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

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/>.

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

/**
 * @file
 *   @brief QGC Main Tool Bar
 *   @author Gus Grubba <mavlink@grubba.com>
 */

#include <QQmlContext>
#include <QQmlEngine>

#include "MainWindow.h"
#include "MainToolBar.h"
#include "UASMessageHandler.h"
#include "UASMessageView.h"

MainToolBar::MainToolBar()
    : _mav(NULL)
    , _toolBar(NULL)
    , _currentView(ViewNone)
    , _batteryVoltage(0.0)
    , _batteryPercent(0.0)
    , _linkSelected(false)
    , _connectionCount(0)
    , _systemArmed(false)
    , _currentHeartbeatTimeout(0)
    , _waypointDistance(0.0)
    , _currentWaypoint(0)
    , _currentMessageCount(0)
    , _currentErrorCount(0)
    , _currentWarningCount(0)
    , _currentNormalCount(0)
    , _currentMessageType(MessageNone)
    , _satelliteCount(-1)
    , _dotsPerInch(72.0)
    , _rollDownMessages(0)
{
    setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
    setObjectName("MainToolBar");
    setMinimumHeight(40);
    setMaximumHeight(40);
    setMinimumWidth(MainWindow::instance()->minimumWidth());
    // Get rid of layout default margins
    QLayout* pl = layout();
    if(pl) {
        pl->setContentsMargins(0,0,0,0);
    }
    // Get screen DPI to manage font sizes on different platforms
    QScreen *srn = QGuiApplication::screens().at(0); // TODO: Find current monitor as opposed to picking first one
    _dotsPerInch = (qreal)srn->logicalDotsPerInch(); // Font point sizes are based on Mac 72dpi

    setContextPropertyObject("mainToolBar", this);
    setSource(QUrl::fromUserInput("qrc:/qml/MainToolBar.qml"));
    setVisible(true);
    // Configure the toolbar for the current default UAS (which should be none as we just booted)
    _setActiveUAS(UASManager::instance()->getActiveUAS());
    emit configListChanged();
    emit heartbeatTimeoutChanged(_currentHeartbeatTimeout);
    emit connectionCountChanged(_connectionCount);
    // Link signals
    connect(UASManager::instance(),  &UASManager::activeUASSet,              this, &MainToolBar::_setActiveUAS);
    connect(LinkManager::instance(), &LinkManager::linkConfigurationChanged, this, &MainToolBar::_updateConfigurations);
    connect(LinkManager::instance(), &LinkManager::linkConnected,            this, &MainToolBar::_linkConnected);
    connect(LinkManager::instance(), &LinkManager::linkDisconnected,         this, &MainToolBar::_linkDisconnected);
}

MainToolBar::~MainToolBar()
{

}

void MainToolBar::onSetupView()
{
    setCurrentView(ViewSetup);
    MainWindow::instance()->loadSetupView();
}

void MainToolBar::onPlanView()
{
    setCurrentView(ViewPlan);
    MainWindow::instance()->loadOperatorView();
}

void MainToolBar::onFlyView()
{
    setCurrentView(ViewFly);
    MainWindow::instance()->loadPilotView();
}

void MainToolBar::onAnalyzeView()
{
    setCurrentView(ViewAnalyze);
    MainWindow::instance()->loadEngineerView();
}

