/**
 ******************************************************************************
 *
 * @file       gcscontrolgadgetoptionspage.cpp
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @addtogroup GCSPlugins GCS Plugins
 * @{
 * @addtogroup GCSControlGadgetPlugin GCSControl Gadget Plugin
 * @{
 * @brief A place holder gadget plugin
 *****************************************************************************/
/*
 * 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, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include "gcscontrolgadgetoptionspage.h"
#include "gcscontrolgadgetconfiguration.h"
#include "ui_gcscontrolgadgetoptionspage.h"

#include <QFileDialog>
#include <QtAlgorithms>
#include <QStringList>

GCSControlGadgetOptionsPage::GCSControlGadgetOptionsPage(GCSControlGadgetConfiguration *config, QObject *parent) :
    IOptionsPage(parent),
    m_config(config)
{
    options_page = NULL;

    sdlGamepad   = dynamic_cast<GCSControlPlugin *>(parent)->sdlGamepad;
}

GCSControlGadgetOptionsPage::~GCSControlGadgetOptionsPage()
{}


void GCSControlGadgetOptionsPage::buttonState(ButtonNumber number, bool pressed)
{
    if (options_page) {
        QList<QCheckBox *> rbList;
        rbList << options_page->buttonInput0 <<
            options_page->buttonInput1 << options_page->buttonInput2 <<
            options_page->buttonInput3 << options_page->buttonInput4 <<
            options_page->buttonInput5 << options_page->buttonInput6 <<
            options_page->buttonInput7;

        if (number < 8) { // We only support 8 buttons
            rbList.at(number)->setChecked(pressed);
        }
    }
}

void GCSControlGadgetOptionsPage::gamepads(quint8 count)
{
    Q_UNUSED(count);

    /*options_page->AvailableControllerList->clear();
       for (int i=0;i<count;i++)
       {
       options_page->AvailableControllerList->addItem(QString().sprintf("%d",i));//SDL_JoystickName(i));
       }*/
}

void GCSControlGadgetOptionsPage::axesValues(QListInt16 values)
{
    if (options_page) {
        QList<QProgressBar *> pbList;
        pbList << options_page->joyCh0 <<
            options_page->joyCh1 << options_page->joyCh2 <<
            options_page->joyCh3 << options_page->joyCh4 <<
            options_page->joyCh5 << options_page->joyCh6 <<
            options_page->joyCh7;
        int i = 0;
        foreach(qint16 value, values) {
            if (i > 7) {
                break; // We only support 7 channels
            }
            if (chRevList.at(i)->isChecked() == 1) {
                value = 65535 - value;
            }
            if (pbList.at(i)->minimum() > value) {
                pbList.at(i)->setMinimum(value);
            }
            if (pbList.at(i)->maximum() < value) {
                pbList.at(i)->setMaximum(value);
            }
            pbList.at(i++)->setValue(value);
        }
    }
}


// creates options page widget (uses the UI file)
QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
{
    Q_UNUSED(parent);

    int i;
    options_page = new Ui::GCSControlGadgetOptionsPage();
    QWidget *optionsPageWidget = new QWidget;
    options_page->setupUi(optionsPageWidget);


    // QList<QComboBox*> chList;
    chList.clear();
    chList << options_page->channel0 << options_page->channel1 <<
        options_page->channel2 << options_page->channel3 <<
        options_page->channel4 << options_page->channel5 <<
        options_page->channel6 << options_page->channel7;
    QStringList chOptions;
    chOptions << "None" << "Roll" << "Pitch" << "Yaw" << "Throttle";
    foreach(QComboBox * qb, chList) {
        qb->addItems(chOptions);
    }
    // QList<QCheckBox*> chRevList;
    chRevList.clear();
    chRevList << options_page->revCheckBox_1 << options_page->revCheckBox_2 <<
        options_page->revCheckBox_3 << options_page->revCheckBox_4 <<
        options_page->revCheckBox_5 << options_page->revCheckBox_6 <<
        options_page->revCheckBox_7 << options_page->revCheckBox_8;

