/*
 * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
 *
 * This file is part of RTAB-Map.
 *
 * RTAB-Map is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * RTAB-Map is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "StatsToolBox.h"

#include <QtGui/QHBoxLayout>
#include <QtGui/QVBoxLayout>
#include <QtGui/QGridLayout>
#include <QtGui/QMenu>
#include <QtGui/QLabel>
#include <QtGui/QToolButton>
#include <QtCore/QChildEvent>
#include <QtCore/QDir>
#include <QtGui/QContextMenuEvent>
#include <QtGui/QToolBox>
#include <QtGui/QDialog>

#include "utilite/UPlot.h"
#include <rtabmap/utilite/ULogger.h>

namespace rtabmap {

StatItem::StatItem(const QString & name, const std::vector<float> & x, const std::vector<float> & y, const QString & unit, const QMenu * menu, QGridLayout * grid, QWidget * parent) :
	QWidget(parent),
	_button(0),
	_name(0),
	_value(0),
	_unit(0),
	_menu(0)
{
	this->setupUi(grid);
	_name->setText(name);
	if(y.size() == 1)
	{
		_value->setNum(y[0]);
	}
	else if(y.size() > 1)
	{
		_value->setText("*");
	}
	_unit->setText(unit);
	this->updateMenu(menu);
}

StatItem::~StatItem()
{

}

void StatItem::setValue(float x, float y)
{
	_value->setText(QString::number(y, 'g', 3));
	emit valueChanged(x,y);
}

void StatItem::setValues(const std::vector<float> & x, const std::vector<float> & y)
{
	_value->setText("*");
	emit valuesChanged(x,y);
}

QString StatItem::value() const
{
	return _value->text();
}

void StatItem::setupUi(QGridLayout * grid)
{
	_menu = new QMenu(this);
	_menu->addMenu("Add to figure...");
	_button = new QToolButton(this);
	_button->setIcon(QIcon(":/images/Plot16.png"));
	_button->setPopupMode(QToolButton::InstantPopup);
	_button->setMenu(_menu);
	_name = new QLabel(this);
	_name->setWordWrap(true);
	_value = new QLabel(this);
	_unit = new QLabel(this);

	if(grid)
	{
		int row = grid->rowCount();

		//This fixes an issue where the
		//button (used on col 0) of the first line in the
		//toolbox couldn't be clicked
		grid->addWidget(_button, row, 3);
		grid->addWidget(_name, row, 0);
		grid->addWidget(_value, row, 1);
		grid->addWidget(_unit, row, 2);
	}
	else
	{
		QHBoxLayout * layout = new QHBoxLayout(this);
		this->setLayout(layout);
		layout->addWidget(_button);
		layout->addWidget(_name);
		layout->addWidget(_value);
		layout->addWidget(_unit);
		layout->addStretch();
		layout->setMargin(0);
	}
}

void StatItem::updateMenu(const QMenu * menu)
{
	_menu->clear();
	QAction * action;
	QList<QAction *> actions = menu->actions();
	QMenu * plotMenu = _menu->addMenu("Add to figure...");
	for(int i=0; i<actions.size(); ++i)
	{
		action = plotMenu->addAction(actions.at(i)->text());
		connect(action, SIGNAL(triggered()), this, SLOT(preparePlotRequest()));
	}
}

void StatItem::preparePlotRequest()
{
	QAction * action = qobject_cast<QAction*>(sender());
	if(action)
	{
		emit plotRequested(this, action->text());
	}
}








StatsToolBox::StatsToolBox(QWidget * parent) :
	QWidget(parent)
{
	ULOGGER_DEBUG("");
	//Statistics in the GUI (for plotting)
	_statBox = new QToolBox(this);
	this->setLayout(new QVBoxLayout());
	this->layout()->setMargin(0);
	this->layout()->addWidget(_statBox);
	_statBox->layout()->setSpacing(0);
	_plotMenu = new QMenu(this);
	_plotMenu->addAction(tr("<New figure>"));
	_workingDirectory = QDir::homePath();
}

StatsToolBox::~StatsToolBox()
{
	closeFigures();
}

void StatsToolBox::closeFigures()
{
	QMap<QString, QWidget*> figuresTmp = _figures;
	for(QMap<QString, QWidget*>::iterator iter = figuresTmp.begin(); iter!=figuresTmp.end(); ++iter)
	{
		iter.value()->close();
	}
}

void StatsToolBox::updateStat(const QString & statFullName, float x, float y)
{
	std::vector<float> vx(1),vy(1);
	vx[0] = x;
	vy[0] = y;
	updateStat(statFullName, vx, vy);
}

void StatsToolBox::updateStat(const QString & statFullName, const std::vector<float> & x, const std::vector<float> & y)
{
	// round float to max 2 numbers after the dot
	//x = (float(int(100*x)))/100;
	//y = (float(int(100*y)))/100;

