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

QGroundControl Open Source Ground Control Station

(c) 2009, 2010 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 Head Up Display (QGCVideoWidget)
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QShowEvent>
#include <QContextMenuEvent>
#include <QMenu>
#include <QDesktopServices>

#include <QDebug>
#include <cmath>
#include <qmath.h>
#include <limits>

#include "QGCVideoWidget.h"
#include "QGC.h"

// Fix for some platforms, e.g. windows
#ifndef GL_MULTISAMPLE
#define GL_MULTISAMPLE  0x809D
#endif

template<typename T>
inline bool isnan(T value)
{
    return value != value;

}

// requires #include <limits>
template<typename T>
inline bool isinf(T value)
{
    return std::numeric_limits<T>::has_infinity && (value == std::numeric_limits<T>::infinity() || (-1*value) == std::numeric_limits<T>::infinity());
}

/**
 * @warning The QGCVideoWidget widget will not start painting its content automatically
 *          to update the view, start the auto-update by calling QGCVideoWidget::start().
 *
 * @param width
 * @param height
 * @param parent
 */
QGCVideoWidget::QGCVideoWidget(QWidget* parent)
    : QGLWidget(QGLFormat(QGL::SampleBuffers), parent),
      yawInt(0.0f),
      mode(tr("UNKNOWN MODE")),
      state(tr("UNKNOWN STATE")),
      fuelStatus(tr("00.0V (00m:00s)")),
      xCenterOffset(0.0f),
      yCenterOffset(0.0f),
      vwidth(200.0f),
      vheight(150.0f),
      vGaugeSpacing(50.0f),
      vPitchPerDeg(6.0f), ///< 4 mm y translation per degree)
      rawBuffer1(NULL),
      rawBuffer2(NULL),
      rawImage(NULL),
      rawLastIndex(0),
      rawExpectedBytes(0),
      bytesPerLine(1),
      imageStarted(false),
      receivedDepth(8),
      receivedChannels(1),
      receivedWidth(640),
      receivedHeight(480),
      defaultColor(QColor(70, 200, 70)),
      setPointColor(QColor(200, 20, 200)),
      warningColor(Qt::yellow),
      criticalColor(Qt::red),
      infoColor(QColor(20, 200, 20)),
      fuelColor(criticalColor),
      warningBlinkRate(5),
      refreshTimer(new QTimer(this)),
      noCamera(true),
      hardwareAcceleration(true),
      strongStrokeWidth(1.5f),
      normalStrokeWidth(1.0f),
      fineStrokeWidth(0.5f),
      waypointName(""),
      roll(0.0f),
      pitch(0.0f),
      yaw(0.0f),
      rollLP(0.0f),
      pitchLP(0.0f),
      yawLP(0.0f),
      yawDiff(0.0f),
      xPos(0.0),
      yPos(0.0),
      zPos(0.0),
      xSpeed(0.0),
      ySpeed(0.0),
      zSpeed(0.0),
      lastSpeedUpdate(0),
      totalSpeed(0.0),
      totalAcc(0.0),
      lat(0.0),
      lon(0.0),
      alt(0.0),
      load(0.0f),
      offlineDirectory(""),
      nextOfflineImage(""),
      hudInstrumentsEnabled(false),
      videoEnabled(false),
      flowEnabled(false),
      xImageFactor(1.0),
      yImageFactor(1.0),
      imageRequested(false),
      flowFieldX(NULL),
      flowFieldY(NULL),
      flowWidth(0),
      flowHeight(0)
{
    // Set auto fill to false
    setAutoFillBackground(false);

    // Set minimum size
    setMinimumSize(80, 60);
    // Set preferred size
    setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
    scalingFactor = this->width()/vwidth;

    // Fill with black background
    QImage fill = QImage(640, 480, QImage::Format_Indexed8);
    fill.setColorCount(3);
    fill.setColor(0, qRgb(0, 0, 0));
    fill.setColor(1, qRgb(0, 0, 0));
    fill.setColor(2, qRgb(0, 0, 0));
    fill.fill(0);

    //QString imagePath = "/Users/user/Desktop/frame0000.png";
    //qDebug() << __FILE__ << __LINE__ << "template image:" << imagePath;
    //fill = QImage(imagePath);

    glImage = QGLWidget::convertToGLFormat(fill);

    // Refresh timer
    refreshTimer->setInterval(updateInterval);
    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD()));

    // Resize to correct size and fill with image
    //glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());

