#include "mainwindow.h"
#include "ui_mainwindow.h"

#include <QTime>
#include <iostream>


MainWindow * gw;

extern std::string gstrmemradar[NUM_MAX_RADAR];

void ListenRadar(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
{

    if(nSize<1)return;
    iv::radar::radarobjectarray xobj;

    if(false == xobj.ParseFromArray(strdata,nSize))
    {
        std::cout<<"ListenenRadar fail."<<std::endl;
        return;
    }

    int i;
    int radarindex = -1;
    for(i=0;i<NUM_MAX_RADAR;i++)
    {
        if(strcmp(strmemname,gstrmemradar[i].data()) == 0)
        {
            radarindex =i;
            break;
        }
    }
    if(index >= 0)gw->UpdateRADAR(xobj,radarindex);

}




MainWindow::MainWindow(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainWindow)
{
    gw = this;
    ui->setupUi(this);

    mpRadarView = new IVRadarView();
    mpIVView = mpRadarView;
    mpIVView->start();

    CreateView();

    int i;


    for(i=0;i<NUM_MAX_RADAR;i++)
    {
        mpa[i] = iv::modulecomm::RegisterRecv(gstrmemradar[i].data(),ListenRadar);
    }
//    mpa = iv::modulecomm::RegisterRecv("radar",ListenRadar);

    QTimer * xTimer = new QTimer(this);
    connect(xTimer,SIGNAL(timeout()),this,SLOT(onTimer()));
    xTimer->start(10);

    setWindowTitle("View RADAR");


}

MainWindow::~MainWindow()
{
    QTime xTime;
    xTime.start();

    mpIVView->requestInterruption();

    while(xTime.elapsed()<1000)
    {
        if(mpIVView->isFinished())break;
    }
    delete ui;
}

void MainWindow::resizeEvent(QResizeEvent *event)
{
    qDebug("resize");
    QSize sizemain = ui->centralWidget->size();
    qDebug("size x = %d y=%d",sizemain.width(),sizemain.height());

    AdjustWPos(sizemain);

}

void MainWindow::AdjustWPos(QSize sizemain)
{
    int i;
    int width = (sizemain.width() - 300)/2;
    if(width < 0)width = 20;
    int hgt = (sizemain.height()-20)/2;

    myview->setGeometry(0,10,width*2,hgt*2 );
    mpGroup->setGeometry(width*2 + 20,10,sizemain.width()-width*2-20,sizemain.height()-20);

 //   mgplidar->setGeometry(sizemain.width()-280,30,260,200);
}



void MainWindow::CreateView()
{
    myview = new MyView(ui->centralWidget);
    myview->setObjectName(QStringLiteral("graphicsView"));
    myview->setGeometry(QRect(30, 30, 600, 600));

    myview->setCacheMode(myview->CacheBackground);

    scene = new QGraphicsScene;

    mpGroup = new QGroupBox(ui->centralWidget);
    CreateRightView(mpGroup);
}

void MainWindow::CreateRightView(QGroupBox *pGroup)
{

   int nXPos;
   int nYPos = 10;

   int i;

   nXPos = 10;
//   nYPos = nYPos + 50;

   QCheckBox * pCheck;

   for(i=0;i<NUM_MAX_RADAR;i++)
   {
       nXPos = 10;
       nYPos = nYPos + 50;
       pCheck = new QCheckBox(pGroup);
       pCheck->setText(gstrmemradar[i].data());
       pCheck->setGeometry(nXPos,nYPos,150,30);
       mpCheck[i] = pCheck;
   }

   nYPos = nYPos +  300;
   QPushButton * pSave = new QPushButton(pGroup);
   pSave->setText(tr("Save Frame"));
   pSave->setGeometry(nXPos,nYPos,150,50);
   mpPBSaveFrame = pSave;
   connect(pSave,SIGNAL(clicked()),this,SLOT(onSaveFrame()));

   nYPos=10;
   for(i=0;i<NUM_MAX_MSG;i++){
       nXPos = 160;
       nYPos = nYPos + 20;
       pCheck = new QCheckBox(pGroup);
       pCheck->setText(msgbox[i]);
       pCheck->setGeometry(nXPos,nYPos,150,20);
       msgCheck[i]=pCheck;
       if(i==0||i==1||i==4) pCheck->setChecked(true);
       connect(msgCheck[i],SIGNAL(clicked(bool)),this,SLOT(onCheckChange()));

   }

   for(i=0;i<NUM_MAX_RADAR;i++)
   {
       mpCheck[i]->setChecked(true);
       connect(mpCheck[i],SIGNAL(clicked(bool)),this,SLOT(onCheckChange()));
   }

//    connect(pSL,SIGNAL(valueChanged())),this,SLOT(onChangeWind());
}

//void MainWindow::SetRADAR(std::array<iv::ObstacleBasic,OBJ_NUM> xobs)
//{
////    mpRadarView->SetRADAR(xobs);
//}

void MainWindow::UpdateRADAR(iv::radar::radarobjectarray radarobj,int index)
{
    mpRadarView->SetRADAR(radarobj,index);

   if(mbSaveFrame)
    {
       QFile xFile;
       QString filename = QString("./")+QDateTime::currentDateTime().toString("RADARFRAME_yyyy-MM-dd-hh-mm-ss-zzz")+ QString(".txt");
       xFile.setFileName(filename);
       if(xFile.open(QIODevice::ReadWrite))
       {
            unsigned int i;
            unsigned  int nobjsize = radarobj.obj_size();
            char strline[1000];
            if(nobjsize>0)
            {
                iv::radar::radarobject * pobj = radarobj.mutable_obj(0);
                (void)pobj;
                snprintf(strline,1000,"x\ty\tvx\t\vy\tvel\n");
                xFile.write(strline,strnlen(strline,1000));
            }
            for(i=0;i<nobjsize;i++)
            {
                iv::radar::radarobject * pobj = radarobj.mutable_obj(i);
                snprintf(strline,1000,"%6.3f\t%6.3f\t%6.3f\t%6.3f\t%6.3f\n",pobj->x(),pobj->y(),pobj->vx(),pobj->vy(),pobj->vel());
                xFile.write(strline,strnlen(strline,1000));
            }

            xFile.close();
       }
       else
       {
            std::cout<<"save radar frame fail. file path: "<<filename.toStdString()<<std::endl;
       }
       mbSaveFrame = false;
    }


}

void MainWindow::onCheckChange()
{
    QCheckBox * pCheck = dynamic_cast<QCheckBox *>(this->sender());

    int i;
    int ncheck = -1;
    for(i=0;i<NUM_MAX_RADAR;i++)
    {
        if(pCheck == mpCheck[i])ncheck = i;
    }

    if(ncheck<0)
    for(i=0;i<NUM_MAX_MSG;i++)
    {
        if(pCheck == msgCheck[i])ncheck = i+NUM_MAX_RADAR;
    }

    std::cout<<"check is "<<ncheck<<" "<<pCheck->checkState()<<std::endl;
    if(ncheck < 0)return;

    mpRadarView->SetCheck(ncheck,pCheck->isChecked());
}


void MainWindow::paintEvent(QPaintEvent * e)
{
    (void)e;
    if(!mpRadarView->IsHaveNew())return;

    QImage image = mpRadarView->GetImage();

    scene->clear();
    scene->addPixmap(QPixmap::fromImage(image));
    myview->setScene(scene);
    myview->show();
}

void MainWindow::onTimer()
{
    update();
}

void MainWindow::onSaveFrame()
{
    mbSaveFrame = true;
}