/*
 * This file is part of OctoMap - An Efficient Probabilistic 3D Mapping
 * Framework Based on Octrees
 * http://octomap.github.io
 *
 * Copyright (c) 2009-2014, K.M. Wurm and A. Hornung, University of Freiburg
 * All rights reserved. License for the viewer octovis: GNU GPL v2
 * http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt
 *
 *
 * This program 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 2 of the License, or
 * (at your option) any later version.
 *
 * This program 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 this program. If not, see http://www.gnu.org/licenses/.
 */

#include <octovis/ViewerSettingsPanel.h>

ViewerSettingsPanel::ViewerSettingsPanel(QWidget *parent)
    : QWidget(parent), m_currentScan(0), m_numberScans(0), m_treeDepth(_TREE_MAX_DEPTH), m_resolution(0.1)
{
	ui.setupUi(this);
	connect(ui.treeDepth, SIGNAL(valueChanged(int)), this, SLOT(setTreeDepth(int)));

	scanProgressChanged();
	leafSizeChanged();
}

ViewerSettingsPanel::~ViewerSettingsPanel()
{

}

void ViewerSettingsPanel::on_nextScanButton_clicked(){
  if (m_currentScan < m_numberScans){
    m_currentScan++;
    scanProgressChanged();
    emit addNextScans(1);
  }
}

void ViewerSettingsPanel::on_fastFwdScanButton_clicked(){
  unsigned increase = int(m_numberScans)-int(m_currentScan);
  if (increase > 5) increase = 5;
  m_currentScan += increase;
  scanProgressChanged();
  emit addNextScans(increase);
}

void ViewerSettingsPanel::on_lastScanButton_clicked(){
  unsigned increase = int(m_numberScans)-int(m_currentScan);
  m_currentScan += increase;
  scanProgressChanged();
  emit addNextScans(increase);
}

void ViewerSettingsPanel::on_firstScanButton_clicked(){
  m_currentScan = 1;
  scanProgressChanged();
  emit gotoFirstScan();
}

void ViewerSettingsPanel::scanProgressChanged(){
  if (int(m_numberScans) > 1)
    ui.scanProgressBar->setMaximum(int(m_numberScans));
  else 
    ui.scanProgressBar->setMaximum(1);

  if (m_currentScan == m_numberScans){
    ui.nextScanButton->setEnabled(false);
    ui.fastFwdScanButton->setEnabled(false);
    ui.lastScanButton->setEnabled(false);

  } else{
    ui.nextScanButton->setEnabled(true);
    ui.fastFwdScanButton->setEnabled(true);
    ui.lastScanButton->setEnabled(true);
  }

  if (m_currentScan < 2){
    ui.firstScanButton->setEnabled(false);
  } else{
    ui.firstScanButton->setEnabled(true);
  }

  ui.scanProgressBar->setValue(m_currentScan);
  // queue a redraw:
  ui.scanProgressBar->update();
}

void ViewerSettingsPanel::setNumberOfScans(unsigned scans){
  m_numberScans = scans;
  scanProgressChanged();
}

void ViewerSettingsPanel::setCurrentScan(unsigned scan){
  m_currentScan = scan;
  scanProgressChanged();
}

void ViewerSettingsPanel::setResolution(double resolution){
  m_resolution = resolution;
  leafSizeChanged();
}

void ViewerSettingsPanel::setTreeDepth(int depth){
  emit treeDepthChanged(depth);
  m_treeDepth = depth;
  ui.treeDepth->setValue(depth);
  ui.treeDepthSlider->setValue(depth);
  leafSizeChanged();
}

void ViewerSettingsPanel::leafSizeChanged(){
  double leafSize = m_resolution * pow(2.0, (int) (_TREE_MAX_DEPTH-m_treeDepth));
  ui.leafSize->setText(QString::number(leafSize)+" m");
}