#include "roadeditdialog.h"
#include "ui_roadeditdialog.h"


#include "mainwindow.h"

#include "math.h"

#define VIEW_WIDTH 850
#define VIEW_HEIGHT 450

RoadEditDialog::RoadEditDialog(OpenDrive * pxodr,std::string strdefroad,QWidget *parent) :
    QDialog(parent),
    ui(new Ui::RoadEditDialog)
{
    mpxodr = pxodr;
    ui->setupUi(this);

    myview = new MyView(this);
    myview->setObjectName(QStringLiteral("graphicsView"));
    myview->setGeometry(QRect(30, 300, 900, 500));

 //   connect(myview,SIGNAL(dbclickxy(double,double)),this,SLOT(onClickXY(double,double)));

    image = new QImage(VIEW_WIDTH, VIEW_HEIGHT, QImage::Format_RGB32);//画布的初始化大小设为300*300，使用32位颜色
    myview->setCacheMode(myview->CacheBackground);

    painter = new QPainter(image);

    painter->end();

//    scene = new QGraphicsScene;

    scene = new QGraphicsScene(-VIEW_WIDTH/2, -VIEW_HEIGHT/2, VIEW_WIDTH, VIEW_HEIGHT);
    myview->setScene(scene);
    scene->setBackgroundBrush(Qt::darkGreen);

    ui->comboBox_geotype->addItem("Line");
    ui->comboBox_geotype->addItem("Spiral");
    ui->comboBox_geotype->addItem("Arc");
    ui->comboBox_geotype->addItem("Poly");
    ui->comboBox_geotype->addItem("Param Poly");

    int i;
    int nroadcount = mpxodr->GetRoadCount();
    for(i=0;i<nroadcount;i++)
    {
        const char * strname = mpxodr->GetRoad(i)->GetRoadId().data();
        ui->comboBox_Road->addItem(strname);

    }

    MainWindow::ComboToString(strdefroad,ui->comboBox_Road);

}

RoadEditDialog::~RoadEditDialog()
{
    delete ui;
}

void RoadEditDialog::ExecPainter()
{
    painter->begin(image);

    int nkeep = 30;
    Road * pRoad = mpCurRoad;
//         qDebug("time is %d",x.elapsed());
         image->fill(QColor(255, 255, 255));//对画布进行填充

     //    std::vector<iv::GPSData> navigation_data = brain->navigation_data;
         painter->setRenderHint(QPainter::Antialiasing, true);//设置反锯齿模式，好看一点

  //       painter->translate(mnMoveX,mnMoveY);

 //        painter->translate(VIEW_WIDTH/2,VIEW_HEIGHT/2);

    double froad_xmin,froad_ymin,froad_xmax,froad_ymax;

    int nfac = 1;
    ServiceXODRTool.GetRoadMaxMin(pRoad,froad_xmin,froad_ymin,froad_xmax,froad_ymax);


    double fac_x,fac_y;
    fac_x = 100000;
    fac_y = 100000;
    if(froad_xmax > froad_xmin)
    {
        fac_x = (VIEW_WIDTH-nkeep*2)/(froad_xmax - froad_xmin);
    }

    if(froad_ymax > froad_ymin)
    {
        fac_y = (VIEW_HEIGHT - nkeep*2)/(froad_ymax - froad_ymin);
    }

    nfac = fac_x;
    if(fac_y < nfac)nfac = fac_y;


         painter->translate(nkeep,VIEW_HEIGHT-nkeep);

         painter->setPen(Qt::black);

//         painter->drawLine(VIEW_WIDTH/(-2),0,VIEW_WIDTH/2,0);
//         painter->drawLine(0,VIEW_HEIGHT/(-2),0,VIEW_HEIGHT/2);

         int i;


        //         int nfac = 5;;


         painter->setPen(Qt::blue);

//         if(mbClick)
//         {
//         painter->setPen(Qt::red);
//         painter->drawEllipse(QPoint(mClickX ,mClickY),mnMarkSize,mnMarkSize);

//         painter->setPen(Qt::black);
//         }

//     if(mbSetObj)
//     {
//         painter->setPen(Qt::green);
//         painter->drawRect(mfObjX*nfac-mnMarkSize,mfObjY*nfac*(-1)-mnMarkSize,mnMarkSize*2,mnMarkSize*2);