    // Set size once
    //setFixedSize(fill.size());
    //setMinimumSize(fill.size());
    //setMaximumSize(fill.size());
    // Lock down the size
    //setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));

    fontDatabase = QFontDatabase();
    const QString fontFileName = ":/res/fonts/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
    const QString fontFamilyName = "Bitstream Vera Sans";
    if(!QFile::exists(fontFileName)) qDebug() << "ERROR! font file: " << fontFileName << " DOES NOT EXIST!";

    fontDatabase.addApplicationFont(fontFileName);
    font = fontDatabase.font(fontFamilyName, "Roman", qMax(5,(int)(10.0f*scalingFactor*1.2f+0.5f)));
    QFont* fontPtr = &font;
    if (!fontPtr) {
        qDebug() << "ERROR! FONT NOT LOADED!";
    } else {
        if (font.family() != fontFamilyName) qDebug() << "ERROR! WRONG FONT LOADED: " << fontFamilyName;
    }

    createActions();
}

QGCVideoWidget::~QGCVideoWidget()
{
    refreshTimer->stop();
}

QSize QGCVideoWidget::sizeHint() const
{
    return QSize(width(), (width()*3.0f)/4);
}

void QGCVideoWidget::showEvent(QShowEvent* event)
{
    Q_UNUSED(event)
    refreshTimer->start(updateInterval);
}

void QGCVideoWidget::hideEvent(QHideEvent* event)
{
    Q_UNUSED(event);
    refreshTimer->stop();
}

void QGCVideoWidget::contextMenuEvent (QContextMenuEvent* event)
{
    QMenu menu(this);
    // Update actions
    enableHUDAction->setChecked(hudInstrumentsEnabled);
//    enableVideoAction->setChecked(videoEnabled);

    menu.addAction(enableHUDAction);
    menu.addAction(enableFlowFieldAction);
    //menu.addAction(selectQGCVideoWidgetColorAction);
//    menu.addAction(enableVideoAction);
//    menu.addAction(selectOfflineDirectoryAction);
    //menu.addAction(selectVideoChannelAction);
    menu.exec(event->globalPos());
}

void QGCVideoWidget::createActions()
{
    enableHUDAction = new QAction(tr("Enable HUD"), this);
    enableHUDAction->setStatusTip(tr("Show the HUD instruments in this window"));
    enableHUDAction->setCheckable(true);
    enableHUDAction->setChecked(hudInstrumentsEnabled);
    connect(enableHUDAction, SIGNAL(triggered(bool)), this, SLOT(enableHUDInstruments(bool)));

    enableVideoAction = new QAction(tr("Enable Video Live feed"), this);
    enableVideoAction->setStatusTip(tr("Show the video live feed"));
    enableVideoAction->setCheckable(true);
    enableVideoAction->setChecked(videoEnabled);

    enableFlowFieldAction = new QAction(tr("Enable Optical Flow Field"), this);
    enableFlowFieldAction->setCheckable(true);
    enableFlowFieldAction->setChecked(flowEnabled);
    connect(enableFlowFieldAction, SIGNAL(triggered(bool)), this, SLOT(enableFlow(bool)));

//    connect(enableVideoAction, SIGNAL(triggered(bool)), this, SLOT(enableVideo(bool)));

    selectOfflineDirectoryAction = new QAction(tr("Select image log"), this);
    selectOfflineDirectoryAction->setStatusTip(tr("Load previously logged images into simulation / replay"));
//    connect(selectOfflineDirectoryAction, SIGNAL(triggered()), this, SLOT(selectOfflineDirectory()));
}

/**
 * @param y coordinate in pixels to be converted to reference mm units
 * @return the screen coordinate relative to the QGLWindow origin
 */
float QGCVideoWidget::refToScreenX(float x)
{
    //qDebug() << "sX: " << (scalingFactor * x);
    return (scalingFactor * x);
}
/**
 * @param x coordinate in pixels to be converted to reference mm units
 * @return the screen coordinate relative to the QGLWindow origin
 */
float QGCVideoWidget::refToScreenY(float y)
{
    //qDebug() << "sY: " << (scalingFactor * y);
    return (scalingFactor * y);
}

/**
 * This functions works in the OpenGL view, which is already translated by
 * the x and y center offsets.
 *
 */
void QGCVideoWidget::paintCenterBackground(float roll, float pitch, float yaw)
{
    // Center indicator is 100 mm wide
    float referenceWidth = 70.0;
    float referenceHeight = 70.0;

    // QGCVideoWidget is assumed to be 200 x 150 mm
    // so that positions can be hardcoded
    // but can of course be scaled.

    double referencePositionX = vwidth / 2.0 - referenceWidth/2.0;
    double referencePositionY = vheight / 2.0 - referenceHeight/2.0;

    //this->width()/2.0+(xCenterOffset*scalingFactor), this->height()/2.0+(yCenterOffset*scalingFactor);

    setupGLView(referencePositionX, referencePositionY, referenceWidth, referenceHeight);

    // Store current position in the model view
    // the position will be restored after drawing
    glMatrixMode(GL_MODELVIEW);
    glPushMatrix();

    // Move to the center of the window
    glTranslatef(referenceWidth/2.0f,referenceHeight/2.0f,0);

    // Move based on the yaw difference
    glTranslatef(yaw, 0.0f, 0.0f);

    // Rotate based on the bank
    glRotatef((roll/M_PI)*180.0f, 0.0f, 0.0f, 1.0f);