    // QList<QComboBox*> buttonFunctionList;
    buttonFunctionList.clear();
    buttonFunctionList << options_page->buttonFunction0 << options_page->buttonFunction1 <<
        options_page->buttonFunction2 << options_page->buttonFunction3 <<
        options_page->buttonFunction4 << options_page->buttonFunction5 <<
        options_page->buttonFunction6 << options_page->buttonFunction7;
    QStringList buttonOptions;
    buttonOptions << "-" << "Roll" << "Pitch" << "Yaw" << "Throttle" << "Armed" << "GCS Control"; // added UDP control to action list
    foreach(QComboBox * qb, buttonFunctionList) {
        qb->addItems(buttonOptions);
    }
    // QList<QComboBox*> buttonActionList;
    buttonActionList.clear();
    buttonActionList << options_page->buttonAction0 << options_page->buttonAction1 <<
        options_page->buttonAction2 << options_page->buttonAction3 <<
        options_page->buttonAction4 << options_page->buttonAction5 <<
        options_page->buttonAction6 << options_page->buttonAction7;
    QStringList buttonActionOptions;
    buttonActionOptions << "Does nothing" << "Increases" << "Decreases" << "Toggles";
    foreach(QComboBox * qb, buttonActionList) {
        qb->addItems(buttonActionOptions);
    }
    // QList<QDoubleSpinBox*> buttonValueList;
    buttonValueList.clear();
    buttonValueList << options_page->buttonAmount0 << options_page->buttonAmount1 <<
        options_page->buttonAmount2 << options_page->buttonAmount3 <<
        options_page->buttonAmount4 << options_page->buttonAmount5 <<
        options_page->buttonAmount6 << options_page->buttonAmount7;
    // QList<QLabel*> buttonLabelList;
    buttonLabelList.clear();
    buttonLabelList << options_page->buttonLabel0 << options_page->buttonLabel1 <<
        options_page->buttonLabel2 << options_page->buttonLabel3 <<
        options_page->buttonLabel4 << options_page->buttonLabel5 <<
        options_page->buttonLabel6 << options_page->buttonLabel7;

    for (i = 0; i < 8; i++) {
        buttonActionList.at(i)->setCurrentIndex(m_config->getbuttonSettings(i).ActionID);
        buttonFunctionList.at(i)->setCurrentIndex(m_config->getbuttonSettings(i).FunctionID);
        buttonValueList.at(i)->setValue(m_config->getbuttonSettings(i).Amount);

        connect(buttonFunctionList.at(i), SIGNAL(currentIndexChanged(int)), this, SLOT(updateButtonFunction()));
        // connect(buttonActionList.at(i),SIGNAL(currentIndexChanged(int)),this,SLOT(updateButtonActions[i]()));
        updateButtonAction(i);
        buttonFunctionList.at(i)->setCurrentIndex(m_config->getbuttonSettings(i).FunctionID);
    }
    connect(buttonActionList.at(0), SIGNAL(currentIndexChanged(int)), this, SLOT(updateButtonAction_0()));
    connect(buttonActionList.at(1), SIGNAL(currentIndexChanged(int)), this, SLOT(updateButtonAction_1()));
    connect(buttonActionList.at(2), SIGNAL(currentIndexChanged(int)), this, SLOT(updateButtonAction_2()));
    connect(buttonActionList.at(3), SIGNAL(currentIndexChanged(int)), this, SLOT(updateButtonAction_3()));
    connect(buttonActionList.at(4), SIGNAL(currentIndexChanged(int)), this, SLOT(updateButtonAction_4()));
    connect(buttonActionList.at(5), SIGNAL(currentIndexChanged(int)), this, SLOT(updateButtonAction_5()));
    connect(buttonActionList.at(6), SIGNAL(currentIndexChanged(int)), this, SLOT(updateButtonAction_6()));
    connect(buttonActionList.at(7), SIGNAL(currentIndexChanged(int)), this, SLOT(updateButtonAction_7()));

    // updateButtonFunction();

    options_page->udp_host->setText(m_config->getUDPControlHost().toString());
    options_page->udp_port->setText(QString::number(m_config->getUDPControlPort()));


    // Controls mode are from 1 to 4.
    if (m_config->getControlsMode() > 0 && m_config->getControlsMode() < 5) {
        options_page->controlsMode->setCurrentIndex(m_config->getControlsMode() - 1);
    } else {
        qDebug() << "GCSControl: Invalid control modes setting! Did you edit by hand?";
    }