//         painter->setPen(Qt::black);
//     }

     painter->setPen(Qt::green);
     double x0,y0;
//     GaussProjCal(glon0,glat0,&x0,&y0);

     painter->setPen(Qt::blue);
 //            int nfac = nfac;
  //   int selid = mpCBRoad->currentText().toInt();

   //     continue;
         int j;

         painter->setPen(Qt::blue);


         for(j=0;j<pRoad->GetGeometryBlockCount();j++)
         {
             GeometryBlock * pgeob = pRoad->GetGeometryBlock(j);
             double x,y;
             double x_center,y_center;
             double R;
             RoadGeometry * pg;
             GeometryArc * parc;
             GeometryParamPoly3 * ppp3;
             GeometrySpiral *pSpiral;
             double rel_x,rel_y,rel_hdg;
             pg = pgeob->GetGeometryAt(0);

             x = pg->GetX();
             y = pg->GetY();

              painter->setPen(Qt::blue);
             if(j == mnSelGeo)
             {
                 painter->setPen(Qt::green);
             }

//             if(j== 0)
//             {
//                 if(selid == atoi(pRoad->GetRoadId().data()))
//                 {
//                     painter->setPen(Qt::green);
//                     painter->drawEllipse(x*nfac-5,y*nfac*(-1)-5,10,10);
//                     painter->setPen(Qt::red);
//                 }
//             }

             switch (pg->GetGeomType()) {
             case 0:
                 painter->drawLine(QPoint((x-froad_xmin)*nfac,(y-froad_ymin)*nfac*(-1)),
                                   QPoint(((x-froad_xmin) + pg->GetLength() * cos(pg->GetHdg()))*nfac,((y-froad_ymin) + pg->GetLength() * sin(pg->GetHdg()))*nfac*(-1)));
                 break;

             case 1:
                 pSpiral = (GeometrySpiral * )pg;
                 {
                    int ncount = pSpiral->GetLength() * nfac;
                    double sstep = pSpiral->GetLength()/((double)ncount);
                    int k;
                    double x0,y0,hdg0,s0;
                    x0 = pSpiral->GetX();
                    y0 = pSpiral->GetY();
                    s0 = pSpiral->GetS();
                    hdg0 = pSpiral->GetHdg() ;
                    painter->setPen(Qt::red);
                    for(k=0;k<ncount;k++)
                    {
                        pSpiral->GetCoords(s0+sstep*k,rel_x,rel_y,rel_hdg);

                        x = rel_x - froad_xmin;
                        y = rel_y - froad_ymin;
                        painter->drawPoint((int)(x*nfac),(int)(y*(-1.0*nfac)));

                    }
                    painter->setPen(Qt::blue);
                 }

 //                    qDebug("spi");
                 break;
             case 2:
                 {
                 parc = (GeometryArc *)pg;
                 R = abs(1.0/parc->GetCurvature());
                 if(parc->GetCurvature() > 0)
                 {
                     x_center = pg->GetX() + R *cos(pg->GetHdg() + M_PI/2.0);
                     y_center = pg->GetY() + R * sin(pg->GetHdg() + M_PI/2.0);
                 }
                 else
                 {
                     x_center = pg->GetX() + R *cos(pg->GetHdg() -M_PI/2.0);
                     y_center = pg->GetY() + R * sin(pg->GetHdg() - M_PI/2.0);
                 }

                 int k;
                 int ncount = parc->GetLength() * nfac ;
                 double curv = parc->GetCurvature();
                 double hdgstep;
                 double hdg0 = parc->GetHdg();
                 double hdgnow = parc->GetHdg();
                 if(ncount > 0) hdgstep= (parc->GetLength()/R)/ncount;
                 for(k=0;k<ncount;k++)
                 {
                     double x_draw,y_draw;

