/*
 * Copyright (C) 2021 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef GZ_GUI_PLUGINS_TELEOP_HH_
#define GZ_GUI_PLUGINS_TELEOP_HH_

#include <memory>

#include <gz/gui/Plugin.hh>
#include <gz/gui/qt.h>
#include <gz/transport/Node.hh>
#include <gz/utils/ImplPtr.hh>

#ifndef _WIN32
#  define Teleop_EXPORTS_API __attribute__ ((visibility ("default")))
#else
#  if (defined(Teleop_EXPORTS))
#    define Teleop_EXPORTS_API __declspec(dllexport)
#  else
#    define Teleop_EXPORTS_API __declspec(dllimport)
#  endif
#endif

namespace gz::gui::plugins
{
  /// \brief Publish teleop stokes to a user selected topic,
  /// or to '/cmd_vel' if no topic is selected.
  /// Buttons, the keyboard or sliders can be used to move a
  /// vehicle in the world.
  /// ## Configuration
  /// * `<topic>`: Topic to publish twist messages to.
  class Teleop_EXPORTS_API Teleop : public Plugin
  {
    Q_OBJECT

    /// \brief Topic
    Q_PROPERTY(
      QString topic
      READ Topic
      WRITE SetTopic
      NOTIFY TopicChanged
    )

    /// \brief Forward velocity
    Q_PROPERTY(
      double maxForwardVel
      READ MaxForwardVel
      WRITE SetMaxForwardVel
      NOTIFY MaxForwardVelChanged
    )

    /// \brief Vertical velocity
    Q_PROPERTY(
      double maxVerticalVel
      READ MaxVerticalVel
      WRITE SetMaxVerticalVel
      NOTIFY MaxVerticalVelChanged
    )

    /// \brief Yaw velocity
    Q_PROPERTY(
      double maxYawVel
      READ MaxYawVel
      WRITE SetMaxYawVel
      NOTIFY MaxYawVelChanged
    )

    /// \brief Constructor
    public: Teleop();

    /// \brief Destructor
    public: ~Teleop() override;

    // Documentation inherited.
    public: void LoadConfig(const tinyxml2::XMLElement *) override;

    /// \brief Filters events of type 'keypress' and 'keyrelease'.
    protected: bool eventFilter(QObject *_obj, QEvent *_event) override;

    /// \brief Publish the twist message to the selected command velocity topic.
    /// \param[in] _forwardVel Forward velocity
    /// \param[in] _verticalVel Vertical velocity
    /// \param[in] _angVel Yaw velocity
    public slots: void OnTeleopTwist(double _forwardVel, double _verticalVel,
        double _angVel);

    /// \brief Get the topic as a string, for example
    /// '/echo'
    /// \return Topic
    public: Q_INVOKABLE QString Topic() const;

    /// \brief Callback in Qt thread when the topic changes.
    /// \param[in] _topic variable to indicate the topic to
    /// publish the Twist commands.
    public slots: void SetTopic(const QString &_topic);

    /// \brief Notify that topic has changed
    signals: void TopicChanged();

    /// \brief Get the forward velocity.
    /// \return Forward velocity.
    public: Q_INVOKABLE double MaxForwardVel() const;

    /// \brief Callback in Qt thread when the forward velocity changes.
    /// \param[in] _velocity variable to indicate the forward velocity.
    public slots: void SetMaxForwardVel(double _velocity);

    /// \brief Notify that forward velocity has changed
    signals: void MaxForwardVelChanged();

    /// \brief Get the vertical velocity.
    /// \return Vertical velocity.
    public: Q_INVOKABLE double MaxVerticalVel() const;

    /// \brief Callback in Qt thread when the vertical velocity changes.
    /// \param[in] _velocity variable to indicate the vertical velocity.
    public slots: void SetMaxVerticalVel(double _velocity);

    /// \brief Notify that vertical velocity has changed
    signals: void MaxVerticalVelChanged();

    /// \brief Get the yaw velocity.
    /// \return Yaw velocity.
    public: Q_INVOKABLE double MaxYawVel() const;

    /// \brief Callback in Qt thread when the yaw velocity changes.
    /// \param[in] _velocity variable to indicate the yaw velocity.
    public slots: void SetMaxYawVel(double _velocity);

    /// \brief Notify that yaw velocity has changed
    signals: void MaxYawVelChanged();

    /// \brief Callback in Qt thread when the keyboard is enabled or disabled.
    /// \param[in] _checked variable to indicate the state of the switch.
    public slots: void OnKeySwitch(bool _checked);

    /// \brief Sets the movement scale when the keyboard is used.
    public: void SetKeyScale();

    /// \internal
    /// \brief Pointer to private data.
    GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
  };
}  // namespace gz::gui::plugins

#endif  // GZ_GUI_PLUGINS_TELEOP_HH_