    // Translate in the direction of the rotation based
    // on the pitch. On the 777, a pitch of 1 degree = 2 mm
    //glTranslatef(0, ((-pitch/M_PI)*180.0f * vPitchPerDeg), 0);
    glTranslatef(0.0f, (-pitch * vPitchPerDeg * 16.5f), 0.0f);

    // Ground
    glColor3ub(179,102,0);

    glBegin(GL_POLYGON);
    glVertex2f(-300,-300);
    glVertex2f(-300,0);
    glVertex2f(300,0);
    glVertex2f(300,-300);
    glVertex2f(-300,-300);
    glEnd();

    // Sky
    glColor3ub(0,153,204);

    glBegin(GL_POLYGON);
    glVertex2f(-300,0);
    glVertex2f(-300,300);
    glVertex2f(300,300);
    glVertex2f(300,0);
    glVertex2f(-300,0);

    glEnd();
}

/**
 * Paint text on top of the image and OpenGL drawings
 *
 * @param text chars to write
 * @param color text color
 * @param fontSize text size in mm
 * @param refX position in reference units (mm of the real instrument). This is relative to the measurement unit position, NOT in pixels.
 * @param refY position in reference units (mm of the real instrument). This is relative to the measurement unit position, NOT in pixels.
 */
void QGCVideoWidget::paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter)
{
    QPen prevPen = painter->pen();
    float pPositionX = refToScreenX(refX) - (fontSize*scalingFactor*0.072f);
    float pPositionY = refToScreenY(refY) - (fontSize*scalingFactor*0.212f);

    QFont font("Bitstream Vera Sans");
    // Enforce minimum font size of 5 pixels
    int fSize = qMax(5, (int)(fontSize*scalingFactor*1.26f));
    font.setPixelSize(fSize);

    QFontMetrics metrics = QFontMetrics(font);
    int border = qMax(4, metrics.leading());
    QRect rect = metrics.boundingRect(0, 0, width() - 2*border, int(height()*0.125),
                                      Qt::AlignLeft | Qt::TextWordWrap, text);
    painter->setPen(color);
    painter->setFont(font);
    painter->setRenderHint(QPainter::TextAntialiasing);
    painter->drawText(pPositionX, pPositionY,
                      rect.width(), rect.height(),
                      Qt::AlignCenter | Qt::TextWordWrap, text);
    painter->setPen(prevPen);
}

void QGCVideoWidget::initializeGL()
{
    bool antialiasing = true;

    // Antialiasing setup
    if(antialiasing) {
        glEnable(GL_MULTISAMPLE);
        glEnable(GL_BLEND);

        glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);

        glEnable(GL_POINT_SMOOTH);
        glEnable(GL_LINE_SMOOTH);

        glHint(GL_POINT_SMOOTH_HINT, GL_NICEST);
        glHint(GL_LINE_SMOOTH_HINT, GL_NICEST);
    } else {
        glDisable(GL_BLEND);
        glDisable(GL_POINT_SMOOTH);
        glDisable(GL_LINE_SMOOTH);
    }
}

/**
 * @param referencePositionX horizontal position in the reference mm-unit space
 * @param referencePositionY horizontal position in the reference mm-unit space
 * @param referenceWidth width in the reference mm-unit space
 * @param referenceHeight width in the reference mm-unit space
 */
void QGCVideoWidget::setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight)
{
    int pixelWidth  = (int)(referenceWidth * scalingFactor);
    int pixelHeight = (int)(referenceHeight * scalingFactor);
    // Translate and scale the GL view in the virtual reference coordinate units on the screen
    int pixelPositionX = (int)((referencePositionX * scalingFactor) + xCenterOffset);
    int pixelPositionY = this->height() - (referencePositionY * scalingFactor) + yCenterOffset - pixelHeight;

    //qDebug() << "Pixel x" << pixelPositionX << "pixelY" << pixelPositionY;
    //qDebug() << "xCenterOffset:" << xCenterOffset << "yCenterOffest" << yCenterOffset


    //The viewport is established at the correct pixel position and clips everything
    // out of the desired instrument location
    glViewport(pixelPositionX, pixelPositionY, pixelWidth, pixelHeight);
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();

    // The ortho projection is setup in a way that so that the drawing is done in the
    // reference coordinate space
    glOrtho(0, referenceWidth, 0, referenceHeight, -1, 1);
    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();
    //glScalef(scaleX, scaleY, 1.0f);
}

void QGCVideoWidget::paintRollPitchStrips()
{
}


void QGCVideoWidget::paintEvent(QPaintEvent *event)
{
    // Event is not needed
    // the event is ignored as this widget
    // is refreshed automatically
    Q_UNUSED(event);
}

void QGCVideoWidget::copyFlow(const unsigned char* flowX, const unsigned char* flowY, int width, int height)
{
    flowWidth = width;
    flowHeight = height;

    delete flowFieldX;
    delete flowFieldY;

    flowFieldX = (unsigned char**) malloc(width*height);
    flowFieldY = (unsigned char**) malloc(width*height);