                     if(curv > 0)
                     {
                         hdgnow =  hdg0 + k*hdgstep;
                         x_draw = x_center + R *cos(hdgnow - M_PI/2.0);
                         y_draw = y_center + R * sin(hdgnow - M_PI/2.0);
                     }
                     else
                     {
                         hdgnow = hdg0 - k * hdgstep;
                         x_draw = x_center + R *cos(hdgnow  + M_PI/2.0);
                         y_draw = y_center + R * sin(hdgnow + M_PI/2.0);
                     }
                     x_draw = x_draw - froad_xmin;
                     y_draw = y_draw - froad_ymin;
                     painter->drawPoint(x_draw * nfac ,y_draw * nfac *(-1));
                 }
                 }
                 break;
             case 4:
                 {
                 ppp3 = (GeometryParamPoly3 * )pg;
                 int ncount = ppp3->GetLength()* nfac;
                 double sstep;
                 if(ncount > 0)sstep = ppp3->GetLength()/ncount;
                 else sstep = 10000.0;
                 double s = 0;
                 while(s < ppp3->GetLength())
                 {
                     double xtem,ytem;
                     xtem = ppp3->GetuA() +  ppp3->GetuB() * s +  ppp3->GetuC() * s*s +  ppp3->GetuD() * s*s*s;
                     ytem = ppp3->GetvA() + ppp3->GetvB() * s + ppp3->GetvC() * s*s + ppp3->GetvD() * s*s*s;
                     x = xtem*cos(ppp3->GetHdg()) - ytem * sin(ppp3->GetHdg()) + ppp3->GetX();
                     y = xtem*sin(ppp3->GetHdg()) + ytem * cos(ppp3->GetHdg()) + ppp3->GetY();
                     x = x - froad_xmin;
                     y = y- froad_ymin;
                     painter->drawPoint((int)(x*nfac),(int)(y*(-1.0*nfac)));
                     s = s+ sstep;
                 }
                 }
                 break;
             default:
                 break;
             }

    //         painter->drawPoint((int)(x*nfac),(int)(y*(-1.0*nfac)));

         }





        painter->setPen(Qt::green);



         painter->end();
}

void RoadEditDialog::paintEvent(QPaintEvent * painter)
{

    scene->update();
    return;
    if(mpCurRoad != 0)
    {
        ExecPainter();
        scene->clear();
        scene->addPixmap(QPixmap::fromImage(*image));
        myview->setScene(scene);
        myview->show();
    }
}

void RoadEditDialog::on_comboBox_Road_activated(const QString &arg1)
{

}

bool RoadEditDialog::IsDrawMark(double s)
{
    const double dotdis = 10.0;
    const double dotlen = 5.0;

    double  y = fmod(s,dotdis);
    if(y>dotlen)return true;
    else
    {
        return false;
    }
}

void RoadEditDialog::on_comboBox_Road_currentIndexChanged(int index)
{
    Road * pRoad = mpxodr->GetRoad(index);
    if(pRoad == 0)
    {
 //       QMessageBox::warning(this,"WARN","MainWindow::onClickCBRoadChange road is NULL");
        return;
    }

    mpCurRoad = pRoad;

    int i;
    int nsize = mvectorroadview.size();
    for(i=0;i<nsize;i++)
    {
        scene->removeItem(mvectorroadview.at(i));
        delete mvectorroadview.at(i);
    }
    mvectorroadview.clear();

    nsize = mvectorviewitem.size();
    for(i=0;i<nsize;i++)
    {
        scene->removeItem(mvectorviewitem.at(i));
        delete mvectorviewitem.at(i);
    }
    mvectorviewitem.clear();


    double froad_xmin,froad_ymin,froad_xmax,froad_ymax;
    ServiceXODRTool.GetRoadMaxMin(pRoad,froad_xmin,froad_ymin,froad_xmax,froad_ymax);
//    roadviewitem * prvw = new roadviewitem(pRoad);

    int nfac;
    int nkeep = 30;
    double fac_x,fac_y;
    fac_x = 100000;
    fac_y = 100000;
    if(froad_xmax > froad_xmin)
    {
        fac_x = (VIEW_WIDTH-nkeep*2)/(froad_xmax - froad_xmin);
    }

    if(froad_ymax > froad_ymin)
    {
        fac_y = (VIEW_HEIGHT - nkeep*2)/(froad_ymax - froad_ymin);
    }

    nfac = fac_x;
    if(fac_y < nfac)nfac = fac_y;


    mfViewMoveX = VIEW_WIDTH/2.0 ;
    mfViewMoveY = VIEW_HEIGHT/2.0;

    mfViewMoveX = 0 - froad_xmin - (froad_xmax - froad_xmin)/2.0;
    mfViewMoveY = 0 + froad_ymin  + (froad_ymax-froad_ymin)/2.0;