void MainToolBar::onConnect(QString conf)
{
    // If no connection, the role is "Connect"
    if(_connectionCount == 0) {
        // Connect Link
        if(_currentConfig.isEmpty()) {
            MainWindow::instance()->manageLinks();
        } else {
            // We don't want the combo box updating under our feet
            LinkManager::instance()->suspendConfigurationUpdates(true);
            // Create a link
            LinkInterface* link = LinkManager::instance()->createLink(_currentConfig);
            if(link) {
                // Connect it
                LinkManager::instance()->connectLink(link);
                // Save last used connection
                MainWindow::instance()->saveLastUsedConnection(_currentConfig);
            }
            LinkManager::instance()->suspendConfigurationUpdates(false);
        }
    } else {
        if(conf.isEmpty()) {
            // Disconnect Only Connected Link
            int connectedCount = 0;
            LinkInterface* connectedLink = NULL;
            QList<LinkInterface*> links = LinkManager::instance()->getLinks();
            foreach(LinkInterface* link, links) {
                if (link->isConnected()) {
                    connectedCount++;
                    connectedLink = link;
                }
            }
            Q_ASSERT(connectedCount   == 1);
            Q_ASSERT(_connectionCount == 1);
            Q_ASSERT(connectedLink);
            LinkManager::instance()->disconnectLink(connectedLink);
        } else {
            // Disconnect Named Connected Link
            QList<LinkInterface*> links = LinkManager::instance()->getLinks();
            foreach(LinkInterface* link, links) {
                if (link->isConnected()) {
                    if(link->getLinkConfiguration() && link->getLinkConfiguration()->name() == conf) {
                        LinkManager::instance()->disconnectLink(link);
                    }
                }
            }
        }
    }
}

void MainToolBar::onLinkConfigurationChanged(const QString& config)
{
    // User selected a link configuration from the combobox
    if(_currentConfig != config) {
        _currentConfig = config;
        _linkSelected = true;
    }
}

void MainToolBar::onEnterMessageArea(int x, int y)
{
    // If not already there and messages are actually present
    if(!_rollDownMessages && UASMessageHandler::instance()->messages().count())
    {
        // Reset Counts
        int count = _currentMessageCount;
        MessageType_t type = _currentMessageType;
        _currentErrorCount   = 0;
        _currentWarningCount = 0;
        _currentNormalCount  = 0;
        _currentMessageCount = 0;
        _currentMessageType = MessageNone;
        if(count != _currentMessageCount) {
            emit messageCountChanged(0);
        }
        if(type != _currentMessageType) {
            emit messageTypeChanged(MessageNone);
        }
        // Show messages
        int dialogWidth = 400;
        x = x - (dialogWidth >> 1);
        if(x < 0) x = 0;
        y = height() / 3;
        // Put dialog on top of the message alert icon
        QPoint p = mapToGlobal(QPoint(x,y));
        _rollDownMessages = new UASMessageViewRollDown(MainWindow::instance());
        _rollDownMessages->setAttribute(Qt::WA_DeleteOnClose);
        _rollDownMessages->move(mapFromGlobal(p));
        _rollDownMessages->setMinimumSize(dialogWidth,200);
        connect(_rollDownMessages, &UASMessageViewRollDown::closeWindow, this, &MainToolBar::_leaveMessageView);
        _rollDownMessages->show();
    }
}

QString MainToolBar::getMavIconColor()
{
    // TODO: Not using because not only the colors are ghastly, it doesn't respect dark/light palette
    if(_mav)
        return _mav->getColor().name();
    else
        return QString("black");
}

void MainToolBar::_leaveMessageView()
{
    // Mouse has left the message window area (and it has closed itself)
    _rollDownMessages = NULL;
}

void MainToolBar::setCurrentView(int currentView)
{
    ViewType_t view = ViewNone;
    switch((MainWindow::VIEW_SECTIONS)currentView) {
        case MainWindow::VIEW_ENGINEER:
            view = ViewAnalyze;
            break;
        case MainWindow::VIEW_MISSION:
            view = ViewPlan;
            break;
           case MainWindow::VIEW_FLIGHT:
            view = ViewFly;
            break;
        case MainWindow::VIEW_SETUP:
            view = ViewSetup;
            break;
        default:
            view = ViewNone;
            break;
    }
    if(view != _currentView) {
        _currentView = view;
        emit currentViewChanged();
    }
}

