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#include "MainWindow.h"

#include "ImageWidget.h"

#include "OpenNI.h"

#include "DepthProcessor.h"

#include "RobotControl.h"

#include <QtWidgets>

MainWindow::MainWindow(QWidget *parent)

: QWidget(parent) {

	// Create the widgets that go on the GUI

	statusLabel = new QLabel();

	statusLabel->setFixedHeight(statusLabel->sizeHint().height());

	statusLabel->setText("Initializing OpenNI...");

	frameLabel = new QLabel();

	frameLabel->setFixedHeight(frameLabel->sizeHint().height());

	frameLabel->setText("Frame: ??");

	fpsLabel = new QLabel();

	fpsLabel->setFixedHeight(fpsLabel->sizeHint().height());

	fpsLabel->setText("FPS: ??");

	topLeftImage = new ImageWidget();

	topLeftImage->setSize(X_RES, Y_RES);

	topLeftImage->setText("Initializing OpenNI...");

	topRightImage = new ImageWidget();

	topRightImage->setSize(X_RES, Y_RES);

	topRightImage->setText("Initializing OpenNI...");

	botLeftImage = new ImageWidget();

	botLeftImage->setSize(X_RES, Y_RES);

	botLeftImage->setText("Initializing OpenNI...");

	botRightImage = new ImageWidget();

	botRightImage->setSize(X_RES, Y_RES);

	botRightImage->setText("Initializing OpenNI...");

	topLeftSelect = new QComboBox();

	topLeftSelect->setFocusPolicy(Qt::NoFocus);

	topRightSelect = new QComboBox();

	topRightSelect->setFocusPolicy(Qt::NoFocus);

	botLeftSelect = new QComboBox();

	botLeftSelect->setFocusPolicy(Qt::NoFocus);

	botRightSelect = new QComboBox();

	botRightSelect->setFocusPolicy(Qt::NoFocus);

	QStringList imageList;

	imageList.append("Raw Depth");

	imageList.append("Last Valid Depth");

	imageList.append("Movement Mask Raw Depth");

	imageList.append("Movement Mask Average Depth");

	imageList.append("Processed Depth");

	imageList.append("Movement Map");

	imageList.append("Raw Depth Horizon");

	imageList.append("Last Valid Horizon");

	imageList.append("Overlay Horizon");

	updateSelectionList(imageList);

	// Initialize the widgets for controlling the robot

	robot = new RobotControl();

	// Add all GUI widgets to a layout

	QGridLayout *mainLayout = new QGridLayout();

	mainLayout->addWidget(statusLabel, 0, 0, 1, 3);

	mainLayout->addWidget(frameLabel, 0, 5, 1, 1, Qt::AlignRight);

	mainLayout->addWidget(fpsLabel, 0, 6, 1, 1, Qt::AlignRight);

	mainLayout->addWidget(topLeftSelect, 1, 0, 1, 3);

	mainLayout->addWidget(topLeftImage, 2, 0, 1, 3);

	mainLayout->addWidget(topRightSelect, 1, 4, 1, 3);

	mainLayout->addWidget(topRightImage, 2, 4, 1, 3);

	mainLayout->addWidget(botLeftSelect, 3, 0, 1, 3);

	mainLayout->addWidget(botLeftImage, 4, 0, 1, 3);

	mainLayout->addWidget(botRightSelect, 3, 4, 1, 3);

	mainLayout->addWidget(botRightImage, 4, 4, 1, 3);

	mainLayout->addWidget(robot, 5, 0, 1, 7);

	setLayout(mainLayout);

	setWindowTitle("RGBD Depth Map");