	StatItem * item = _statBox->findChild<StatItem *>(statFullName);
	if(item)
	{
		if(y.size() == 1 && x.size() == 1)
		{
			item->setValue(x[0], y[0]);
		}
		else
		{
			item->setValues(x, y);
		}
	}
	else
	{
		// statFullName format : "Grp/Name/unit"
		QStringList list = statFullName.split('/');
		QString grp;
		QString name;
		QString unit;
		if(list.size() >= 3)
		{
			grp = list.at(0);
			name = list.at(1);
			unit = list.at(2);
		}
		else if(list.size() == 2)
		{
			grp = list.at(0);
			name = list.at(1);
		}
		else if(list.size() == 1)
		{
			name = list.at(0);
		}
		else
		{
			ULOGGER_WARN("A statistic has no name");
			return;
		}

		if(grp.isEmpty())
		{
			grp = tr("Global");
		}

		int index = -1;
		for(int i=0; i<_statBox->count(); ++i)
		{
			if(_statBox->itemText(i).compare(grp) == 0)
			{
				index = i;
				break;
			}
		}

		if(index<0)
		{
			QWidget * newWidget = new QWidget(_statBox);
			index = _statBox->addItem(newWidget, grp);
			QVBoxLayout * layout = new QVBoxLayout(newWidget);
			newWidget->setLayout(layout);
			QGridLayout * grid = new QGridLayout();
			grid->setVerticalSpacing(2);
			grid->setColumnStretch(0, 1);
			layout->addLayout(grid);
			layout->addStretch();
		}

		QVBoxLayout * layout = qobject_cast<QVBoxLayout *>(_statBox->widget(index)->layout());
		if(!layout)
		{
			ULOGGER_ERROR("Layout is null ?!?");
			return;
		}
		QGridLayout * grid = qobject_cast<QGridLayout *>(layout->itemAt(0)->layout());
		if(!grid)
		{
			ULOGGER_ERROR("Layout is null ?!?");
			return;
		}

		item = new StatItem(name, x, y, unit, _plotMenu, grid, _statBox->widget(index));
		item->setObjectName(statFullName);

		//layout->insertWidget(layout->count()-1, item);
		connect(item, SIGNAL(plotRequested(const StatItem *, const QString &)), this, SLOT(plot(const StatItem *, const QString &)));
		connect(this, SIGNAL(menuChanged(const QMenu *)), item, SLOT(updateMenu(const QMenu *)));
	}
}

void StatsToolBox::plot(const StatItem * stat, const QString & plotName)
{
	QWidget * fig = _figures.value(plotName, (QWidget*)0);
	UPlot * plot = 0;
	if(fig)
	{
		plot = fig->findChild<UPlot *>(plotName);
	}
	if(plot)
	{
		// if not already in the plot
		if(!plot->contains(stat->objectName()))
		{
			UPlotCurve * curve = new UPlotCurve(stat->objectName(), plot);
			curve->setPen(plot->getRandomPenColored());
			connect(stat, SIGNAL(valueChanged(float, float)), curve, SLOT(addValue(float, float)));
			connect(stat, SIGNAL(valuesChanged(const std::vector<float> &, const std::vector<float> &)), curve, SLOT(setData(const std::vector<float> &, const std::vector<float> &)));
			if(stat->value().compare("*") == 0)
			{
				plot->setMaxVisibleItems(0);
			}
			if(!plot->addCurve(curve))
			{
				ULOGGER_WARN("Already added to the figure");
			}
		}
		else
		{
			ULOGGER_WARN("Already added to the figure");
		}
		plot->activateWindow();
	}
	else
	{
		//Create a new plot
		QString id = tr("Figure 0");
		if(_plotMenu->actions().size())
		{
			id = _plotMenu->actions().last()->text();
		}
		id.replace(tr("Figure "), "");
		QString newPlotName = QString(tr("Figure %1")).arg(id.toInt()+1);
		//Dock
		QDialog * figure = new QDialog(0, Qt::Window);
		_figures.insert(newPlotName, figure);
		QHBoxLayout * hLayout = new QHBoxLayout(figure);
		hLayout->setContentsMargins(0,0,0,0);
		figure->setWindowTitle(newPlotName);
		figure->setAttribute(Qt::WA_DeleteOnClose, true);
		connect(figure, SIGNAL(destroyed(QObject*)), this, SLOT(figureDeleted(QObject*)));
		//Plot
		UPlot * newPlot = new UPlot(figure);
		newPlot->setWorkingDirectory(_workingDirectory);
		newPlot->setMaxVisibleItems(50);
		newPlot->setObjectName(newPlotName);
		hLayout->addWidget(newPlot);
		_plotMenu->addAction(newPlotName);
		figure->setSizeGripEnabled(true);

