/****************************************************************************
 *
 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

#pragma once

#include "MissionItem.h"
#include "QGCLoggingCategory.h"
#include "SettingsFact.h"
#include "TransectStyleComplexItem.h"

Q_DECLARE_LOGGING_CATEGORY(SurveyComplexItemLog)

class PlanMasterController;

class SurveyComplexItem : public TransectStyleComplexItem {
  Q_OBJECT

public:
  /// @param flyView true: Created for use in the Fly View, false: Created for
  /// use in the Plan View
  /// @param kmlOrShpFile Polygon comes from this file, empty for default
  /// polygon
  SurveyComplexItem(PlanMasterController *masterController, bool flyView,
                    const QString &kmlOrShpFile, QObject *parent);

  Q_PROPERTY(Fact *gridAngle READ gridAngle CONSTANT)
  Q_PROPERTY(Fact *flyAlternateTransects READ flyAlternateTransects CONSTANT)
  Q_PROPERTY(Fact *splitConcavePolygons READ splitConcavePolygons CONSTANT)

  Fact *gridAngle(void) { return &_gridAngleFact; }
  Fact *flyAlternateTransects(void) { return &_flyAlternateTransectsFact; }
  Fact *splitConcavePolygons(void) { return &_splitConcavePolygonsFact; }

  Q_INVOKABLE void rotateEntryPoint(void);

  // Overrides from ComplexMissionItem
  QString patternName(void) const final { return name; }
  bool load(const QJsonObject &complexObject, int sequenceNumber,
            QString &errorString) final;
  QString mapVisualQML(void) const final {
    return QStringLiteral("SurveyMapVisual.qml");
  }
  QString presetsSettingsGroup(void) { return settingsGroup; }
  void savePreset(const QString &name);
  void loadPreset(const QString &name);

  // Overrides from TransectStyleComplexItem
  void save(QJsonObject &planItems) final;
  bool specifiesCoordinate(void) const final { return true; }
  double timeBetweenShots(void) final;

  // Overrides from VisualMissionionItem
  QString commandDescription(void) const final { return tr("Survey"); }
  QString commandName(void) const final { return tr("Survey"); }
  QString abbreviation(void) const final { return tr("S"); }
  ReadyForSaveState readyForSaveState(void) const final;
  double additionalTimeDelay(void) const final;

  // Must match json spec for GridEntryLocation
  enum EntryLocation {
    EntryLocationFirst,
    EntryLocationTopLeft = EntryLocationFirst,
    EntryLocationTopRight,
    EntryLocationBottomLeft,
    EntryLocationBottomRight,
    EntryLocationLast = EntryLocationBottomRight
  };

  static const QString name;

  static const char *jsonComplexItemTypeValue;
  static const char *settingsGroup;
  static const char *gridAngleName;
  static const char *gridEntryLocationName;
  static const char *flyAlternateTransectsName;
  static const char *splitConcavePolygonsName;

  static const char *jsonV3ComplexItemTypeValue;

signals:
  void refly90DegreesChanged(bool refly90Degrees);

private slots:
  void _updateWizardMode(void);

  // Overrides from TransectStyleComplexItem
  void _rebuildTransectsPhase1(void) final;
  void _recalcCameraShots(void) final;

private:
  enum CameraTriggerCode {
    CameraTriggerNone,
    CameraTriggerOn,
    CameraTriggerOff,
    CameraTriggerHoverAndCapture
  };

