/*
* This file is part of the Remote Sensor Actuator Interface (ReSAI).
*
* Copyright(c) Andreas Kipp, Frederic Siepmann
* http://opensource.cit-ec.de/projects/resai
*
* This file may be licensed under the terms of of the
* GNU Lesser General Public License Version 3 (the ``LGPL''),
* or (at your option) any later version.
*
* Software distributed under the License is distributed
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
* express or implied. See the LGPL for the specific language
* governing rights and limitations.
*
* You should have received a copy of the LGPL along with this
* program. If not, go to http://www.gnu.org/licenses/lgpl.html
* or write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The development of this software was supported by the
* Excellence Cluster EXC 277 Cognitive Interaction Technology.
* The Excellence Cluster EXC 277 is a grant of the Deutsche
* Forschungsgemeinschaft (DFG) in the context of the German
* Excellence Initiative.
*
*/

/**
 * Tab showing information from SLAM sensor.
 *
 * @author akipp
 */

package de.unibi.airobots.resaidroid.tabactivities;

import org.jivesoftware.smack.util.Base64;

import android.graphics.Bitmap;
import android.graphics.BitmapFactory;
import android.graphics.Canvas;
import android.graphics.Color;
import android.graphics.Matrix;
import android.graphics.Paint;
import android.graphics.PointF;
import android.os.Bundle;
import android.util.FloatMath;
import android.util.Log;
import android.view.ContextMenu;
import android.view.ContextMenu.ContextMenuInfo;
import android.view.MenuInflater;
import android.view.MenuItem;
import android.view.MotionEvent;
import android.view.View;
import android.view.View.OnTouchListener;
import android.widget.ImageView;
import de.unibi.airobots.resaidroid.R;
import de.unibi.airobots.resaidroid.constants.Constants.Commands;
import de.unibi.airobots.resaidroid.constants.Constants.Properties;
import de.unibi.airobots.resaidroid.constants.ServerConfig;
import de.unibi.airobots.resaidroid.helper.DataPacker;
import de.unibi.airobots.resaidroid.helper.EasyDialog;
import de.unibi.airobots.resaidroid.helper.WrapMotionEvent;
import de.unibi.airobots.resaidroid.tabactivities.template.TabTemplate;

public class TabSlamSensor extends TabTemplate implements OnTouchListener {

	private ImageView ivMap;
	private int roboX = 0, roboY = 0;

	// TOUCH VARAIBLES
	PointF start = new PointF();
	PointF mid = new PointF();
	float oldDist = 1f;
	static final int NONE = 0;
	static final int DRAG = 1;
	static final int ZOOM = 2;
	float touchStartX = 0f, touchStartY = 0f, touchX = 0f, touchY = 0f;
	float targetX = 0f, targetY = 0f;
	int mode = NONE;
	private static Matrix matrix = new Matrix();
	private static Matrix savedMatrix = new Matrix();

	@Override
	protected void onCreate(Bundle savedInstanceState) {
		super.onCreate(savedInstanceState);
		setContentView(R.layout.slamsensor);

		ivMap = (ImageView) findViewById(R.id.ivMap);
		ivMap.setImageMatrix(matrix);
		ivMap.setOnTouchListener(this);
		registerForContextMenu(ivMap);
	}

	@Override
	protected void onPause() {
		super.onPause();

		// Disconnect NavigationThread
		addProperty(Properties.CMD.name(), Commands.disconnectComponent.name());
		addProperty(Properties.COMP.name(), "NavigationActuatorThread");
		// TODO auslagern?
		propertiesToSend.put("TAG", "ComponentDispatcher");
		sendMessage(ServerConfig.RECIPIENT_FULL);
	}

	@Override
	protected void onResume() {
		super.onResume();

		// Connect to NavigationThread
		addProperty(Properties.CMD.name(), Commands.requestComponent.name());
		addProperty(Properties.COMP.name(), "NavigationActuatorThread");
		// TODO auslagern?
		propertiesToSend.put("TAG", "ComponentDispatcher");
		sendMessage(ServerConfig.RECIPIENT_FULL);

	}

	@Override
	public void processProperties() {

		messageHandler.post(new Runnable() {
			public void run() {
				try {

					String _img = "";
					synchronized (receivedProperties) {
						for (String prop : receivedProperties.keySet()) {

							if (prop.equals(cm.getComponent(TAG) + "_IMG")) {
								_img = receivedProperties.get(prop).toString();
							}

							if (prop.equals(cm.getComponent(TAG) + "_POSX")) {
								roboX = Integer.parseInt(mIn.getProperty(prop)
										.toString());
							}
							if (prop.equals(cm.getComponent(TAG) + "_POSY")) {
								roboY = Integer.parseInt(mIn.getProperty(prop)
										.toString());
							}
						}
					}

					if (_img.length() > 0) {
						byte[] imageByte = DataPacker.decompressBytes(Base64
								.decode(_img,Base64.GZIP));
						Bitmap bitmap = BitmapFactory.decodeByteArray(
								imageByte, 0, imageByte.length);

						Bitmap b = bitmap.copy(Bitmap.Config.RGB_565, true);
						Canvas canvas = new Canvas(b);
						Paint paint = new Paint();
						paint.setStyle(Paint.Style.FILL);
						paint.setColor(Color.RED);
						canvas.drawCircle(targetX, targetY, 5, paint);
						paint.setColor(Color.BLUE);
						canvas.drawCircle(roboX, roboY, 5, paint);

						ivMap.setImageBitmap(b);
					}

				} catch (Exception e) {
					// TODO
					Log.i(TAG, "%%%%Exception: " + e.getMessage());
				}
			}

