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

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.Dialogs  1.2
import QtLocation       5.3
import QtPositioning    5.3

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

/// Mission Editor

QGCView {
    viewPanel: panel

    readonly property int   _decimalPlaces:     7
    readonly property real  _horizontalMargin:  ScreenTools.defaultFontPixelWidth / 2
    readonly property real  _verticalMargin:    ScreenTools.defaultFontPixelHeight / 2
    readonly property var   _activeVehicle:     multiVehicleManager.activeVehicle
    readonly property real  _editFieldWidth:    ScreenTools.defaultFontPixelWidth * 16

    property var    _missionItems:              controller.missionItems
    property bool   _showHomePositionManager:   false
    property bool   _addMissionItems:           false

    property var    _homePositionManager:       QGroundControl.homePositionManager
    property string _homePositionName:          _homePositionManager.homePositions.get(0).name
    property var    homePositionCoordinate:     _homePositionManager.homePositions.get(0).coordinate

    QGCPalette { id: _qgcPal; colorGroupEnabled: enabled }

    ExclusiveGroup {
        id: _mapTypeButtonsExclusiveGroup
    }

    ExclusiveGroup {
        id: _dropButtonsExclusiveGroup
    }

    function setCurrentItem(index) {
        for (var i=0; i<_missionItems.count; i++) {
            _missionItems.get(i).isCurrentItem = (i == index)
        }
    }

    // Home position is mission item 0, so keep them in sync
    onHomePositionCoordinateChanged: {
        // Changing the coordinate will set the dirty bit, so we save and reset it
        var dirtyBit = _missionItems.dirty
        _missionItems.get(0).coordinate = homePositionCoordinate
        _missionItems.dirty = dirtyBit
    }

    Component.onCompleted: onHomePositionCoordinateChanged

    Connections {
        target: controller

        onMissionItemsChanged: _missionItems.get(0).coordinate = homePositionCoordinate
    }

    QGCViewPanel {
        id:             panel
        anchors.fill:   parent

        Item {
            anchors.fill: parent

            FlightMap {
                id:             editorMap
                anchors.left:   parent.left
                anchors.right:  missionItemView.left
                anchors.top:    parent.top
                anchors.bottom: parent.bottom
                mapName:        "MissionEditor"

                Component.onCompleted: {
                    latitude = homePositionCoordinate.latitude
                    longitude = homePositionCoordinate.longitude
                }

                MouseArea {
                    anchors.fill: parent

                    onClicked: {
                        var coordinate = editorMap.toCoordinate(Qt.point(mouse.x, mouse.y))
                        coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
                        coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
                        coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
                        if (_showHomePositionManager) {
                            homePositionCoordinate = coordinate
                        } else if (_addMissionItems) {
                            var index = controller.addMissionItem(coordinate)
                            setCurrentItem(index)
                        }
                    }
                }

                Rectangle {
                    anchors.horizontalCenter:   parent.horizontalCenter
                    anchors.bottom:             parent.bottom
                    width:                      parent.width * 0.75
                    height:                     syncNeededText.height + (ScreenTools.defaultFontPixelWidth * 2)
                    border.width:               1
                    border.color:               "white"
                    color:                      "black"
                    opacity:                    0.75
                    visible:                    controller.missionItems.dirty

                    QGCLabel {
                        id:                     syncNeededText
                        anchors.margins:        ScreenTools.defaultFontPixelWidth
                        anchors.top:            parent.top
                        anchors.left:           parent.left
                        anchors.right:          parent.right
                        wrapMode:               Text.WordWrap
                        horizontalAlignment:    Text.AlignHCenter
                        verticalAlignment:      Text.AlignVCenter
                        font.pixelSize:         ScreenTools.mediumFontPixelSize
                        text:                   "You have unsaved changes. Be sure to use the Sync tool to save when ready."
                    }
                }

