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/*
 * Copyright (c) 2014, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author: Shailesh Lohia <shailesh.lohia@gatech.edu>
 * Date: Jan 2014
 *
 * Humanoid Robotics Lab      Georgia Institute of Technology
 * Director: Mike Stilman     http://www.golems.org
 *
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *   * Neither the name of the Humanoid Robotics Lab nor the names of
 *     its contributors may be used to endorse or promote products
 *     derived from this software without specific prior written
 *     permission
 *
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#ifndef GRIPMAINWINDOW_H
#define GRIPMAINWINDOW_H

// C++ Standard includes
#include <iostream>
#include <cstdio>

// Base class include
#include "MainWindow.h"

// Local includes
#include "ViewerWidget.h"
#include "TreeView.h"
#include "InspectorTab.h"
#include "VisualizationTab.h"
#include "PlaybackWidget.h"
#include "ui_VisualizationTab.h"
#include "ui_InspectorTab.h"
#include "ui_TreeView.h"
#include "ui_PlaybackWidget.h"
#include "DartNode.h"
#include "GripSimulation.h"
#include "GripTab.h"
#include "GripTimeslice.h"

// Qt includes
#include <QDir>
#include <QtXml>

class GripMainWindow : public MainWindow
{
public:
    GripMainWindow(bool debug=false, std::string sceneFile="", std::string configFile="");

    ~GripMainWindow();

    dart::dynamics::Skeleton *createGround();

    ViewerWidget *viewWidget;

    TreeView *treeviewer;

    InspectorTab *inspectorTab;

    VisualizationTab *visualizationTab;

    std::vector<GripTimeslice> *timeline;
    
    PlaybackWidget *playbackWidget;

    TreeViewReturn *activeItem;

    osgDart::DartNode *worldNode;

    dart::simulation::World *world;

    GripSimulation *simulation;

    //void resizeEvent(QResizeEvent* event);

public slots:
    void slotSetWorldFromPlayback(int sliderTick);

    void slotPlaybackStart();

    void slotPlaybackPause();

    void slotPlaybackReverse();

    void slotPlaybackBeginning();

    void slotPlaybackTimeStep(bool playForward);

protected slots:

    void setSimulationRelativeTime(double time);

    void front();

    void top();

    void side();

    void startSimulation();

    void stopSimulation();

    void simulateSingleStep();

    void renderDuringSimulation();

    void white();

    void gray();

    void black();

    void resetCamera();

    void xga1024x768();

    void vga640x480();

    void hd1280x720();

    void close();

    void simulationStopped();

protected:






    QList<GripTab*> *pluginList;

    QMenu *pluginMenu;

    QList<QString*>* pluginPathList;

    QString* sceneFilePath;

    QDomDocument* generateWorkspaceXML();

    void parseConfig(QDomDocument config);

    void createRenderingWindow();

    void createTreeView();

    void createTabs();

    void manageLayout();

    void createPluginMenu();

    void clear();

    bool stopSimulationWithDialog();

    void swapStartStopButtons();

    void doLoad(std::string sceneFileName);

    int saveText(std::string scenepath, const QString &filename);


    void loadPluginDirectory(QDir pluginsDirName);

    void loadPluginFile(QString pluginFileName);

    void setWorldState_Issue122(const Eigen::VectorXd &newState);

    QGridLayout *gridLayout;

    bool _playingBack;      
    int _curPlaybackTick;   
    int _playbackSpeed;     
    bool _simulationDirty;  
    bool _simulating;       
    bool _debug;            
};


#endif // GRIPMAINWINDOW_H