    memcpy(flowFieldX, flowX, width*height);
    memcpy(flowFieldY, flowY, width*height);
}

void QGCVideoWidget::paintFlowField(QPainter* painter)
{
    if (width() > 0 && height() > 0)
    {
        unsigned int sX = (flowWidth+1)/width();
        unsigned int sY = (flowHeight+1)/height();
        for (unsigned int i = 0; i < flowWidth; ++i)
        {
            for (unsigned int j = 0; j < flowHeight; ++j)
            {
                // Paint vector
                qDebug() << "X" << i << flowFieldX[i][j] << "Y" << j << flowFieldY[i][j];
                //painter->drawLine(QPointF(sX*i, sY*j), QPointF(sX*i+(flowFieldX[i][j]), sY*j+(flowFieldY[i][j])));
            }
        }
    }
}

void QGCVideoWidget::paintHUD()
{
    if (isVisible()) {
        //    static quint64 interval = 0;
        //    qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
        //    interval = MG::TIME::getGroundTimeNow();

#if (QGC_EVENTLOOP_DEBUG)
        qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif

        // Read out most important values to limit hash table lookups
        // Low-pass roll, pitch and yaw
        rollLP = rollLP * 0.2f + 0.8f * roll;
        pitchLP = pitchLP * 0.2f + 0.8f * pitch;
        yawLP = yawLP * 0.2f + 0.8f * yaw;

        // Translate for yaw
        const float maxYawTrans = 60.0f;

        float newYawDiff = yawDiff;
        if (isinf(newYawDiff)) newYawDiff = yawDiff;
        if (newYawDiff > M_PI) newYawDiff = newYawDiff - M_PI;

        if (newYawDiff < -M_PI) newYawDiff = newYawDiff + M_PI;

        newYawDiff = yawDiff * 0.8 + newYawDiff * 0.2;

        yawDiff = newYawDiff;

        yawInt += newYawDiff;

        if (yawInt > M_PI) yawInt = (float)M_PI;
        if (yawInt < -M_PI) yawInt = (float)-M_PI;

        float yawTrans = yawInt * (float)maxYawTrans;
        yawInt *= 0.6f;

        if ((yawTrans < 5.0) && (yawTrans > -5.0)) yawTrans = 0;

        // Negate to correct direction
        yawTrans = -yawTrans;

        //qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw;

        // Update scaling factor
        // adjust scaling to fit both horizontally and vertically
        scalingFactor = this->width()/vwidth;
        double scalingFactorH = this->height()/vheight;
        if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;



        // OPEN GL PAINTING
        // Store model view matrix to be able to reset it to the previous state
        makeCurrent();
        glMatrixMode(GL_MODELVIEW);
        glPushMatrix();
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

        // Fill with black background
        if (videoEnabled) {
            if (nextOfflineImage != "" && QFileInfo(nextOfflineImage).exists()) {
                qDebug() << __FILE__ << __LINE__ << "template image:" << nextOfflineImage;
                QImage fill = QImage(nextOfflineImage);

                glImage = QGLWidget::convertToGLFormat(fill);

                // Reset to save load efforts
                nextOfflineImage = "";
            }

            glRasterPos2i(0, 0);

            xImageFactor = width() / (float)glImage.width();
            yImageFactor = height() / (float)glImage.height();
            float imageFactor = qMin(xImageFactor, yImageFactor);
            glPixelZoom(imageFactor, imageFactor);
            // Resize to correct size and fill with image
            glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
            //qDebug() << "DRAWING GL IMAGE";
        } else {
            // Blue / brown background
            paintCenterBackground(roll, pitch, yawTrans);
        }

        glMatrixMode(GL_MODELVIEW);
        glPopMatrix();

        // END OF OPENGL PAINTING

        if (flowEnabled) {
            QPainter painter;
            painter.begin(this);
            painter.setRenderHint(QPainter::Antialiasing, true);
            painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
            painter.setPen(Qt::red);
            paintFlowField(&painter);
        }

        if (hudInstrumentsEnabled) {

            //glEnable(GL_MULTISAMPLE);

            // QT PAINTING
            //makeCurrent();
            QPainter painter;
            painter.begin(this);
            painter.setRenderHint(QPainter::Antialiasing, true);
            painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
            painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);



            // COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET


            // Draw all fixed indicators
            // MODE
            paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter);
            // STATE
            paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
            // BATTERY
            paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter);
            // Waypoint
            paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);

            // YAW INDICATOR
            //
            //      .
            //    .   .
            //   .......
            //
            const float yawIndicatorWidth = 4.0f;
            const float yawIndicatorY = vheight/2.0f - 10.0f;
            QPolygon yawIndicator(4);
            yawIndicator.setPoint(0, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
            yawIndicator.setPoint(1, QPoint(refToScreenX(yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
            yawIndicator.setPoint(2, QPoint(refToScreenX(-yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
            yawIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
            painter.setPen(defaultColor);
            painter.drawPolyline(yawIndicator);

