/**
 ******************************************************************************
 *
 * @file       gpsdisplaywidget.cpp
 * @author     Edouard Lafargue Copyright (C) 2010.
 * @addtogroup GCSPlugins GCS Plugins
 * @{
 * @addtogroup GPSGadgetPlugin GPS Gadget Plugin
 * @{
 * @brief A gadget that displays GPS status and enables basic configuration
 *****************************************************************************/
/*
 * 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 "gpsdisplaywidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"


#include <iostream>
#include <QtGui>
#include <QDebug>

/*
 * Initialize the widget
 */
GpsDisplayWidget::GpsDisplayWidget(QWidget *parent) : QWidget(parent)
{
    setupUi(this);

    // Not elegant, just load the image for now
    QGraphicsScene *fescene = new QGraphicsScene(this);
    QPixmap earthpix(":/gpsgadget/images/flatEarth.png");
    fescene->addPixmap(earthpix);
    flatEarth->setScene(fescene);
    marker = new QGraphicsSvgItem();
    QSvgRenderer *renderer = new QSvgRenderer();
    renderer->load(QString(":/gpsgadget/images/marker.svg"));
    marker->setSharedRenderer(renderer);
    fescene->addItem(marker);
    double scale = earthpix.width() / (marker->boundingRect().width() * 20);
    marker->setScale(scale);
}

GpsDisplayWidget::~GpsDisplayWidget()
{}

void GpsDisplayWidget::setSpeedHeading(double speed, double heading)
{
    QString str;

    speed_value->setText(str.sprintf("%.02f m/s", speed));
    bear_value->setText(str.sprintf("%.02f deg", heading));
}

void GpsDisplayWidget::setDateTime(double date, double time)
{
    QString dstring1, dstring2;

    dstring1.sprintf("%06.0f", date);
    dstring1.insert(dstring1.length() - 2, ".");
    dstring1.insert(dstring1.length() - 5, ".");
    dstring2.sprintf("%06.0f", time);
    dstring2.insert(dstring2.length() - 2, ":");
    dstring2.insert(dstring2.length() - 5, ":");
    time_value->setText(dstring1 + "    " + dstring2 + " GMT");
}

void GpsDisplayWidget::setFixType(const QString &fixtype)
{
    if (fixtype == "NoGPS") {
        fix_value->setText("No GPS");
    } else if (fixtype == "NoFix") {
        fix_value->setText("Fix not available");
    } else if (fixtype == "Fix2D") {
        fix_value->setText("2D");
    } else if (fixtype == "Fix3D") {
        fix_value->setText("3D");
    } else {
        fix_value->setText("Unknown");
    }
}

void GpsDisplayWidget::dumpPacket(const QString &packet)
{
    textBrowser->append(packet);
    if (textBrowser->document()->lineCount() > 200) {
        QTextCursor tc = textBrowser->textCursor();
        tc.movePosition(QTextCursor::Start);
        tc.movePosition(QTextCursor::Down, QTextCursor::KeepAnchor);
        tc.movePosition(QTextCursor::StartOfLine, QTextCursor::KeepAnchor);
        tc.removeSelectedText();
    }
}

void GpsDisplayWidget::setSVs(int sv)
{
    QString temp;

    temp.append(QString::number(sv));
    status_value->setText(temp);
    status_value->adjustSize();
}

void GpsDisplayWidget::setDOP(double hdop, double vdop, double pdop)
{
    QString str;

    str.sprintf("%.2f / %.2f / %.2f", hdop, vdop, pdop);
    dop_value->setText(str);
}

void GpsDisplayWidget::setPosition(double lat, double lon, double alt)
{
    // lat *= 1E-7;
    // lon *= 1E-7;
    double deg = floor(fabs(lat));
    double min = (fabs(lat) - deg) * 60;
    QString str1;

    str1.sprintf("%.0f%c%.3f' ", deg, 0x00b0, min);
    if (lat > 0) {
        str1.append("N");
    } else {
        str1.append("S");
    }
    coord_value->setText(str1);
    deg = floor(fabs(lon));
    min = (fabs(lon) - deg) * 60;
    QString str2;
    str2.sprintf("%.0f%c%.3f' ", deg, 0x00b0, min);
    if (lon > 0) {
        str2.append("E");
    } else {
        str2.append("W");
    }
    coord_value_2->setText(str2);
    QString str3;
    str3.sprintf("%.2f m", alt);
    coord_value_3->setText(str3);

    // Now place the marker:
    double wscale = flatEarth->sceneRect().width() / 360;
    double hscale = flatEarth->sceneRect().height() / 180;
    QPointF opd   = QPointF((lon + 180) * wscale - marker->boundingRect().width() * marker->scale() / 2,
                            (90 - lat) * hscale - marker->boundingRect().height() * marker->scale() / 2);
    marker->setTransform(QTransform::fromTranslate(opd.x(), opd.y()), false);
}