void MainToolBar::_setActiveUAS(UASInterface* active)
{
    // Do nothing if system is the same
    if (_mav == active) {
        return;
    }
    // If switching the UAS, disconnect the existing one.
    if (_mav)
    {
        disconnect(UASMessageHandler::instance(), &UASMessageHandler::textMessageReceived,  this, &MainToolBar::_handleTextMessage);
        disconnect(_mav, &UASInterface::heartbeatTimeout,                                   this, &MainToolBar::_heartbeatTimeout);
        disconnect(_mav, &UASInterface::batteryChanged,                                     this, &MainToolBar::_updateBatteryRemaining);
        disconnect(_mav, &UASInterface::modeChanged,                                        this, &MainToolBar::_updateMode);
        disconnect(_mav, &UASInterface::nameChanged,                                        this, &MainToolBar::_updateName);
        disconnect(_mav, &UASInterface::systemTypeSet,                                      this, &MainToolBar::_setSystemType);
        disconnect(_mav, SIGNAL(statusChanged(UASInterface*,QString,QString)),              this, SLOT(_updateState(UASInterface*,QString,QString)));
        disconnect(_mav, SIGNAL(armingChanged(bool)),                                       this, SLOT(_updateArmingState(bool)));
        if (_mav->getWaypointManager())
        {
            disconnect(_mav->getWaypointManager(), &UASWaypointManager::currentWaypointChanged,  this, &MainToolBar::_updateCurrentWaypoint);
            disconnect(_mav->getWaypointManager(), &UASWaypointManager::waypointDistanceChanged, this, &MainToolBar::_updateWaypointDistance);
        }
        UAS* pUas = dynamic_cast<UAS*>(_mav);
        if(pUas) {
            disconnect(pUas, &UAS::satelliteCountChanged, this, &MainToolBar::_setSatelliteCount);
        }
    }
    // Connect new system
    _mav = active;
    if (_mav)
    {
        _setSystemType(_mav, _mav->getSystemType());
        _updateArmingState(_mav->isArmed());
        connect(UASMessageHandler::instance(), &UASMessageHandler::textMessageReceived,     this, &MainToolBar::_handleTextMessage);
        connect(_mav, &UASInterface::heartbeatTimeout,                                      this, &MainToolBar::_heartbeatTimeout);
        connect(_mav, &UASInterface::batteryChanged,                                        this, &MainToolBar::_updateBatteryRemaining);
        connect(_mav, &UASInterface::modeChanged,                                           this, &MainToolBar::_updateMode);
        connect(_mav, &UASInterface::nameChanged,                                           this, &MainToolBar::_updateName);
        connect(_mav, &UASInterface::systemTypeSet,                                         this, &MainToolBar::_setSystemType);
        connect(_mav, SIGNAL(statusChanged(UASInterface*,QString,QString)),                 this, SLOT(_updateState(UASInterface*, QString,QString)));
        connect(_mav, SIGNAL(armingChanged(bool)),                                          this, SLOT(_updateArmingState(bool)));
        if (_mav->getWaypointManager())
        {
            connect(_mav->getWaypointManager(), &UASWaypointManager::currentWaypointChanged,  this, &MainToolBar::_updateCurrentWaypoint);
            connect(_mav->getWaypointManager(), &UASWaypointManager::waypointDistanceChanged, this, &MainToolBar::_updateWaypointDistance);
        }
        UAS* pUas = dynamic_cast<UAS*>(_mav);
        if(pUas) {
            _setSatelliteCount(pUas->getSatelliteCount(), QString(""));
            connect(pUas, &UAS::satelliteCountChanged, this, &MainToolBar::_setSatelliteCount);
        }
    }
    // Let toolbar know about it
    emit mavPresentChanged(_mav != NULL);
}

void MainToolBar::_updateArmingState(bool armed)
{
    if(_systemArmed != armed) {
        _systemArmed = armed;
        emit systemArmedChanged(armed);
    }
}