//    prvw->setPos(mfViewMoveX,mfViewMoveY);
 //       prvw->setPos((froad_xmax - froad_xmin)/2.0, (froad_ymax-froad_ymin)/2.0);
//    mvectorroadview.push_back(prvw);
 //   prvw->setratio(1.0);
//    scene->addItem(prvw);

    mnSelGeo = -1;

    ui->lineEdit_roadlen->setText(QString::number(pRoad->GetRoadLength()));

    ui->comboBox_Geo->clear();
    nsize = pRoad->GetGeometryBlockCount();
//    int i;
    for(i=0;i<nsize;i++)
    {
        ui->comboBox_Geo->addItem(QString("Geo ")+QString::number(i));
    }


    RoadDigit xrd(mpCurRoad,0.1);

    std::vector<QGraphicsPathItem *> xvectorlanepath = xodrscenfunc::GetRoadLaneItem(&xrd);
    int j;
    int ncount = xvectorlanepath.size();
    for(j=0;j<ncount;j++)
    {
        QGraphicsPathItem * pitem = xvectorlanepath[j];
        pitem->setPos(mfViewMoveX,mfViewMoveY);
        scene->addItem(pitem);
        mvectorviewitem.push_back(pitem);
    }

    std::vector<QGraphicsPathItem *> xvectormarkpath = xodrscenfunc::GetRoadMarkItem(&xrd);
    ncount = xvectormarkpath.size();
    for(j=0;j<ncount;j++)
    {
        QGraphicsPathItem * pitem = xvectormarkpath[j];
        pitem->setPos(mfViewMoveX,mfViewMoveY);
        scene->addItem(pitem);
        mvectorviewitem.push_back(pitem);
    }

    update();
}

void RoadEditDialog::on_comboBox_Geo_currentIndexChanged(int index)
{
    if(mpCurRoad == 0 )return;
    if(index<0)return;
    mnSelGeo = index;

    if(index>= mpCurRoad->GetGeometryBlockCount())return;
    GeometryBlock * pgb = mpCurRoad->GetGeometryBlock(index);
    RoadGeometry * pg = pgb->GetGeometryAt(0);
    ui->lineEdit_s->setText(QString::number(pg->GetS()));
    ui->lineEdit_x->setText(QString::number(pg->GetX()));
    ui->lineEdit_y->setText(QString::number(pg->GetY()));
    ui->lineEdit_hdg->setText(QString::number(pg->GetHdg()));
    ui->lineEdit_len->setText(QString::number(pg->GetLength()));
    if((pg->GetGeomType()>=0)&&(pg->GetGeomType()<5))
    {
        ui->comboBox_geotype->setCurrentIndex(pg->GetGeomType());
    }
}

void RoadEditDialog::on_pushButton_EditLane_clicked()
{
    if(mpCurRoad == 0)
    {
        QMessageBox::warning(this,"Warning","Not Select Road");
        return;
    }
    DialogEditLane laned(mpCurRoad,this);
    int res = laned.exec();
    on_comboBox_Road_currentIndexChanged(ui->comboBox_Road->currentIndex());
}

void RoadEditDialog::on_pushButton_EditRoadMark_clicked()
{
    if(mpCurRoad == 0)
    {
        QMessageBox::warning(this,"Warning","Not Select Road");
        return;
    }
    DialogEditRoadMark roadmarkd(mpCurRoad,this);
    roadmarkd.exec();
    on_comboBox_Road_currentIndexChanged(ui->comboBox_Road->currentIndex());
}

void RoadEditDialog::on_pushButton_LaneFromRTK_clicked()
{
    if(mpCurRoad == 0)
    {
        QMessageBox::warning(this,"Warning","Not Select Road");
        return;
    }
    DialogLaneFromRTK lanertk(mpCurRoad,mpxodr,this);
    lanertk.exec();
    on_comboBox_Road_currentIndexChanged(ui->comboBox_Road->currentIndex());
}

void RoadEditDialog::on_pushButton_RoadSplit_clicked()
{
    if(mpCurRoad == 0)
    {
        QMessageBox::warning(this,"Warning","Not Select Road");
        return;
    }