            // CENTER

            // HEADING INDICATOR
            //
            //    __      __
            //       \/\/
            //
            const float hIndicatorWidth = 7.0f;
            const float hIndicatorY = -25.0f;
            const float hIndicatorYLow = hIndicatorY + hIndicatorWidth / 6.0f;
            const float hIndicatorSegmentWidth = hIndicatorWidth / 7.0f;
            QPolygon hIndicator(7);
            hIndicator.setPoint(0, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
            hIndicator.setPoint(1, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f+hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
            hIndicator.setPoint(2, QPoint(refToScreenX(0.0f-hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
            hIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(hIndicatorY)));
            hIndicator.setPoint(4, QPoint(refToScreenX(0.0f+hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
            hIndicator.setPoint(5, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f-hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
            hIndicator.setPoint(6, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
            painter.setPen(defaultColor);
            painter.drawPolyline(hIndicator);


            // SETPOINT
            const float centerWidth = 4.0f;
            painter.setPen(defaultColor);
            painter.setBrush(Qt::NoBrush);
            // TODO
            //painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f));

            const float centerCrossWidth = 10.0f;
            // left
            painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f)));
            // right
            painter.drawLine(QPointF(refToScreenX(centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(centerCrossWidth / 2.0f), refToScreenY(0.0f)));
            // top
            painter.drawLine(QPointF(refToScreenX(0.0f), refToScreenY(-centerWidth / 2.0f)), QPointF(refToScreenX(0.0f), refToScreenY(-centerCrossWidth / 2.0f)));



            // COMPASS
            const float compassY = -vheight/2.0f + 10.0f;
            QRectF compassRect(QPointF(refToScreenX(-5.0f), refToScreenY(compassY)), QSizeF(refToScreenX(10.0f), refToScreenY(5.0f)));
            painter.setBrush(Qt::NoBrush);
            painter.setPen(Qt::SolidLine);
            painter.setPen(defaultColor);
            painter.drawRoundedRect(compassRect, 2, 2);
            QString yawAngle;

            //    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;

            // YAW is in compass-human readable format, so 0 - 360deg. This is normal in aviation, not -180 - +180.
            const float yawDeg = ((yawLP/M_PI)*180.0f)+180.0f+180.0f;
            int yawCompass = static_cast<int>(yawDeg) % 360;
            yawAngle.sprintf("%03d", yawCompass);
            paintText(yawAngle, defaultColor, 3.5f, -4.3f, compassY+ 0.97f, &painter);

            // CHANGE RATE STRIPS
            drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, -zSpeed, &painter);

            // CHANGE RATE STRIPS
            drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, totalAcc, &painter);

            // GAUGES

            // Left altitude gauge
            float gaugeAltitude;

            if (this->alt != 0) {
                gaugeAltitude = alt;
            } else {
                gaugeAltitude = -zPos;
            }

            drawChangeIndicatorGauge(-vGaugeSpacing, -15.0f, 10.0f, 2.0f, gaugeAltitude, defaultColor, &painter, false);

            // Right speed gauge
            drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, totalSpeed, defaultColor, &painter, false);


            // Waypoint name
            if (waypointName != "") paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);

            // MOVING PARTS


            painter.translate(refToScreenX(yawTrans), 0);

            // Rotate view and draw all roll-dependent indicators
            painter.rotate((rollLP/M_PI)* -180.0f);

            painter.translate(0, (-pitchLP/(float)M_PI)* -180.0f * refToScreenY(1.8f));

            //qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);

            // PITCH

            paintPitchLines(pitchLP, &painter);
            painter.end();
        } else {
            QPainter painter;
            painter.begin(this);
            painter.end();
        }
        //glDisable(GL_MULTISAMPLE);



        //glFlush();
    }
}


/**
 * @param pitch pitch angle in degrees (-180 to 180)
 */
void QGCVideoWidget::paintPitchLines(float pitch, QPainter* painter)
{
    QString label;

    const float yDeg = vPitchPerDeg;
    const float lineDistance = 5.0f; ///< One pitch line every 10 degrees
    const float posIncrement = yDeg * lineDistance;
    float posY = posIncrement;
    const float posLimit = sqrt(pow(vwidth, 2.0f) + pow(vheight, 2.0f));

    const float offsetAbs = pitch * yDeg;

    float offset = pitch;
    if (offset < 0) offset = -offset;
    int offsetCount = 0;
    while (offset > lineDistance) {
        offset -= lineDistance;
        offsetCount++;
    }

    int iPos = (int)(0.5f + lineDistance); ///< The first line
    int iNeg = (int)(-0.5f - lineDistance); ///< The first line

    offset *= yDeg;


    painter->setPen(defaultColor);

    posY = -offsetAbs + posIncrement; //+ 100;// + lineDistance;

    while (posY < posLimit) {
        paintPitchLinePos(label.sprintf("%3d", iPos), 0.0f, -posY, painter);
        posY += posIncrement;
        iPos += (int)lineDistance;
    }