                Row {
                    spacing:            ScreenTools.defaultFontPixelWidth
                    anchors.top:        parent.top
                    anchors.right:      parent.right
                    anchors.margins:    ScreenTools.defaultFontPixelWidth

                    RoundButton {
                        id:                     addMissionItemsButton
                        buttonImage:            "/qmlimages/MapAddMission.svg"
                        opacity:                _addMissionItems ? 1.0 : 0.75
                        onClicked: {
                            _addMissionItems = !_addMissionItems
                            _showHomePositionManager = false
                        }
                    }

                    RoundButton {
                        id:                     homePositionManagerButton
                        buttonImage:            "/qmlimages/MapHome.svg"
                        opacity:                _showHomePositionManager ? 1.0 : 0.75
                        onClicked: {
                            _showHomePositionManager = !_showHomePositionManager
                            _addMissionItems = false
                        }
                    }

                    DropButton {
                        id:                     centerMapButton
                        dropDirection:          dropDown
                        buttonImage:            "/qmlimages/MapCenter.svg"
                        viewportMargins:        ScreenTools.defaultFontPixelWidth / 2
                        exclusiveGroup:         _dropButtonsExclusiveGroup

                        dropDownComponent: Component {
                            Row {
                                spacing: ScreenTools.defaultFontPixelWidth

                                QGCButton {
                                    text: "Home"

                                    onClicked: {
                                        centerMapButton.hideDropDown()
                                        editorMap.center = QtPositioning.coordinate(homePositionCoordinate.latitude, homePositionCoordinate.longitude)
                                        _showHomePositionManager = true
                                    }
                                }

                                QGCButton {
                                    text:       "Vehicle"
                                    enabled:    activeVehicle && activeVehicle.latitude != 0 && activeVehicle.longitude != 0

                                    property var activeVehicle: multiVehicleManager.activeVehicle

                                    onClicked: {
                                        centerMapButton.hideDropDown()
                                        editorMap.latitude = activeVehicle.latitude
                                        editorMap.longitude = activeVehicle.longitude
                                    }
                                }

    /*

    This code will need to wait for Qml 5.5 support since Map.visibleRegion is only in Qt 5.5

                                QGCButton {
                                    text: "All Items"

                                    onClicked: {
                                        centerMapButton.hideDropDown()

                                        // Begin with only the home position in the region
                                        var region = QtPositioning.rectangle(QtPositioning.coordinate(homePositionCoordinate.latitude, _homePositionCoordinate.longitude),
                                                                             QtPositioning.coordinate(homePositionCoordinate.latitude, _homePositionCoordinate.longitude))

                                        // Now expand the region to include all mission items
                                        for (var i=0; i<_missionItems.count; i++) {
                                            var missionItem = _missionItems.get(i)

                                            region.topLeft.latitude = Math.max(missionItem.coordinate.latitude, region.topLeft.latitude)
                                            region.topLeft.longitude = Math.min(missionItem.coordinate.longitude, region.topLeft.longitude)

                                            region.topRight.latitude = Math.max(missionItem.coordinate.latitude, region.topRight.latitude)
                                            region.topRight.longitude = Math.max(missionItem.coordinate.longitude, region.topRight.longitude)

                                            region.bottomLeft.latitude = Math.min(missionItem.coordinate.latitude, region.bottomLeft.latitude)
                                            region.bottomLeft.longitude = Math.min(missionItem.coordinate.longitude, region.bottomLeft.longitude)

                                            region.bottomRight.latitude = Math.min(missionItem.coordinate.latitude, region.bottomRight.latitude)
                                            region.bottomRight.longitude = Math.max(missionItem.coordinate.longitude, region.bottomRight.longitude)
                                        }

                                        editorMap.visibleRegion = region
                                    }
                                }
    */
                            }
                        }
                    }

                    DropButton {
                        id:                     syncButton
                        dropDirection:          dropDown
                        buttonImage:            "/qmlimages/MapSync.svg"
                        viewportMargins:        ScreenTools.defaultFontPixelWidth / 2
                        exclusiveGroup:         _dropButtonsExclusiveGroup