  QPointF _rotatePoint(const QPointF &point, const QPointF &origin,
                       double angle);
  void _intersectLinesWithRect(const QList<QLineF> &lineList,
                               const QRectF &boundRect,
                               QList<QLineF> &resultLines);
  void _intersectLinesWithPolygon(const QList<QLineF> &lineList,
                                  const QPolygonF &polygon,
                                  QList<QLineF> &resultLines);
  void _adjustLineDirection(const QList<QLineF> &lineList,
                            QList<QLineF> &resultLines);
  bool _nextTransectCoord(const QList<QGeoCoordinate> &transectPoints,
                          int pointIndex, QGeoCoordinate &coord);
  bool _appendMissionItemsWorker(QList<MissionItem *> &items,
                                 QObject *missionItemParent, int &seqNum,
                                 bool hasRefly, bool buildRefly);
  void _optimizeTransectsForShortestDistance(
      const QGeoCoordinate &distanceCoord,
      QList<QList<QGeoCoordinate>> &transects);
  qreal _ccw(QPointF pt1, QPointF pt2, QPointF pt3);
  qreal _dp(QPointF pt1, QPointF pt2);
  void _swapPoints(QList<QPointF> &points, int index1, int index2);
  void _reverseTransectOrder(QList<QList<QGeoCoordinate>> &transects);
  void _reverseInternalTransectPoints(QList<QList<QGeoCoordinate>> &transects);
  void
  _adjustTransectsToEntryPointLocation(QList<QList<QGeoCoordinate>> &transects);
  bool _gridAngleIsNorthSouthTransects();
  double _clampGridAngle90(double gridAngle);
  bool _imagesEverywhere(void) const;
  bool _triggerCamera(void) const;
  bool _hasTurnaround(void) const;
  double _turnaroundDistance(void) const;

  bool _hoverAndCaptureEnabled(void) const;
  bool _loadV3(const QJsonObject &complexObject, int sequenceNumber,
               QString &errorString);
  bool _loadV4V5(const QJsonObject &complexObject, int sequenceNumber,
                 QString &errorString, int version, bool forPresets);
  void _saveWorker(QJsonObject &complexObject);
  void _rebuildTransectsPhase1Worker(bool refly);
  void _rebuildTransectsPhase1WorkerSinglePolygon(bool refly);
  void _rebuildTransectsPhase1WorkerSplitPolygons(bool refly);
  /// Adds to the _transects array from one polygon
  void _rebuildTransectsFromPolygon(bool refly, const QPolygonF &polygon,
                                    const QGeoCoordinate &tangentOrigin,
                                    const QPointF *const transitionPoint);
  // Decompose polygon into list of convex sub polygons
  void _PolygonDecomposeConvex(const QPolygonF &polygon,
                               QList<QPolygonF> &decomposedPolygons);
  // return true if vertex a can see vertex b
  bool _VertexCanSeeOther(const QPolygonF &polygon, const QPointF *vertexA,
                          const QPointF *vertexB);
  bool _VertexIsReflex(const QPolygonF &polygon, const QPointF *vertex);

  QMap<QString, FactMetaData *> _metaDataMap;

  SettingsFact _gridAngleFact;
  SettingsFact _flyAlternateTransectsFact;
  SettingsFact _splitConcavePolygonsFact;
  int _entryPoint;

  static const char *_jsonGridAngleKey;
  static const char *_jsonEntryPointKey;
  static const char *_jsonFlyAlternateTransectsKey;
  static const char *_jsonSplitConcavePolygonsKey;

  static const char *_jsonV3GridObjectKey;
  static const char *_jsonV3GridAltitudeKey;
  static const char *_jsonV3GridAltitudeRelativeKey;
  static const char *_jsonV3GridAngleKey;
  static const char *_jsonV3GridSpacingKey;
  static const char *_jsonV3EntryPointKey;
  static const char *_jsonV3TurnaroundDistKey;
  static const char *_jsonV3CameraTriggerDistanceKey;
  static const char *_jsonV3CameraTriggerInTurnaroundKey;
  static const char *_jsonV3HoverAndCaptureKey;
  static const char *_jsonV3GroundResolutionKey;
  static const char *_jsonV3FrontalOverlapKey;
  static const char *_jsonV3SideOverlapKey;
  static const char *_jsonV3CameraSensorWidthKey;
  static const char *_jsonV3CameraSensorHeightKey;
  static const char *_jsonV3CameraResolutionWidthKey;
  static const char *_jsonV3CameraResolutionHeightKey;
  static const char *_jsonV3CameraFocalLengthKey;
  static const char *_jsonV3CameraMinTriggerIntervalKey;
  static const char *_jsonV3ManualGridKey;
  static const char *_jsonV3CameraObjectKey;
  static const char *_jsonV3CameraNameKey;
  static const char *_jsonV3CameraOrientationLandscapeKey;
  static const char *_jsonV3FixedValueIsAltitudeKey;
  static const char *_jsonV3Refly90DegreesKey;
};