    // HORIZON
    //
    //    ------------    ------------
    //
    const float pitchWidth = 30.0f;
    const float pitchGap = pitchWidth / 2.5f;
    const QColor horizonColor = defaultColor;
    const float diagonal = sqrt(pow(vwidth, 2.0f) + pow(vheight, 2.0f));
    const float lineWidth = refLineWidthToPen(0.5f);

    // Left horizon
    drawLine(0.0f-diagonal, offsetAbs, 0.0f-pitchGap/2.0f, offsetAbs, lineWidth, horizonColor, painter);
    // Right horizon
    drawLine(0.0f+pitchGap/2.0f, offsetAbs, 0.0f+diagonal, offsetAbs, lineWidth, horizonColor, painter);



    label.clear();

    posY = offsetAbs  + posIncrement;


    while (posY < posLimit) {
        paintPitchLineNeg(label.sprintf("%3d", iNeg), 0.0f, posY, painter);
        posY += posIncrement;
        iNeg -= (int)lineDistance;
    }
}

void QGCVideoWidget::paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter* painter)
{
    //painter->setPen(QPen(QBrush, normalStrokeWidth));

    const float pitchWidth = 30.0f;
    const float pitchGap = pitchWidth / 2.5f;
    const float pitchHeight = pitchWidth / 12.0f;
    const float textSize = pitchHeight * 1.1f;
    const float lineWidth = 0.5f;

    // Positive pitch indicator:
    //
    //      _______      _______
    //     |10                  |
    //

    // Left vertical line
    drawLine(refPosX-pitchWidth/2.0f, refPosY, refPosX-pitchWidth/2.0f, refPosY+pitchHeight, lineWidth, defaultColor, painter);
    // Left horizontal line
    drawLine(refPosX-pitchWidth/2.0f, refPosY, refPosX-pitchGap/2.0f, refPosY, lineWidth, defaultColor, painter);
    // Text left
    paintText(text, defaultColor, textSize, refPosX-pitchWidth/2.0 + 0.75f, refPosY + pitchHeight - 1.75f, painter);

    // Right vertical line
    drawLine(refPosX+pitchWidth/2.0f, refPosY, refPosX+pitchWidth/2.0f, refPosY+pitchHeight, lineWidth, defaultColor, painter);
    // Right horizontal line
    drawLine(refPosX+pitchWidth/2.0f, refPosY, refPosX+pitchGap/2.0f, refPosY, lineWidth, defaultColor, painter);
}

void QGCVideoWidget::paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter* painter)
{
    const float pitchWidth = 30.0f;
    const float pitchGap = pitchWidth / 2.5f;
    const float pitchHeight = pitchWidth / 12.0f;
    const float textSize = pitchHeight * 1.1f;
    const float segmentWidth = ((pitchWidth - pitchGap)/2.0f) / 7.0f; ///< Four lines and three gaps -> 7 segments

    const float lineWidth = 0.1f;

    // Negative pitch indicator:
    //
    //      -10
    //     _ _ _ _|     |_ _ _ _
    //
    //

    // Left vertical line
    drawLine(refPosX-pitchGap/2.0, refPosY, refPosX-pitchGap/2.0, refPosY-pitchHeight, lineWidth, defaultColor, painter);
    // Left horizontal line with four segments
    for (int i = 0; i < 7; i+=2) {
        drawLine(refPosX-pitchWidth/2.0+(i*segmentWidth), refPosY, refPosX-pitchWidth/2.0+(i*segmentWidth)+segmentWidth, refPosY, lineWidth, defaultColor, painter);
    }
    // Text left
    paintText(text, defaultColor, textSize, refPosX-pitchWidth/2.0f + 0.75f, refPosY + pitchHeight - 1.75f, painter);

    // Right vertical line
    drawLine(refPosX+pitchGap/2.0, refPosY, refPosX+pitchGap/2.0, refPosY-pitchHeight, lineWidth, defaultColor, painter);
    // Right horizontal line with four segments
    for (int i = 0; i < 7; i+=2) {
        drawLine(refPosX+pitchWidth/2.0f-(i*segmentWidth), refPosY, refPosX+pitchWidth/2.0f-(i*segmentWidth)-segmentWidth, refPosY, lineWidth, defaultColor, painter);
    }
}

void rotatePointClockWise(QPointF& p, float angle)
{
    // Standard 2x2 rotation matrix, counter-clockwise
    //
    //   |  cos(phi)   sin(phi) |
    //   | -sin(phi)   cos(phi) |
    //