void MainToolBar::_updateBatteryRemaining(UASInterface*, double voltage, double, double percent, int)
{
    if(percent < 0.0) {
        percent = 0.0;
    }
    if(voltage < 0.0) {
        voltage = 0.0;
    }
    if (_batteryVoltage != voltage) {
        _batteryVoltage = voltage;
        emit batteryVoltageChanged(voltage);
    }
    if (_batteryPercent != percent) {
        _batteryPercent = percent;
        emit batteryPercentChanged(voltage);
    }
}

void MainToolBar::_updateConfigurations()
{
    bool resetSelected = false;
    QString selected = _currentConfig;
    QStringList tmpList;
    QList<LinkConfiguration*> configs = LinkManager::instance()->getLinkConfigurationList();
    foreach(LinkConfiguration* conf, configs) {
        if(conf) {
            tmpList << conf->name();
            if((!_linkSelected && conf->isPreferred()) || selected.isEmpty()) {
                selected = conf->name();
                resetSelected = true;
            }
        }
    }
    // Any changes?
    if(tmpList != _linkConfigurations) {
        _linkConfigurations = tmpList;
        emit configListChanged();
    }
    // Selection change?
    if((selected != _currentConfig && _linkConfigurations.contains(selected)) ||
       (selected.isEmpty())) {
        _currentConfig = selected;
        emit currentConfigChanged(_currentConfig);
    }
    if(resetSelected) {
        _linkSelected = false;
    }
}

void MainToolBar::_linkConnected(LinkInterface*)
{
    _updateConnection();
}

void MainToolBar::_linkDisconnected(LinkInterface* link)
{
    _updateConnection(link);
}

void MainToolBar::_updateConnection(LinkInterface *disconnectedLink)
{
    QStringList connList;
    int oldCount = _connectionCount;
    // If there are multiple connected links add/update the connect button menu
    _connectionCount = 0;
    QList<LinkInterface*> links = LinkManager::instance()->getLinks();
    foreach(LinkInterface* link, links) {
        if (disconnectedLink != link && link->isConnected()) {
            _connectionCount++;
            if(link->getLinkConfiguration()) {
                connList << link->getLinkConfiguration()->name();
            }
        }
    }
    if(oldCount != _connectionCount) {
        emit connectionCountChanged(_connectionCount);
    }
    if(connList != _connectedList) {
        _connectedList = connList;
        emit connectedListChanged(_connectedList);
    }
}

void MainToolBar::_updateState(UASInterface*, QString name, QString)
{
    if (_currentState != name) {
        _currentState = name;
        emit currentStateChanged(_currentState);
    }
}

void MainToolBar::_updateMode(int, QString name, QString)
{
    if (name.size()) {
        QString shortMode = name;
        shortMode = shortMode.replace("D|", "");
        shortMode = shortMode.replace("A|", "");
        if (_currentMode != shortMode) {
            _currentMode = shortMode;
            emit currentModeChanged();
        }
    }
}

void MainToolBar::_updateName(const QString& name)
{
    if (_systemName != name) {
        _systemName = name;
        // TODO: emit signal and use it
    }
}

