wether this waypoint has been reached yet */
    bool isReached      () { return (_reachedTime > 0); }

    void setChanged() {
        emit changed(this);
    }

signals:
    /** @brief Announces a change to the waypoint data */
    void changed(Waypoint* wp);

    void latitudeChanged    ();
    void longitudeChanged   ();
    void altitudeChanged    ();
    void coordinateChanged(void);
    void typeChanged(QString type);
};

QML_DECLARE_TYPE(Waypoint)

#endif // WAYPOINT_H