                        dropDownComponent: Component {
                            Row {
                                spacing: ScreenTools.defaultFontPixelWidth

                                QGCButton {
                                    text:       "Load from vehicle"
                                    enabled:    _activeVehicle && !_activeVehicle.missionManager.inProgress

                                    onClicked: {
                                        syncButton.hideDropDown()
                                        controller.getMissionItems()
                                    }
                                }

                                QGCButton {
                                    text:       "Save to vehicle"
                                    enabled:    _activeVehicle && !_activeVehicle.missionManager.inProgress

                                    onClicked: {
                                        syncButton.hideDropDown()
                                        controller.setMissionItems()
                                    }
                                }

                                QGCButton {
                                    text:       "Load from file..."

                                    onClicked: {
                                        syncButton.hideDropDown()
                                        controller.loadMissionFromFile()
                                    }
                                }

                                QGCButton {
                                    text:       "Save to file..."

                                    onClicked: {
                                        syncButton.hideDropDown()
                                        controller.saveMissionToFile()
                                    }
                                }
                            }
                        }
                    }

                    DropButton {
                        id:                 mapTypeButton
                        dropDirection:      dropDown
                        buttonImage:        "/qmlimages/MapType.svg"
                        viewportMargins:    ScreenTools.defaultFontPixelWidth / 2
                        exclusiveGroup:         _dropButtonsExclusiveGroup

                        dropDownComponent: Component {
                            Row {
                                spacing: ScreenTools.defaultFontPixelWidth

                                Repeater {
                                    model: QGroundControl.flightMapSettings.mapTypes

                                    QGCButton {
                                        checkable:      true
                                        checked:        editorMap.mapType == text
                                        text:           modelData
                                        exclusiveGroup: _mapTypeButtonsExclusiveGroup

                                        onClicked: {
                                            editorMap.mapType = text
                                            checked = true
                                            mapTypeButton.hideDropDown()
                                        }
                                    }
                                }
                            }
                        }
                    }
                }

                // Add the mission items to the map
                MapItemView {
                    model: controller.missionItems
                    
                    delegate:
                        MissionItemIndicator {
                            id:             itemIndicator
                            label:          object.sequenceNumber == 0 ? "H" : object.sequenceNumber
                            isCurrentItem:  !_showHomePositionManager && object.isCurrentItem
                            coordinate:     object.coordinate
                            z:              2
                            visible:        object.specifiesCoordinate

                            onClicked: {
                                _showHomePositionManager = false
                                setCurrentItem(object.sequenceNumber)
                            }

                            Row {
                                anchors.top:    parent.top
                                anchors.left:   parent.right

                                Repeater {
                                    model: object.childItems

                                    delegate:
                                        MissionItemIndexLabel {
                                            label:          object.sequenceNumber
                                            isCurrentItem:  !_showHomePositionManager && object.isCurrentItem
                                            z:              2

                                            onClicked: {
                                                _showHomePositionManager = false
                                                setCurrentItem(object.sequenceNumber)
                                            }

                                        }
                                }
                            }
                        }
                }

                // Add lines between waypoints
                MapItemView {
                    model: controller.waypointLines

                    delegate:
                        MapPolyline {
                            line.width: 3
                            line.color: "orange"
                            z:          1

                            path: [
                                { latitude: object.coordinate1.latitude, longitude: object.coordinate1.longitude },
                                { latitude: object.coordinate2.latitude, longitude: object.coordinate2.longitude },
                            ]
                        }
                }

                Column {
                    id:                 controlWidgets
                    anchors.margins:    ScreenTools.defaultFontPixelWidth
                    anchors.right:      parent.left
                    anchors.bottom:     parent.top
                    spacing:            ScreenTools.defaultFontPixelWidth / 2

