#include "Controller.h"

#include "ui/map/MapView.h"
#include "ui/menu/MainMenu.h"
#include "ui/MainWindow.h"
#include "ui/dialog/LoadSetupDialog.h"
#include "ui/debug/SensorDataWidget.h"

#include <Indoor/grid/factory/v2/GridFactory.h>
#include <Indoor/grid/factory/v2/Importance.h>

#include <Indoor/floorplan/v2/Floorplan.h>
#include <Indoor/floorplan/v2/FloorplanReader.h>
#include <Indoor/Assertions.h>

#include "sensors/dummy/SensorFactoryDummy.h"
#include "sensors/android/SensorFactoryAndroid.h"
#include "sensors/offline/SensorFactoryOffline.h"

#include "nav/NavController.h"

Controller::Controller() {

	// OpenGL setup
	// MUST happen before anything gets visible (= gets initialized)
	QSurfaceFormat format;
	format.setDepthBufferSize(16);
	QSurfaceFormat::setDefaultFormat(format);

	// configure the to-be-used sensor factory
	//SensorFactory::set(new SensorFactoryDummy());
	//SensorFactory::set(new SensorFactoryOffline("/apps/android/workspace/YASMIN_DATA/offline/gyroacctestingfrank/nexus6/kleinerKreis_216steps_6runden_telefongerade.csv"));
	//SensorFactory::set(new SensorFactoryOffline("/apps/android/workspace/YASMIN_DATA/offline/gyroacctestingfrank/s3mini/kleinerKreis_225steps_6runden_telefongerade.csv"));
	//SensorFactory::set(new SensorFactoryOffline("/apps/android/workspace/YASMIN_DATA/offline/gyroacctestingfrank/s4/kleinerKreis_220steps_6runden_telefongeneigt.csv"));
	SensorFactory::set(new SensorFactoryOffline("/apps/android/workspace/YASMIN_DATA/offline/bergwerk/path4/nexus/vor/1454776525797.csv"));




	mainWindow = new MainWindow();


	Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onLoadButton, this, &Controller::onLoadButton), "connect() failed");
	Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onDebugButton, this, &Controller::onDebugButton), "connect() failed");
	Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onStartButton, this, &Controller::onStartButton), "connect() failed");
	Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onTransparentButton, this, &Controller::onTransparentButton), "connect() failed");
	Assert::isTrue(connect(mainWindow->getMainMenu(), &MainMenu::onCameraButton, this, &Controller::onCameraButton), "connect() failed");

	// order is important! otherwise OpenGL fails!
	mainWindow->show();



	// start all sensors
	SensorFactory::get().getAccelerometer().start();
	SensorFactory::get().getGyroscope().start();
	SensorFactory::get().getBarometer().start();
	SensorFactory::get().getWiFi().start();

}

MapView* Controller::getMapView() const {
	 return mainWindow->getMapView();
}


void buildGridOnce(Grid<MyGridNode>* grid, Floorplan::IndoorMap* map, const std::string& saveFile) {
	GridFactory<MyGridNode> gf(*grid);
	gf.build(map);
	Importance::addImportance(*grid);
	std::ofstream out(saveFile, std::ofstream::binary);
	grid->write(out);
	out.close();
}

void Controller::onLoadButton() {

	// pick a map to load
	QDir dir = LoadSetupDialog::pickSetupFolder();

	// cancelled?
	if (dir.path() == ".") { return; }

	QFile fMap(dir.path() + "/map.xml");
	QFile fGrid(dir.path() + "/grid.dat");

	Assert::isTrue(fMap.exists(), "map.xml missing");
	//Assert::isTrue(fGrid.exists(), "grid.dat missing");

	fMap.open(QIODevice::ReadOnly);
	QString str = QString(fMap.readAll());
	im = Floorplan::Reader::readFromString(str.toStdString());



	const std::string sGrid = fGrid.fileName().toStdString();
	std::ifstream inp(sGrid, std::ifstream::binary);
	//Assert::isTrue(inp.good(), "failed to open grid.dat");

	// create a new, empty grid
	if (grid) {delete grid; grid = nullptr;}
	grid = new Grid<MyGridNode>(20);

	// grid.dat empty? -> build one and save it
	if (!inp.good() || (inp.peek()&&0) || inp.eof()) {
		buildGridOnce(grid, im, sGrid);
	} else {
		grid->read(inp);
	}

	// create a new navigator
	if (nav) {delete nav; nav = nullptr;}
	nav = new NavController(this, grid, im);

	getMapView()->setMap(im);
	getMapView()->showGridImportance(grid);


}

void Controller::onDebugButton() {
	mainWindow->getSensorDataWidget()->setVisible( !mainWindow->getSensorDataWidget()->isVisible() );
}

void Controller::onStartButton() {
	nav->start();
}

void Controller::onTransparentButton() {
	mainWindow->getMapView()->toggleRenderMode();
}

void Controller::onCameraButton() {
	nav->toggleCamera();
}