/*
* 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.
*
*/

/**
 * Panel for the SLAM sensor.
 *
 * @author akipp
 */

package de.unibi.airobots.resaijavaclient.gui.panels.components;

import java.awt.Dimension;
import java.awt.Graphics;
import java.awt.GridBagConstraints;
import java.awt.GridBagLayout;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
import java.awt.event.MouseEvent;
import java.awt.event.MouseListener;
import java.awt.image.BufferedImage;
import java.util.HashMap;
import java.util.Observable;

import javax.swing.ImageIcon;
import javax.swing.JButton;
import javax.swing.JLabel;
import javax.swing.JOptionPane;
import javax.swing.JScrollPane;

import org.jivesoftware.smack.util.Base64;

import de.unibi.airobots.resaijavaclient.communicaton.Communicator;
import de.unibi.airobots.resaijavaclient.gui.panels.components.template.PanelTemplate;
import de.unibi.airobots.resaijavaclient.helper.DataPacker;

public class SlamPanel extends PanelTemplate implements MouseListener,
		ActionListener {

	private static final long serialVersionUID = 1L;

	private JLabel lblImage = new JLabel();
	private JLabel lblX = new JLabel("0");
	private JLabel lblY = new JLabel("0");
	private JButton btnSendTarget = new JButton("Send Target");
	private JButton btnManualStop = new JButton("Manual Stop");

	public SlamPanel() {

		setLayout(new GridBagLayout());
		GridBagConstraints c = new GridBagConstraints();

		JScrollPane imagePane = new JScrollPane(lblImage);

		imagePane.setSize(new Dimension(900, 400));
		imagePane.setMinimumSize(new Dimension(800, 400));
		imagePane.setMaximumSize(new Dimension(800, 400));

		c.fill = GridBagConstraints.HORIZONTAL;
		c.gridx = 0;
		c.gridy = 0;
		c.gridwidth = 2;
		add(imagePane, c);
		lblImage.addMouseListener(this);

		c.fill = GridBagConstraints.HORIZONTAL;
		c.gridx = 0;
		c.gridy = 1;
		c.gridwidth = 1;
		add(btnSendTarget, c);
		btnSendTarget.addActionListener(this);

		c.fill = GridBagConstraints.HORIZONTAL;
		c.gridx = 1;
		c.gridy = 1;
		add(btnManualStop, c);
		btnManualStop.addActionListener(this);

		c.fill = GridBagConstraints.HORIZONTAL;
		c.gridx = 0;
		c.gridy = 2;
		add(lblX, c);

		c.fill = GridBagConstraints.HORIZONTAL;
		c.gridx = 1;
		c.gridy = 2;
		add(lblY, c);
	}

	@Override
	public void update(Observable o, Object arg) {
		if (o instanceof Communicator) {
			Communicator com = (Communicator) o;

			if (arg instanceof HashMap<?, ?>) {

				@SuppressWarnings("unchecked")
				HashMap<String, String> receivedProperties = (HashMap<String, String>) arg;

				if (com.getRecipientTAG().equals(component)) {
					String _img = receivedProperties.get(component + "_IMG")
							.toString();

					if (_img.length() > 0) {
						byte[] imageByte = DataPacker.decompressBytes(Base64
								.decode(_img));
						ImageIcon ic = new ImageIcon(imageByte);

						BufferedImage img = new BufferedImage(
								ic.getIconWidth(), ic.getIconHeight(), 1);

						Graphics g = img.getGraphics();
						g.drawImage(ic.getImage(), 0, 0, null);
						g.setColor(java.awt.Color.blue);
						g.fillOval(Integer.parseInt(lblX.getText()) - 5,
								Integer.parseInt(lblY.getText()) - 5, 10, 10);
						ic.setImage(img);

						lblImage.setIcon(ic);
					}
				}
			}
		}
	}

	@Override
	public void mouseClicked(MouseEvent e) {
		lblX.setText(String.valueOf(e.getX()));
		lblY.setText(String.valueOf(e.getY()));
	}

	@Override
	public void mouseEntered(MouseEvent e) {
		// TODO Auto-generated method stub

	}

	@Override
	public void mouseExited(MouseEvent e) {
		// TODO Auto-generated method stub

	}

	@Override
	public void mousePressed(MouseEvent e) {
		// TODO Auto-generated method stub

	}

	@Override
	public void mouseReleased(MouseEvent e) {
		// TODO Auto-generated method stub

	}

	@Override
	public void actionPerformed(ActionEvent e) {
		if (e.getSource().equals(btnSendTarget)) {
			if (JOptionPane.showConfirmDialog(null, "Send new target?",
					"Navigation", JOptionPane.OK_CANCEL_OPTION) == 0) {

				HashMap<String, String> propertiesToSend = new HashMap<String, String>();
				propertiesToSend.put("TAG", "NavigationActuatorThread");
				propertiesToSend.put("NAVDATA", "true");
				propertiesToSend.put("X", lblX.getText());
				propertiesToSend.put("Y", lblY.getText());
				overviewController.sendMessage(propertiesToSend);
			}
		}

		if (e.getSource().equals(btnManualStop)) {
			HashMap<String, String> propertiesToSend = new HashMap<String, String>();
			propertiesToSend.put("TAG", "NavigationActuatorThread");
			propertiesToSend.put("NavigationActuatorThread", "True");
			propertiesToSend.put("MANUALSTOP", "true");
			overviewController.sendMessage(propertiesToSend);
		}
	}
}