                    QGCButton {
                        id:         addMode
                        text:       "+"
                        checkable:  true
                    }
                }
            } // FlightMap

            Rectangle {
                id:                 missionItemView
                anchors.right:      parent.right
                anchors.top:        parent.top
                anchors.bottom:     parent.bottom
                width:              ScreenTools.defaultFontPixelWidth * 30
                color: _qgcPal.window

                Item {
                    anchors.margins:    _verticalMargin
                    anchors.fill:       parent

                    // Mission Item Editor
                    Item {
                        anchors.fill:   parent
                        visible:        !_showHomePositionManager && controller.missionItems.count != 1

                        ListView {
                            id:             missionItemSummaryList
                            anchors.fill:   parent
                            spacing:        _verticalMargin
                            orientation:    ListView.Vertical
                            model:          controller.canEdit ? controller.missionItems : 0

                            property real _maxItemHeight: 0

                            delegate:
                                MissionItemEditor {
                                    missionItem:    object
                                    width:          parent.width

                                    onClicked:  setCurrentItem(object.sequenceNumber)

                                    onRemove: {
                                        var newCurrentItem = object.sequenceNumber - 1
                                        controller.removeMissionItem(object.sequenceNumber)
                                        if (_missionItems.count > 1) {
                                            newCurrentItem = Math.min(_missionItems.count - 1, newCurrentItem)
                                            setCurrentItem(newCurrentItem)
                                        }
                                    }

                                    onMoveUp:   controller.moveUp(object.sequenceNumber)
                                    onMoveDown: controller.moveDown(object.sequenceNumber)
                                }
                        } // ListView

                        QGCLabel {
                            anchors.fill:   parent
                            visible:        !controller.canEdit
                            wrapMode:       Text.WordWrap
                            text:           "The set of mission items you have loaded cannot be edited by QGroundControl. " +
                                            "You will only be able to save these to a file, or send them to a vehicle."
                        }
                    } // Item - Mission Item editor

                    // Home Position Manager
                    Item {
                        anchors.fill:   parent
                        visible:        _showHomePositionManager

                        Column {
                            anchors.fill: parent

                            QGCLabel {
                                font.pixelSize: ScreenTools.mediumFontPixelSize
                                text:           "Home Position Manager"
                            }

                            Item {
                                width: 10
                                height: ScreenTools.defaultFontPixelHeight
                            }

                            QGCLabel {
                                text: "Select home position to use:"
                            }

                            QGCComboBox {
                                id:         homePosCombo
                                width:      parent.width
                                textRole:   "text"
                                model:      _homePositionManager.homePositions

                                onCurrentIndexChanged: {
                                    if (currentIndex != -1) {
                                        var homePos = _homePositionManager.homePositions.get(currentIndex)
                                        _homePositionName = homePos.name
                                        homePositionCoordinate = homePos.coordinate
                                        editorMap.latitude = homePositionCoordinate.latitude
                                        editorMap.longitude = homePositionCoordinate.longitude
                                    }
                                }
                            }

                            Item {
                                width: 10
                                height: ScreenTools.defaultFontPixelHeight
                            }

                            QGCLabel {
                                width:      parent.width
                                wrapMode:   Text.WordWrap
                                text:       "To add a new home position, click on the Map to set the position. " +
                                            "Then give it a new name and click Add/Update. " +
                                            "To change the current home position, click on the Map to set the new position. " +
                                            "Then click Add/Update without changing the name."
                            }

                            Item {
                                width: 10
                                height: ScreenTools.defaultFontPixelHeight / 3
                            }

                            Item {
                                width:  parent.width
                                height: nameField.height

                                QGCLabel {
                                    anchors.baseline:   nameField.baseline
                                    text:               "Name:"
                                }

                                QGCTextField {
                                    id:             nameField
                                    anchors.right:  parent.right
                                    width:          _editFieldWidth
                                    text:           _homePositionName
                                }
                            }