    //p.setX(cos(angle) * p.x() + sin(angle) * p.y());
    //p.setY(-sin(angle) * p.x() + cos(angle) * p.y());


    p.setX(cos(angle) * p.x() + sin(angle)* p.y());
    p.setY((-1.0f * sin(angle) * p.x()) + cos(angle) * p.y());
}

float QGCVideoWidget::refLineWidthToPen(float line)
{
    return line * 2.50f;
}

/**
 * Rotate a polygon around a point
 *
 * @param p polygon to rotate
 * @param origin the rotation center
 * @param angle rotation angle, in radians
 * @return p Polygon p rotated by angle around the origin point
 */
void QGCVideoWidget::rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin)
{
    // Standard 2x2 rotation matrix, counter-clockwise
    //
    //   |  cos(phi)   sin(phi) |
    //   | -sin(phi)   cos(phi) |
    //
    for (int i = 0; i < p.size(); i++) {
        QPointF curr = p.at(i);

        const float x = curr.x();
        const float y = curr.y();

        curr.setX(((cos(angle) * (x-origin.x())) + (-sin(angle) * (y-origin.y()))) + origin.x());
        curr.setY(((sin(angle) * (x-origin.x())) + (cos(angle) * (y-origin.y()))) + origin.y());
        p.replace(i, curr);
    }
}

void QGCVideoWidget::drawPolygon(QPolygonF refPolygon, QPainter* painter)
{
    // Scale coordinates
    QPolygonF draw(refPolygon.size());
    for (int i = 0; i < refPolygon.size(); i++) {
        QPointF curr;
        curr.setX(refToScreenX(refPolygon.at(i).x()));
        curr.setY(refToScreenY(refPolygon.at(i).y()));
        draw.replace(i, curr);
    }
    painter->drawPolygon(draw);
}

void QGCVideoWidget::drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter)
{
    QBrush brush(defaultColor, Qt::NoBrush);
    painter->setBrush(brush);
    QPen rectPen(Qt::SolidLine);
    rectPen.setWidth(0);
    rectPen.setColor(defaultColor);
    painter->setPen(rectPen);

    float scaledValue = value;

    // Saturate value
    if (value > maxRate) scaledValue = maxRate;
    if (value < minRate) scaledValue = minRate;

    //           x (Origin: xRef, yRef)
    //           -
    //           |
    //           |
    //           |
    //           =
    //           |
    //   -0.005 >|
    //           |
    //           -

    const float width = height / 8.0f;
    const float lineWidth = 0.5f;

    // Indicator lines
    // Top horizontal line
    drawLine(xRef, yRef, xRef+width, yRef, lineWidth, defaultColor, painter);
    // Vertical main line
    drawLine(xRef+width/2.0f, yRef, xRef+width/2.0f, yRef+height, lineWidth, defaultColor, painter);
    // Zero mark
    drawLine(xRef, yRef+height/2.0f, xRef+width, yRef+height/2.0f, lineWidth, defaultColor, painter);
    // Horizontal bottom line
    drawLine(xRef, yRef+height, xRef+width, yRef+height, lineWidth, defaultColor, painter);

    // Text
    QString label;
    label.sprintf("< %+06.2f", value);
    paintText(label, defaultColor, 3.0f, xRef+width/2.0f, yRef+height-((scaledValue - minRate)/(maxRate-minRate))*height - 1.6f, painter);
}

//void QGCVideoWidget::drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter)
//{
//    Q_UNUSED(maxWidth);
//    Q_UNUSED(maxHeight);
//    if (values.size() > 0)
//    {
//        QString selectedKey = values.begin().key();
//        //   | | | | | |
//        //   | | | | | |
//        //   x speed: 2.54

//        // One column per value
//        QMapIterator<QString, float> value(values);

//        float x = xRef;
//        float y = yRef;

//        const float vspacing = 1.0f;
//        float width = 1.5f;
//        float height = 1.5f;
//        const float hspacing = 0.6f;

//        // TODO ensure that instrument stays smaller than maxWidth and maxHeight


//        int i = 0;
//        while (value.hasNext() && i < maxNum)
//        {
//            value.next();
//            QBrush brush(Qt::SolidPattern);


//            if (value.value() < 0.01f && value.value() > -0.01f)
//            {
//                brush.setColor(Qt::gray);
//            }
//            else if (value.value() > 0.01f)
//            {
//                brush.setColor(Qt::blue);
//            }
//            else
//            {
//                brush.setColor(Qt::yellow);
//            }

//            painter->setBrush(brush);
//            painter->setPen(Qt::NoPen);

//            // Draw current value colormap
//            painter->drawRect(refToScreenX(x), refToScreenY(y), refToScreenX(width), refToScreenY(height));

//            // Draw change rate colormap
//            painter->drawRect(refToScreenX(x), refToScreenY(y+height+hspacing), refToScreenX(width), refToScreenY(height));

//            // Draw mean value colormap
//            painter->drawRect(refToScreenX(x), refToScreenY(y+2.0f*(height+hspacing)), refToScreenX(width), refToScreenY(height));

//            // Add spacing
//            x += width+vspacing;

//            // Iterate
//            i++;
//        }

//        // Draw detail label
//        QString detail = "NO DATA AVAILABLE";