/**
 * The current system type is represented through the system icon.
 *
 * @param uas Source system, has to be the same as this->uas
 * @param systemType type ID, following the MAVLink system type conventions
 * @see http://pixhawk.ethz.ch/software/mavlink
 */
void MainToolBar::_setSystemType(UASInterface*, unsigned int systemType)
{
    _systemPixmap = "qrc:/files/images/mavs/";
    switch (systemType) {
        case MAV_TYPE_GENERIC:
            _systemPixmap += "generic.svg";
            break;
        case MAV_TYPE_FIXED_WING:
            _systemPixmap += "fixed-wing.svg";
            break;
        case MAV_TYPE_QUADROTOR:
            _systemPixmap += "quadrotor.svg";
            break;
        case MAV_TYPE_COAXIAL:
            _systemPixmap += "coaxial.svg";
            break;
        case MAV_TYPE_HELICOPTER:
            _systemPixmap += "helicopter.svg";
            break;
        case MAV_TYPE_ANTENNA_TRACKER:
            _systemPixmap += "antenna-tracker.svg";
            break;
        case MAV_TYPE_GCS:
            _systemPixmap += "groundstation.svg";
            break;
        case MAV_TYPE_AIRSHIP:
            _systemPixmap += "airship.svg";
            break;
        case MAV_TYPE_FREE_BALLOON:
            _systemPixmap += "free-balloon.svg";
            break;
        case MAV_TYPE_ROCKET:
            _systemPixmap += "rocket.svg";
            break;
        case MAV_TYPE_GROUND_ROVER:
            _systemPixmap += "ground-rover.svg";
            break;
        case MAV_TYPE_SURFACE_BOAT:
            _systemPixmap += "surface-boat.svg";
            break;
        case MAV_TYPE_SUBMARINE:
            _systemPixmap += "submarine.svg";
            break;
        case MAV_TYPE_HEXAROTOR:
            _systemPixmap += "hexarotor.svg";
            break;
        case MAV_TYPE_OCTOROTOR:
            _systemPixmap += "octorotor.svg";
            break;
        case MAV_TYPE_TRICOPTER:
            _systemPixmap += "tricopter.svg";
            break;
        case MAV_TYPE_FLAPPING_WING:
            _systemPixmap += "flapping-wing.svg";
            break;
        case MAV_TYPE_KITE:
            _systemPixmap += "kite.svg";
            break;
        default:
            _systemPixmap += "unknown.svg";
            break;
    }
    emit systemPixmapChanged(_systemPixmap);
}

void MainToolBar::_heartbeatTimeout(bool timeout, unsigned int ms)
{
    unsigned int elapsed = ms;
    if (!timeout)
    {
        elapsed = 0;
    }
    if(elapsed != _currentHeartbeatTimeout) {
        _currentHeartbeatTimeout = elapsed;
        emit heartbeatTimeoutChanged(_currentHeartbeatTimeout);
    }
}

void MainToolBar::_handleTextMessage(UASMessage*)
{
    UASMessageHandler* pMh = UASMessageHandler::instance();
    Q_ASSERT(pMh);
    MessageType_t type = _currentMessageType;
    int errorCount     = _currentErrorCount;
    int warnCount      = _currentWarningCount;
    int normalCount    = _currentNormalCount;
    //-- Add current message counts
    errorCount  += pMh->getErrorCount();
    warnCount   += pMh->getWarningCount();
    normalCount += pMh->getNormalCount();
    //-- See if we have a higher level
    if(errorCount != _currentErrorCount) {
        _currentErrorCount = errorCount;
        type = MessageError;
    }
    if(warnCount != _currentWarningCount) {
        _currentWarningCount = warnCount;
        if(_currentMessageType != MessageError) {
            type = MessageWarning;
        }
    }
    if(normalCount != _currentNormalCount) {
        _currentNormalCount = normalCount;
        if(_currentMessageType != MessageError && _currentMessageType != MessageWarning) {
            type = MessageNormal;
        }
    }
    int count = _currentErrorCount + _currentWarningCount + _currentNormalCount;
    if(count != _currentMessageCount) {
        _currentMessageCount = count;
        // Display current total message count
        emit messageCountChanged(count);
    }
    if(type != _currentMessageType) {
        _currentMessageType = type;
        // Update message level
        emit messageTypeChanged(type);
    }
}

void MainToolBar::_updateWaypointDistance(double distance)
{
    if (_waypointDistance != distance) {
        _waypointDistance = distance;
        // TODO: emit signal and use it
    }
}

void MainToolBar::_updateCurrentWaypoint(quint16 id)
{
    if (_currentWaypoint != id) {
        _currentWaypoint = id;
        // TODO: emit signal and use it
    }
}

void MainToolBar::_setSatelliteCount(double val, QString)
{
    if(val < 0.0)  val = 0.0;
    if(val > 99.0) val = 99.0;
    if(_satelliteCount != (int)val) {
        _satelliteCount = (int)val;
        emit satelliteCountChanged(_satelliteCount);
    }
}