                            Item {
                                width: 10
                                height: ScreenTools.defaultFontPixelHeight / 3
                            }

                            Item {
                                width:  parent.width
                                height: latitudeField.height

                                QGCLabel {
                                    anchors.baseline:   latitudeField.baseline
                                    text:               "Lat:"
                                }

                                QGCTextField {
                                    id:             latitudeField
                                    anchors.right:  parent.right
                                    width:          _editFieldWidth
                                    text:           homePositionCoordinate.latitude
                                }
                            }

                            Item {
                                width: 10
                                height: ScreenTools.defaultFontPixelHeight / 3
                            }

                            Item {
                                width:  parent.width
                                height: longitudeField.height

                                QGCLabel {
                                    anchors.baseline:   longitudeField.baseline
                                    text:               "Lon:"
                                }

                                QGCTextField {
                                    id:             longitudeField
                                    anchors.right:  parent.right
                                    width:          _editFieldWidth
                                    text:           homePositionCoordinate.longitude
                                }
                            }

                            Item {
                                width: 10
                                height: ScreenTools.defaultFontPixelHeight / 3
                            }

                            Item {
                                width:  parent.width
                                height: altitudeField.height

                                QGCLabel {
                                    anchors.baseline:   altitudeField.baseline
                                    text:               "Alt:"
                                }

                                QGCTextField {
                                    id:             altitudeField
                                    anchors.right:  parent.right
                                    width:          _editFieldWidth
                                    text:           homePositionCoordinate.altitude
                                }
                            }

                            Item {
                                width: 10
                                height: ScreenTools.defaultFontPixelHeight
                            }

                            Row {
                                spacing: ScreenTools.defaultFontPixelWidth

                                QGCButton {
                                    text: "Add/Update"

                                    onClicked: {
                                        homePositionCoordinate = QtPositioning.coordinate(latitudeField.text, longitudeField.text, altitudeField.text)
                                        _homePositionManager.updateHomePosition(nameField.text, homePositionCoordinate)
                                        homePosCombo.currentIndex = homePosCombo.find(nameField.text)
                                    }
                                }

                                QGCButton {
                                    text: "Delete"

                                    onClicked: {
                                        homePosCombo.currentIndex = -1
                                        _homePositionManager.deleteHomePosition(nameField.text)
                                        homePosCombo.currentIndex = 0
                                        var homePos = _homePositionManager.homePositions.get(0)
                                        _homePositionName = homePos.name
                                        homePositionCoordinate = homePos.coordinate
                                    }
                                }
                            }
                        } // Column
                    } // Item - Home Position Manager

                    // Help Panel
                    Item {
                        anchors.fill:   parent
                        visible:        !_showHomePositionManager && controller.missionItems.count == 1

                        QGCLabel {
                            id:             helpTitle
                            font.pixelSize: ScreenTools.mediumFontPixelSize
                            text:           "Mission Planner"
                        }

                        QGCLabel {
                            id:                 helpIconLabel
                            anchors.topMargin:  ScreenTools.defaultFontPixelHeight
                            anchors.top:        helpTitle.bottom
                            width:              parent.width
                            wrapMode:           Text.WordWrap
                            text:               "Mission Planner tool buttons:"
                        }

                        Image {
                            id:                 addMissionItemsHelpIcon
                            anchors.topMargin:  ScreenTools.defaultFontPixelHeight
                            anchors.top:        helpIconLabel.bottom
                            width:              ScreenTools.defaultFontPixelHeight * 3
                            fillMode:           Image.PreserveAspectFit
                            mipmap:             true
                            smooth:             true
                            source:             "/qmlimages/MapAddMission.svg"
                        }

                        QGCLabel {
                            id:                 addMissionItemsHelpText
                            anchors.leftMargin: ScreenTools.defaultFontPixelHeight
                            anchors.left:       mapTypeHelpIcon.right
                            anchors.right:      parent.right
                            anchors.top:        addMissionItemsHelpIcon.top
                            wrapMode:           Text.WordWrap
                            text:               "<b>Add Mission Items</b><br>" +
                                                "When enabled, add mission items by clicking on the map."
                        }