	// Initialize the threads for pulling and processing depth data

	openNIThread = new OpenNI();

	openNIProcessor = new DepthProcessor();

	connect(topLeftSelect, SIGNAL(activated(QString)), this, SLOT(imageSelectionChanged(QString)));

	connect(topRightSelect, SIGNAL(activated(QString)), this, SLOT(imageSelectionChanged(QString)));

	connect(botLeftSelect, SIGNAL(activated(QString)), this, SLOT(imageSelectionChanged(QString)));

	connect(botRightSelect, SIGNAL(activated(QString)), this, SLOT(imageSelectionChanged(QString)));

	connect(openNIThread, SIGNAL(setStatusString(QString)), this, SLOT(updateStatusText(QString)));

	connect(openNIThread, SIGNAL(setFrameString(QString)), this, SLOT(updateFrameText(QString)));

	connect(openNIThread, SIGNAL(setFPSString(QString)), this, SLOT(updateFPSText(QString)));

	connect(openNIThread, SIGNAL(processDepthData(cv::Mat)), openNIProcessor, SLOT(processDepthData(cv::Mat)));

	connect(openNIThread, SIGNAL(sensorConnected()), this, SLOT(sensorConnected()));

	connect(openNIProcessor, SIGNAL(setImageTopLeft(QImage)), topLeftImage, SLOT(updateImage(QImage)));

	connect(openNIProcessor, SIGNAL(setImageTopRight(QImage)), topRightImage, SLOT(updateImage(QImage)));

	connect(openNIProcessor, SIGNAL(setImageBotLeft(QImage)), botLeftImage, SLOT(updateImage(QImage)));

	connect(openNIProcessor, SIGNAL(setImageBotRight(QImage)), botRightImage, SLOT(updateImage(QImage)));

	connect(openNIThread, SIGNAL(setFOV(float, float)), openNIProcessor, SLOT(setFOV(float, float)));

	connect(this, SIGNAL(changeDisplayImage(int, QString)), openNIProcessor, SLOT(setDisplayImage(int, QString)));

	// Start the thread for processing depth data from the sensor

	openNIProcessor->start(QThread::HighPriority);

	// Start the thread for reading depth data from the sensor

	openNIThread->start();

	setFixedSize(this->sizeHint());

}

MainWindow::~MainWindow() {

	delete(topLeftImage);

	delete(topRightImage);

	delete(botLeftImage);

	delete(botRightImage);

	delete(topLeftSelect);

	delete(topRightSelect);

	delete(botLeftSelect);

	delete(botRightSelect);

	delete(robot);

	delete(statusLabel);

	delete(frameLabel);

	delete(fpsLabel);

	openNIThread->terminate();

	openNIProcessor->terminate();

}

void MainWindow::updateStatusText(const QString &string) {

	statusLabel->setText(string);

}

void MainWindow::updateFrameText(const QString &string) {

	frameLabel->setText("Frame: " + string);

}

void MainWindow::updateFPSText(const QString &string) {

	fpsLabel->setText("FPS: " + string);

}

void MainWindow::updateSelectionList(const QStringList &list) {

	topLeftSelect->addItems(list);

	topRightSelect->addItems(list);

	botLeftSelect->addItems(list);

	botRightSelect->addItems(list);

}

void MainWindow::imageSelectionChanged(const QString &str) {

	if (sender() == topLeftSelect) {

		emit changeDisplayImage(0, str);

	} else if (sender() == topRightSelect) {

		emit changeDisplayImage(1, str);

	} else if (sender() == botLeftSelect) {

		emit changeDisplayImage(2, str);

	} else if (sender() == botRightSelect) {

		emit changeDisplayImage(3, str);

	}

}

void MainWindow::sensorConnected() {

	emit changeDisplayImage(0, "Raw Depth");

	emit changeDisplayImage(1, "Raw Depth Horizon");

	emit changeDisplayImage(2, "Processed Depth");

	emit changeDisplayImage(3, "Overlay Horizon");

	topLeftSelect->setCurrentIndex(0);

	topRightSelect->setCurrentIndex(6);

	botLeftSelect->setCurrentIndex(4);

	botRightSelect->setCurrentIndex(8);

}

void MainWindow::keyPressEvent(QKeyEvent *event) {

	// Send keypress events to the robot handing code

	robot->handleKeyPress(event);

}

void MainWindow::keyReleaseEvent(QKeyEvent *event) {

	// Send keypress events to the robot handing code

	robot->handleKeyRelease(event);

}