    QList<int> ql = m_config->getChannelsMapping();
    for (int i = 0; i < 4; i++) {
        if (ql.at(i) > -1) {
            chList.at(ql.at(i))->setCurrentIndex(i + 1);
        }
    }
    QList<bool> qlChRev = m_config->getChannelsReverse();
    for (i = 0; i < 8; i++) {
        chRevList.at(i)->setChecked(qlChRev.at(i));;
    }

    connect(sdlGamepad, SIGNAL(axesValues(QListInt16)), this, SLOT(axesValues(QListInt16)));
    connect(sdlGamepad, SIGNAL(buttonState(ButtonNumber, bool)), this, SLOT(buttonState(ButtonNumber, bool)));
    connect(sdlGamepad, SIGNAL(gamepads(quint8)), this, SLOT(gamepads(quint8)));

    return optionsPageWidget;
}

/**
 * Called when the user presses apply or OK.
 *
 * Saves the current values
 *
 */
void GCSControlGadgetOptionsPage::apply()
{
    m_config->setControlsMode(options_page->controlsMode->currentIndex() + 1);
    /*QList<QComboBox*> chList;
       chList << options_page->channel0 << options_page->channel1 <<
              options_page->channel2 << options_page->channel3 <<
              options_page->channel4 << options_page->channel5 <<
              options_page->channel6 << options_page->channel7;
       QList<QComboBox*> buttonFunctionList;
       buttonFunctionList << options_page->buttonFunction0 << options_page->buttonFunction1 <<
              options_page->buttonFunction2 << options_page->buttonFunction3 <<
              options_page->buttonFunction4 << options_page->buttonFunction5 <<
              options_page->buttonFunction6 << options_page->buttonFunction7;
       QList<QComboBox*> buttonActionList;
       buttonActionList << options_page->buttonAction0 << options_page->buttonAction1 <<
              options_page->buttonAction2 << options_page->buttonAction3 <<
              options_page->buttonAction4 << options_page->buttonAction5 <<
              options_page->buttonAction6 << options_page->buttonAction7;
       QList<QDoubleSpinBox*> buttonValueList;
       buttonValueList << options_page->buttonAmount0 << options_page->buttonAmount1 <<
              options_page->buttonAmount2 << options_page->buttonAmount3 <<
              options_page->buttonAmount4 << options_page->buttonAmount5 <<
              options_page->buttonAmount6 << options_page->buttonAmount7;
     */

    int roll = -1, pitch = -1, yaw = -1, throttle = -1;
    for (int i = 0; i < chList.length(); i++) {
        switch (chList.at(i)->currentIndex()) {
        case 1:
            roll     = i;
            break;
        case 2:
            pitch    = i;
            break;
        case 3:
            yaw      = i;
            break;
        case 4:
            throttle = i;
            break;
        }
    }
    m_config->setRPYTchannels(roll, pitch, yaw, throttle);

    m_config->setUDPControlSettings(options_page->udp_port->text().toInt(), options_page->udp_host->text());


    int j;
    for (j = 0; j < 8; j++) {
        m_config->setbuttonSettingsAction(j, buttonActionList.at(j)->currentIndex());
        m_config->setbuttonSettingsFunction(j, buttonFunctionList.at(j)->currentIndex());
        m_config->setbuttonSettingsAmount(j, buttonValueList.at(j)->value());
        m_config->setChannelReverse(j, chRevList.at(j)->isChecked());
    }
}

void GCSControlGadgetOptionsPage::finish()
{
    disconnect(sdlGamepad, 0, this, 0);
    delete options_page;
    options_page = NULL;
}


void GCSControlGadgetOptionsPage::updateButtonFunction()
{
    int i;