                        Image {
                            id:                 homePositionManagerHelpIcon
                            anchors.topMargin:  ScreenTools.defaultFontPixelHeight
                            anchors.top:        addMissionItemsHelpText.bottom
                            width:              ScreenTools.defaultFontPixelHeight * 3
                            fillMode:           Image.PreserveAspectFit
                            mipmap:             true
                            smooth:             true
                            source:             "/qmlimages/MapHome.svg"
                        }

                        QGCLabel {
                            id:                 homePositionManagerHelpText
                            anchors.leftMargin: ScreenTools.defaultFontPixelHeight
                            anchors.left:       mapTypeHelpIcon.right
                            anchors.right:      parent.right
                            anchors.top:        homePositionManagerHelpIcon.top
                            wrapMode:           Text.WordWrap
                            text:               "<b>Home Position Manager</b><br>" +
                                                "When enabled, allows you to select/add/update home positions. " +
                                                "You can save multiple home position to represent multiple flying areas."
                        }

                        Image {
                            id:                 mapCenterHelpIcon
                            anchors.topMargin:  ScreenTools.defaultFontPixelHeight
                            anchors.top:        homePositionManagerHelpText.bottom
                            width:              ScreenTools.defaultFontPixelHeight * 3
                            fillMode:           Image.PreserveAspectFit
                            mipmap:             true
                            smooth:             true
                            source:             "/qmlimages/MapCenter.svg"
                        }

                        QGCLabel {
                            id:                 mapCenterHelpText
                            anchors.leftMargin: ScreenTools.defaultFontPixelHeight
                            anchors.left:       mapTypeHelpIcon.right
                            anchors.right:      parent.right
                            anchors.top:        mapCenterHelpIcon.top
                            wrapMode:           Text.WordWrap
                            text:               "<b>Map Center</b><br>" +
                                                "Options for centering the map."
                        }

                        Image {
                            id:                 syncHelpIcon
                            anchors.topMargin:  ScreenTools.defaultFontPixelHeight
                            anchors.top:        mapCenterHelpText.bottom
                            width:              ScreenTools.defaultFontPixelHeight * 3
                            fillMode:           Image.PreserveAspectFit
                            mipmap:             true
                            smooth:             true
                            source:             "/qmlimages/MapSync.svg"
                        }

                        QGCLabel {
                            id:                 syncHelpText
                            anchors.leftMargin: ScreenTools.defaultFontPixelHeight
                            anchors.left:       mapTypeHelpIcon.right
                            anchors.right:      parent.right
                            anchors.top:        syncHelpIcon.top
                            wrapMode:           Text.WordWrap
                            text:               "<b>Sync</b><br>" +
                                                "Options for saving/loading mission items."
                        }

                        Image {
                            id:                 mapTypeHelpIcon
                            anchors.topMargin:  ScreenTools.defaultFontPixelHeight
                            anchors.top:        syncHelpText.bottom
                            width:              ScreenTools.defaultFontPixelHeight * 3
                            fillMode:           Image.PreserveAspectFit
                            mipmap:             true
                            smooth:             true
                            source:             "/qmlimages/MapType.svg"
                        }

                        QGCLabel {
                            id:                 mapTypeHelpText
                            anchors.leftMargin: ScreenTools.defaultFontPixelHeight
                            anchors.left:       mapTypeHelpIcon.right
                            anchors.right:      parent.right
                            anchors.top:        mapTypeHelpIcon.top
                            wrapMode:           Text.WordWrap
                            text:               "<b>Map Type</b><br>" +
                                                "Map type options."
                        }
                    } // Item - Help Panel
                } // Item
            } // Rectangle - mission item list
        } // Item - split view container
    } // QGCViewPanel
} // QGCVIew