		});
	}

	@Override
	public boolean onTouch(View v, MotionEvent rawEvent) {

		WrapMotionEvent event = WrapMotionEvent.wrap(rawEvent);
		ImageView view = (ImageView) v;

		touchX = event.getX();
		touchY = event.getY();

		switch (event.getAction() & MotionEvent.ACTION_MASK) {
		case MotionEvent.ACTION_DOWN:
			savedMatrix.set(matrix);
			start.set(event.getX(), event.getY());
			Log.d(TAG, "mode=DRAG");
			mode = DRAG;
			touchStartX = event.getX();
			touchStartY = event.getY();
			break;
		case MotionEvent.ACTION_POINTER_DOWN:
			oldDist = spacing(event);
			Log.d(TAG, "oldDist=" + oldDist);
			if (oldDist > 10f) {
				savedMatrix.set(matrix);
				midPoint(mid, event);
				mode = ZOOM;
				Log.d(TAG, "mode=ZOOM");
			}
			break;
		case MotionEvent.ACTION_UP:
		case MotionEvent.ACTION_POINTER_UP:
			mode = NONE;
			Log.d(TAG, "mode=NONE");
			break;
		case MotionEvent.ACTION_MOVE:
			if (mode == DRAG) {
				matrix.set(savedMatrix);
				matrix.postTranslate(event.getX() - start.x, event.getY()
						- start.y);
			} else if (mode == ZOOM) {
				float newDist = spacing(event);
				Log.d(TAG, "newDist=" + newDist);
				if (newDist > 10f) {
					matrix.set(savedMatrix);
					float scale = newDist / oldDist;
					matrix.postScale(scale, scale, mid.x, mid.y);
				}
			}
			break;
		}

		Matrix invMatrix = new Matrix();
		matrix.invert(invMatrix);
		float[] matrixValues = new float[9];
		invMatrix.getValues(matrixValues);

		targetX = matrixValues[0] * touchX + matrixValues[1] * touchY
				+ matrixValues[2];
		targetY = matrixValues[3] * touchX + matrixValues[4] * touchY
				+ matrixValues[5];

		view.setImageMatrix(matrix);

		return false;
	}

	@Override
	public void onCreateContextMenu(ContextMenu menu, View v,
			ContextMenuInfo menuInfo) {

		if (Math.abs(touchStartX - touchX) < 10f
				&& Math.abs(touchStartY - touchY) < 10f) {
			Log.i(TAG, "######Show Menu");
			MenuInflater inflater = getMenuInflater();
			inflater.inflate(R.menu.slamsensortouchmenu, menu);
		} else {
			Log.i(TAG, "###### Don't show Menu");
		}
	}

	@Override
	public boolean onContextItemSelected(MenuItem item) {

		switch (item.getItemId()) {
		case R.id.miResetView:
			EasyDialog.makeToast(getApplicationContext(), "Resetting View.");
			matrix = new Matrix();
			ivMap.getImageMatrix().set(matrix);
			break;
		case R.id.miMoveTo:
			EasyDialog.makeToast(getApplicationContext(), "Sending Target.");
			sendTarget();
			break;

		case R.id.miManualStop:
			EasyDialog
					.makeToast(getApplicationContext(), "Sending Manual Stop");
			sendManualStop();
			break;

		// case R.id.miCenterRobot:
		// EasyDialog.makeToast(getApplicationContext(),
		// "Centering View to Robot.");
		// matrix.setTranslate((-1) * roboX + ivMap.getWidth(),
		// (-1) * roboY + ivMap.getHeight());
		//
		// ivMap.getImageMatrix().set(matrix);
		// break;

		case R.id.miCancel:
			EasyDialog.makeToast(getApplicationContext(), "Cancel by user");

		default:
			EasyDialog.makeToast(getApplicationContext(),
					"Uknown ID selected: " + item.toString());
		}

		// TODO
		return true;
	}

	private void sendTarget() {
		addProperty("TAG", "NavigationActuatorThread");
		addProperty("NavigationActuatorThread", "True");
		addProperty("NAVDATA", "true");
		addProperty("X", String.valueOf(targetX));
		addProperty("Y", String.valueOf(targetY));
		sendMessage(ServerConfig.RECIPIENT_FULL);
	}

	private void sendManualStop() {
		addProperty("TAG", "NavigationActuatorThread");
		addProperty("NavigationActuatorThread", "True");
		addProperty("MANUALSTOP", "true");
		sendMessage(ServerConfig.RECIPIENT_FULL);
	}

	// TODO BESCHREIBEN WOFUER ETC.
	/** Determine the space between the first two fingers */
	private float spacing(WrapMotionEvent event) {
		float x = event.getX(0) - event.getX(1);
		float y = event.getY(0) - event.getY(1);
		return FloatMath.sqrt(x * x + y * y);
	}

	/** Calculate the mid point of the first two fingers */
	private void midPoint(PointF point, WrapMotionEvent event) {
		float x = event.getX(0) + event.getX(1);
		float y = event.getY(0) + event.getY(1);
		point.set(x / 2, y / 2);
	}
}