    DialogRoadSplit roadsplit(mpCurRoad,mpxodr,this);
    roadsplit.exec();

    unsigned int ncurindex = ui->comboBox_Road->currentIndex();
    ui->comboBox_Road->clear();
    int i;
    int nroadcount = mpxodr->GetRoadCount();
    for(i=0;i<nroadcount;i++)
    {
        const char * strname = mpxodr->GetRoad(i)->GetRoadId().data();
        ui->comboBox_Road->addItem(strname);

    }
    on_comboBox_Road_currentIndexChanged(ncurindex);
}

void RoadEditDialog::on_pushButton_RoadMerge_clicked()
{
    DialogRoadMerge roadmerge(mpxodr,this);
    roadmerge.exec();

    unsigned int ncurindex = ui->comboBox_Road->currentIndex();
    ui->comboBox_Road->clear();
    int i;
    int nroadcount = mpxodr->GetRoadCount();
    for(i=0;i<nroadcount;i++)
    {
        const char * strname = mpxodr->GetRoad(i)->GetRoadId().data();
        ui->comboBox_Road->addItem(strname);

    }
    on_comboBox_Road_currentIndexChanged(ncurindex);
}

void RoadEditDialog::on_pushButton_MoveRoad_clicked()
{
    if(mpCurRoad == 0)
    {
        QMessageBox::warning(this,"Warning","Not Select Road");
        return;
    }

    DialogRoadMove roadmove(mpxodr,mpCurRoad,this);
    roadmove.exec();

    unsigned int ncurindex = ui->comboBox_Road->currentIndex();
    ui->comboBox_Road->clear();
    int i;
    int nroadcount = mpxodr->GetRoadCount();
    for(i=0;i<nroadcount;i++)
    {
        const char * strname = mpxodr->GetRoad(i)->GetRoadId().data();
        ui->comboBox_Road->addItem(strname);

    }
    on_comboBox_Road_currentIndexChanged(ncurindex);
}

void RoadEditDialog::on_pushButton_RotateRoad_clicked()
{
    if(mpCurRoad == 0)
    {
        QMessageBox::warning(this,"Warning","Not Select Road");
        return;
    }

    DialogRoadRotate roadrotate(mpxodr,mpCurRoad,this);
    roadrotate.exec();

    unsigned int ncurindex = ui->comboBox_Road->currentIndex();
    ui->comboBox_Road->clear();
    int i;
    int nroadcount = mpxodr->GetRoadCount();
    for(i=0;i<nroadcount;i++)
    {
        const char * strname = mpxodr->GetRoad(i)->GetRoadId().data();
        ui->comboBox_Road->addItem(strname);

    }
    on_comboBox_Road_currentIndexChanged(ncurindex);
}

void RoadEditDialog::on_pushButton_MirrorRoad_clicked()
{
    if(mpCurRoad == 0)
    {
        QMessageBox::warning(this,"Warning","Not Select Road");
        return;
    }

    DialogRoadMirror roadmirror(mpxodr,mpCurRoad,this);
    roadmirror.exec();

    unsigned int ncurindex = ui->comboBox_Road->currentIndex();
    ui->comboBox_Road->clear();
    int i;
    int nroadcount = mpxodr->GetRoadCount();
    for(i=0;i<nroadcount;i++)
    {
        const char * strname = mpxodr->GetRoad(i)->GetRoadId().data();
        ui->comboBox_Road->addItem(strname);

    }
    on_comboBox_Road_currentIndexChanged(ncurindex);
}

void RoadEditDialog::on_pushButton_EditLaneOffset_clicked()
{
    if(mpCurRoad == 0)
    {
        QMessageBox::warning(this,"Warning","Not Select Road");
        return;
    }

    DialogLaneOffset dlglaneoffset(mpCurRoad,this);
    dlglaneoffset.exec();
}