    /*QList<QComboBox*> buttonFunctionList;
       buttonFunctionList << options_page->buttonFunction0 << options_page->buttonFunction1 <<
              options_page->buttonFunction2 << options_page->buttonFunction3 <<
              options_page->buttonFunction4 << options_page->buttonFunction5 <<
              options_page->buttonFunction6 << options_page->buttonFunction7;
       QList<QComboBox*> buttonActionList;
       buttonActionList << options_page->buttonAction0 << options_page->buttonAction1 <<
              options_page->buttonAction2 << options_page->buttonAction3 <<
              options_page->buttonAction4 << options_page->buttonAction5 <<
              options_page->buttonAction6 << options_page->buttonAction7;
       QList<QDoubleSpinBox*> buttonValueList;
       buttonValueList << options_page->buttonAmount0 << options_page->buttonAmount1 <<
              options_page->buttonAmount2 << options_page->buttonAmount3 <<
              options_page->buttonAmount4 << options_page->buttonAmount5 <<
              options_page->buttonAmount6 << options_page->buttonAmount7;
       QList<QLabel*> buttonLabelList;
       buttonLabelList << options_page->buttonLabel0 << options_page->buttonLabel1 <<
              options_page->buttonLabel2 << options_page->buttonLabel3 <<
              options_page->buttonLabel4 << options_page->buttonLabel5 <<
              options_page->buttonLabel6 << options_page->buttonLabel7;
     */
    for (i = 0; i < 8; i++) {
        if (buttonActionList.at(i)->currentText().compare("Does nothing") == 0) {
            buttonFunctionList.at(i)->setVisible(0);
            buttonLabelList.at(i)->setVisible(0);
            buttonValueList.at(i)->setVisible(0);
        } else if (buttonActionList.at(i)->currentText().compare("Toggles") == 0) {
            buttonFunctionList.at(i)->setVisible(1);
            buttonLabelList.at(i)->setVisible(0);
            buttonValueList.at(i)->setVisible(0);
        } else {
            buttonFunctionList.at(i)->setVisible(1);
            buttonLabelList.at(i)->setVisible(1);
            buttonValueList.at(i)->setVisible(1);
        }
    }
}

void GCSControlGadgetOptionsPage::updateButtonAction(int controlID)
{
    int i;
    QStringList buttonOptions;

    /*QList<QComboBox*> buttonFunctionList;
       buttonFunctionList << options_page->buttonFunction0 << options_page->buttonFunction1 <<
              options_page->buttonFunction2 << options_page->buttonFunction3 <<
              options_page->buttonFunction4 << options_page->buttonFunction5 <<
              options_page->buttonFunction6 << options_page->buttonFunction7;
       QList<QComboBox*> buttonActionList;
       buttonActionList << options_page->buttonAction0 << options_page->buttonAction1 <<
              options_page->buttonAction2 << options_page->buttonAction3 <<
              options_page->buttonAction4 << options_page->buttonAction5 <<
              options_page->buttonAction6 << options_page->buttonAction7;
       QList<QDoubleSpinBox*> buttonValueList;
       buttonValueList << options_page->buttonAmount0 << options_page->buttonAmount1 <<
              options_page->buttonAmount2 << options_page->buttonAmount3 <<
              options_page->buttonAmount4 << options_page->buttonAmount5 <<
              options_page->buttonAmount6 << options_page->buttonAmount7;
       QList<QLabel*> buttonLabelList;
       buttonLabelList << options_page->buttonLabel0 << options_page->buttonLabel1 <<
              options_page->buttonLabel2 << options_page->buttonLabel3 <<
              options_page->buttonLabel4 << options_page->buttonLabel5 <<
              options_page->buttonLabel6 << options_page->buttonLabel7;
     */
    // for (i=0;i<8;i++)
    i = controlID;
    {
        if (buttonActionList.at(i)->currentText().compare("Does nothing") == 0) {
            buttonFunctionList.at(i)->setVisible(0);
            buttonLabelList.at(i)->setVisible(0);
            buttonValueList.at(i)->setVisible(0);
        } else if (buttonActionList.at(i)->currentText().compare("Toggles") == 0) {
            disconnect(buttonFunctionList.at(i), SIGNAL(currentIndexChanged(int)), this, SLOT(updateButtonFunction()));
            buttonOptions << "-" << "Armed" << "GCS Control" << "UDP Control";
            buttonFunctionList.at(i)->clear();
            buttonFunctionList.at(i)->insertItems(-1, buttonOptions);

            buttonFunctionList.at(i)->setVisible(1);
            buttonLabelList.at(i)->setVisible(0);
            buttonValueList.at(i)->setVisible(0);
            connect(buttonFunctionList.at(i), SIGNAL(currentIndexChanged(int)), this, SLOT(updateButtonFunction()));
        } else {
            disconnect(buttonFunctionList.at(i), SIGNAL(currentIndexChanged(int)), this, SLOT(updateButtonFunction()));
            buttonOptions << "-" << "Roll" << "Pitch" << "Yaw" << "Throttle";
            buttonFunctionList.at(i)->clear();
            buttonFunctionList.at(i)->addItems(buttonOptions);

            buttonFunctionList.at(i)->setVisible(1);
            buttonLabelList.at(i)->setVisible(1);
            buttonValueList.at(i)->setVisible(1);
            connect(buttonFunctionList.at(i), SIGNAL(currentIndexChanged(int)), this, SLOT(updateButtonFunction()));
        }
    }
}