//        if (values.contains(selectedKey))
//        {
//            detail = values.find(selectedKey).key();
//            detail.append(": ");
//            detail.append(QString::number(values.find(selectedKey).value()));
//        }
//        paintText(detail, QColor(255, 255, 255), 3.0f, xRef, yRef+3.0f*(height+hspacing)+1.0f, painter);
//    }
//}

void QGCVideoWidget::drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid)
{
    // Draw the circle
    QPen circlePen(Qt::SolidLine);
    if (!solid) circlePen.setStyle(Qt::DotLine);
    circlePen.setWidth(refLineWidthToPen(0.5f));
    circlePen.setColor(defaultColor);
    painter->setBrush(Qt::NoBrush);
    painter->setPen(circlePen);
    drawCircle(xRef, yRef, radius, 200.0f, 170.0f, 1.0f, color, painter);

    QString label;
    label.sprintf("%05.1f", value);

    // Draw the value
    paintText(label, color, 4.5f, xRef-7.5f, yRef-2.0f, painter);

    // Draw the needle
    // Scale the rotation so that the gauge does one revolution
    // per max. change
    const float rangeScale = (2.0f * M_PI) / expectedMaxChange;
    const float maxWidth = radius / 10.0f;
    const float minWidth = maxWidth * 0.3f;

    QPolygonF p(6);

    p.replace(0, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f));
    p.replace(1, QPointF(xRef-minWidth/2.0f, yRef-radius * 0.9f));
    p.replace(2, QPointF(xRef+minWidth/2.0f, yRef-radius * 0.9f));
    p.replace(3, QPointF(xRef+maxWidth/2.0f, yRef-radius * 0.5f));
    p.replace(4, QPointF(xRef,               yRef-radius * 0.46f));
    p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f));

    rotatePolygonClockWiseRad(p, value*rangeScale, QPointF(xRef, yRef));

    QBrush indexBrush;
    indexBrush.setColor(defaultColor);
    indexBrush.setStyle(Qt::SolidPattern);
    painter->setPen(Qt::SolidLine);
    painter->setPen(defaultColor);
    painter->setBrush(indexBrush);
    drawPolygon(p, painter);
}

void QGCVideoWidget::drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter)
{
    QPen pen(Qt::SolidLine);
    pen.setWidth(refLineWidthToPen(width));
    pen.setColor(color);
    painter->setPen(pen);
    painter->drawLine(QPoint(refToScreenX(refX1), refToScreenY(refY1)), QPoint(refToScreenX(refX2), refToScreenY(refY2)));
}

void QGCVideoWidget::drawEllipse(float refX, float refY, float radiusX, float radiusY, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter)
{
    Q_UNUSED(startDeg);
    Q_UNUSED(endDeg);
    QPen pen(painter->pen().style());
    pen.setWidth(refLineWidthToPen(lineWidth));
    pen.setColor(color);
    painter->setPen(pen);
    painter->drawEllipse(QPointF(refToScreenX(refX), refToScreenY(refY)), refToScreenX(radiusX), refToScreenY(radiusY));
}

void QGCVideoWidget::drawCircle(float refX, float refY, float radius, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter)
{
    drawEllipse(refX, refY, radius, radius, startDeg, endDeg, lineWidth, color, painter);
}

void QGCVideoWidget::resizeGL(int w, int h)
{
    glViewport(0, 0, w, h);
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();
    glOrtho(0, w, 0, h, -1, 1);
    glMatrixMode(GL_MODELVIEW);
    glPolygonMode(GL_FRONT, GL_FILL);
    //FIXME
    paintHUD();
}

void QGCVideoWidget::commitRawDataToGL()
{
    qDebug() << __FILE__ << __LINE__ << "Copying raw data to GL buffer:" << rawImage << receivedWidth << receivedHeight << image->format();
    if (image != NULL) {
        QImage::Format format = image->format();
        QImage* newImage = new QImage(rawImage, receivedWidth, receivedHeight, format);
        if (format == QImage::Format_Indexed8) {
            // Create matching color table
            newImage->setColorCount(256);
            for (int i = 0; i < 256; i++) {
                newImage->setColor(i, qRgb(i, i, i));
                //qDebug() << __FILE__ << __LINE__ << std::hex << i;
            }
        }

        glImage = QGLWidget::convertToGLFormat(*newImage);
        delete image;
        image = newImage;
        // Switch buffers
        if (rawImage == rawBuffer1) {
            rawImage = rawBuffer2;
            //qDebug() << "Now buffer 2";
        } else {
            rawImage = rawBuffer1;
            //qDebug() << "Now buffer 1";
        }
    }
    update();
}

void QGCVideoWidget::saveImage(QString fileName)
{
    image->save(fileName);
}

void QGCVideoWidget::saveImage()
{
    //Bring up popup
    QString fileName = "output.png";
    saveImage(fileName);
}

void QGCVideoWidget::copyImage(const QImage& img)
{
    qDebug() << "QGCVideoWidget::copyImage()";
    this->glImage = QGLWidget::convertToGLFormat(img);
}