//    Teacher's GUI main window header.
//    Copyright (C) 2017  Angel Romero
//
//    This program 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.
//
//    This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef MAINGUIWINDOW_H
#define MAINGUIWINDOW_H

// The #define CATKIN_MAKE comes from cmake file
#include <QMainWindow>
#include <QTimer>
#include <QGridLayout>
#include <QGraphicsRectItem>


#ifdef CATKIN_MAKE
#include "rosNodeThread.h"
#include "marker.h"
#include "crazyFly.h"
#include "UWBMarker.h"
#include "CFLinker.h"

#include "d_fall_pps/CrazyflieDB.h"
#include "d_fall_pps/CrazyflieEntry.h"
#include "d_fall_pps/Anchors.h"

#include <std_msgs/Int32.h>
#include <std_msgs/Int32MultiArray.h>


#define CMD_CRAZYFLY_MOTORS_OFF   5
using namespace d_fall_pps;

#endif


#include "ui_mainguiwindow.h"
#include "myGraphicsScene.h"
#include "globalDefinitions.h"


namespace Ui {
class MainGUIWindow;
}


#ifdef CATKIN_MAKE
struct setpoint
{
    double x;
    double y;
    double z;
    double yaw;
};

class CSetpointQueue
{
public:
    CSetpointQueue();
    void insert(setpoint newElem);
    setpoint getNext();
    void print();

private:
    struct QueueElem
    {
        QueueElem(setpoint newElem) {elem.x=newElem.x; elem.y=newElem.y; elem.z=newElem.z; elem.yaw=newElem.yaw; next=NULL;}
        setpoint elem;
        QueueElem* next;
    };

    QueueElem* startElem;
    QueueElem* currElem;
    QueueElem* lastElem;
};
#endif

class MainGUIWindow : public QMainWindow
{
    Q_OBJECT

public:
    explicit MainGUIWindow(int argc, char **argv, QWidget *parent = 0);

    ~MainGUIWindow();

public slots:

private slots:
    #ifdef CATKIN_MAKE
    #endif

    void doNumCrazyFlyZonesChanged(int n);
    void transitionToMode(int mode);
    void on_removeTable_clicked();

    void on_radioButton_table_mode_toggled(bool checked);

    void on_radioButton_crazyfly_zones_mode_toggled(bool checked);
    void handleTablePiecesNumChanged(int newNum);

    void on_radioButton_lock_mode_toggled(bool checked);

    void on_checkBox_grid_toggled(bool checked);

    void on_checkBox_table_toggled(bool checked);

    void on_checkBox_crazyfly_zones_toggled(bool checked);

    void on_tabWidget_currentChanged(int index);

    void centerViewIndex(int index);

    void on_pushButton_fitAll_clicked();

    void on_checkBox_vicon_markers_toggled(bool checked);

    void on_checkBox_vicon_highlight_markers_toggled(bool checked);

    void on_save_in_DB_button_clicked();

    void on_load_from_DB_button_clicked();

    void on_checkBox_enable_UWB_toggled(bool checked);

    void on_calibrateAnchors_button_pressed();

    void on_reloadAnchors_button_pressed();

    void on_set_offset_button_pressed();

    void on_set_invert_button_pressed();

    #ifdef CATKIN_MAKE
    void updateNewViconData(const ptrToMessage& p_msg);

    void updateStudentIDs(const std_msgs::Int32MultiArray& ids);

    void updateCFPositions(const CrazyfliePositionData& data);
    #endif
    void on_checkBox_vicon_crazyflies_toggled(bool checked);

    void on_scaleSpinBox_valueChanged(double arg1);
    void on_refresh_cfs_button_clicked();

    void on_refresh_student_ids_button_clicked();

    void on_link_button_clicked();

    void on_unlink_button_clicked();

    void updateComboBoxes();

    void setTabIndex(int index);
    void doTabClosed(int tab_index);

    void on_comboBoxCFs_currentTextChanged(const QString &arg1);

    void on_all_motors_off_button_clicked();

private:

    Ui::MainGUIWindow *ui;
    myGraphicsScene* scene;
    void _init();


    #ifdef CATKIN_MAKE
    rosNodeThread* _rosNodeThread;
    std::vector<Marker*> markers_vector;
    std::vector<crazyFly*> crazyflies_vector;
    std::vector<crazyFly*> cf_positionsVector;
    CFLinker* cf_linker;
    std::vector<UWBMarker*> anchor_markers;

    ros::ServiceClient UWBServiceClient;

    ros::Publisher DBChangedPublisher;
    ros::Publisher emergencyStopPublisher;

    ros::Publisher refreshStudents_publisher;
    ros::Publisher UWBSettings_publisher;
    ros::Publisher UWBServiceClientUpdate_publisher;
    
    #endif

    void updateComboBoxesCFs();

    void updateComboBoxesCFZones();

    int getTabIndexFromName(QString name);

    CrazyflieDB m_data_base;

    void clear_database_file();

    void fill_database_file();

    int read_database_from_file(CrazyflieDB &read_db);

    void save_database_file();

    void insert_or_update_entry_database(CrazyflieEntry entry);

    bool updateUWBSettings(bool enableChecked);
    void updateAnchors(const Anchors* const a);

};



#endif // MAINGUIWINDOW_H