		//Add a new curve linked to the statBox
		UPlotCurve * curve = new UPlotCurve(stat->objectName(), newPlot);
		curve->setPen(newPlot->getRandomPenColored());
		connect(stat, SIGNAL(valueChanged(float, float)), curve, SLOT(addValue(float, float)));
		connect(stat, SIGNAL(valuesChanged(const std::vector<float> &, const std::vector<float> &)), curve, SLOT(setData(const std::vector<float> &, const std::vector<float> &)));
		if(stat->value().compare("*") == 0)
		{
			newPlot->setMaxVisibleItems(0);
		}
		if(!newPlot->addCurve(curve))
		{
			ULOGGER_ERROR("Not supposed to be here !?!");
			delete curve;
		}
		figure->show();

		emit menuChanged(_plotMenu);
	}
}

void StatsToolBox::figureDeleted(QObject * obj)
{
	if(obj)
	{
		QWidget * plot = qobject_cast<QWidget*>(obj);
		if(plot)
		{
			_figures.remove(plot->windowTitle());
			QList<QAction*> actions = _plotMenu->actions();
			for(int i=0; i<actions.size(); ++i)
			{
				if(actions.at(i)->text().compare(plot->windowTitle()) == 0)
				{
					_plotMenu->removeAction(actions.at(i));
					delete actions[i];
					emit menuChanged(_plotMenu);
					break;
				}
			}
		}
		else
		{
			UERROR("");
		}
	}
	else
	{
		UERROR("");
	}
}

void StatsToolBox::contextMenuEvent(QContextMenuEvent * event)
{
	QMenu topMenu(this);
	QMenu * menu = topMenu.addMenu(tr("Add all statistics from tab \"%1\" to...").arg(_statBox->itemText(_statBox->currentIndex())));
	QList<QAction* > actions = _plotMenu->actions();
	menu->addActions(actions);
	QAction * aClearFigures = topMenu.addAction(tr("Clear all figures"));
	QAction * action = topMenu.exec(event->globalPos());
	QString plotName;
	if(action)
	{
		if(action == aClearFigures)
		{
			for(QMap<QString, QWidget*>::iterator i=_figures.begin(); i!=_figures.end(); ++i)
			{
				QList<UPlot *> plots = i.value()->findChildren<UPlot *>();
				if(plots.size() == 1)
				{
					QStringList names = plots[0]->curveNames();
					plots[0]->clearData();
				}
				else
				{
					UERROR("");
				}
			}
		}
		else
		{
			for(int i=0; i<actions.size(); ++i)
			{
				if(actions.at(i) == action)
				{
					plotName = actions.at(i)->text();
					break;
				}
			}
		}
	}

	if(!plotName.isEmpty())
	{
		QList<StatItem*> items = _statBox->currentWidget()->findChildren<StatItem*>();
		for(int i=0; i<items.size(); ++i)
		{
			this->plot(items.at(i), plotName);
			if(plotName.compare(tr("<New figure>")) == 0)
			{
				plotName = _plotMenu->actions().last()->text();
			}
		}
	}
}

void StatsToolBox::getFiguresSetup(QList<int> & curvesPerFigure, QStringList & curveNames)
{
	curvesPerFigure.clear();
	curveNames.clear();
	for(QMap<QString, QWidget*>::iterator i=_figures.begin(); i!=_figures.end(); ++i)
	{
		QList<UPlot *> plots = i.value()->findChildren<UPlot *>();
		if(plots.size() == 1)
		{
			QStringList names = plots[0]->curveNames();
			curvesPerFigure.append(names.size());
			curveNames.append(names);
		}
		else
		{
			UERROR("");
		}
	}
}
void StatsToolBox::addCurve(const QString & name, bool newFigure)
{
	StatItem * item = _statBox->findChild<StatItem *>(name);
	if(!item)
	{
		this->updateStat(name, 0, 0);
		item = _statBox->findChild<StatItem *>(name);
	}

	if(item)
	{
		if(newFigure)
		{
			this->plot(item, "");
		}
		else
		{
			this->plot(item, _plotMenu->actions().last()->text());
		}
	}
	else
	{
		ULOGGER_ERROR("Not supposed to be here...");
	}
}

void StatsToolBox::setWorkingDirectory(const QString & workingDirectory)
{
	if(QDir(workingDirectory).exists())
	{
		_workingDirectory = workingDirectory;
		for(QMap<QString, QWidget*>::iterator i=_figures.begin(); i!=_figures.end(); ++i)
		{
			QList<UPlot *> plots = i.value()->findChildren<UPlot *>();
			if(plots.size() == 1)
			{
				plots[0]->setWorkingDirectory(_workingDirectory);
			}
			else
			{
				UERROR("");
			}
		}
	}
	else
	{
		ULOGGER_ERROR("The directory \"%s\" doesn't exist", workingDirectory.toStdString().c_str());
	}
}

}