#include <nanogui/opengl.h>
#include <nanogui/screen.h>
#include <nanogui/window.h>
#include <nanogui/layout.h>
#include <nanogui/label.h>
#include <nanogui/button.h>
#include <nanogui/popupbutton.h>
#include <nanogui/progressbar.h>
#include <nanogui/messagedialog.h>
#include <nanogui/texture.h>
#include <nanogui/textarea.h>
#include <nanogui/textbox.h>
#include <nanogui/tabwidget.h>
#include <nanogui/shader.h>
#include <nanogui/renderpass.h>
#include <iostream>
#include <memory>

#define STB_IMAGE_STATIC
#define STB_IMAGE_IMPLEMENTATION
#if defined(_MSC_VER)
#  pragma warning (disable: 4505) // don't warn about dead code in stb_image.h
#elif defined(__GNUC__)
#   pragma GCC diagnostic ignored "-Wunused-function"
#endif

#include <stb_image.h>
#include "grbl.h"
#include <gtest/gtest.h>
#include <regex>
#include "grbl_machine.h"
#include "string_utils.h"
#include "render.h"
#include "glm/gtx/quaternion.hpp"
#include "nanogui/nanogui.h"
#include <glm/ext/quaternion_float.hpp>
#include <glm/ext/quaternion_trigonometric.hpp>
#include <glm/vec3.hpp> // glm::vec3
#include <glm/vec4.hpp> // glm::vec4
#include <glm/mat4x4.hpp> // glm::mat4
#include <glm/ext/matrix_transform.hpp> // glm::translate, glm::rotate, glm::scale
#include <glm/ext/matrix_clip_space.hpp> // glm::perspective
#include <glm/ext/scalar_constants.hpp> // glm::pi

using namespace nanogui;

grbl::machine cnc{};

class SenderApp : public Screen, public grbl::machine_listener {
public:

    Window *window;
    grbl::jog_state jog;
    TextArea *lblStatus, *lblSubstatus;
    nanogui::Color colRed = nanogui::Color(255, 0, 0, 255);
    nanogui::Color colGreen = nanogui::Color(0, 255, 0, 255);
    nanogui::Color colBg;
    int last_alarm = 0;
    grbl::program pgm;
    Button *btnLoadProgram, *btnCheckProgram, *btnRunProgram;

    grbl::program_renderer renderer;

    glm::vec3 cam_target = glm::vec3(0);
    float cam_zoom = 0;
    glm::quat cam_src_rotation = glm::quat(1.0, 0.0, 0.0, 0.0); // identity quaternion

    TabWidget *tab_widget;
    VScrollPanel *settings_vscroll;
    Widget *settings_layer;

    VScrollPanel *parameters_vscroll;
    Widget *parameters_layer;
    TextBox *mpos_x_text, *mpos_y_text, *mpos_z_text;
    ComboBox *cboOffset, *cboTool;

    SenderApp() : Screen(Vector2i(1024, 768), "GRBL Sender") {
        inc_ref();

        // save regular button color
        colBg = theme()->m_button_gradient_bot_focused;

        // create main window
        window = new Window(this, "Machine status");
        window->set_fixed_height((Screen::size().y() - 40) / 2);
        window->set_position(Vector2i(0, 0));
        window->set_layout(new BoxLayout(nanogui::Orientation::Vertical));

        tab_widget = window->add<TabWidget>();
        tab_widget->set_callback([&](int index) {
            if (index == 1 || index == 2) {
                perform_layout();
            }

            tab_widget->set_selected_index(index);
        });

        tab_widget->set_fixed_height((this->height() - 100) / 2);

        Widget *layer = new Widget(tab_widget);
        layer->set_layout(new GroupLayout());
        tab_widget->append_tab("Info", layer);

        new Label(layer, "Status", "sans-bold");
        Widget *status_holder = new Widget(layer);
        status_holder->set_layout(new GridLayout());

        lblStatus = layer->add<TextArea>();
        lblStatus->set_fixed_height(20);
        lblStatus->set_font("sans");

        lblSubstatus = layer->add<TextArea>();
        lblSubstatus->set_font("sans");
        lblSubstatus->set_fixed_height(50);

        // DRO
        layer->add<Label>("DRO", "sans-bold", 20);
        Widget *mpos = new Widget(layer);
        mpos->set_layout(new GridLayout(Orientation::Horizontal, 1, Alignment::Middle, 0, 6));

        auto x_holder = mpos->add<Widget>();
        x_holder->set_layout(new BoxLayout(Orientation::Horizontal, Alignment::Middle, 0, 6));
        auto lbl = x_holder->add<Label>("X", "sans-bold", 20);
        lbl->set_fixed_width(30);
        mpos_x_text = x_holder->add<TextBox>(std::to_string(cnc.get_status().machine_pos[0]));
        mpos_x_text->set_fixed_width(200);
        auto zero_btn = x_holder->add<ToolButton>(FA_BAN);
        zero_btn->set_flags(Button::Flags::NormalButton);
        zero_btn->set_tooltip("Zero axis");
        zero_btn->set_callback([&]() {
            cnc.zero_offset_axis(cboOffset->selected_index(), 0);
        });

        auto y_holder = mpos->add<Widget>();
        y_holder->set_layout(new BoxLayout(Orientation::Horizontal, Alignment::Middle, 0, 6));
        lbl = y_holder->add<Label>("Y", "sans-bold", 20);
        lbl->set_fixed_width(30);
        mpos_y_text = y_holder->add<TextBox>(std::to_string(cnc.get_status().machine_pos[1]));
        mpos_y_text->set_fixed_width(200);
        zero_btn = y_holder->add<ToolButton>(FA_BAN);
        zero_btn->set_flags(Button::Flags::NormalButton);
        zero_btn->set_tooltip("Zero axis");
        zero_btn->set_callback([&]() {
            cnc.zero_offset_axis(cboOffset->selected_index(), 1);
        });

        auto z_holder = mpos->add<Widget>();
        z_holder->set_layout(new BoxLayout(Orientation::Horizontal, Alignment::Middle, 0, 6));
        lbl = z_holder->add<Label>("Z", "sans-bold", 20);
        lbl->set_fixed_width(30);
        mpos_z_text = z_holder->add<TextBox>(std::to_string(cnc.get_status().machine_pos[0]));
        mpos_z_text->set_fixed_width(200);
        zero_btn = z_holder->add<ToolButton>(FA_BAN);
        zero_btn->set_flags(Button::Flags::NormalButton);
        zero_btn->set_tooltip("Zero axis");
        zero_btn->set_callback([&]() {
            cnc.zero_offset_axis(cboOffset->selected_index(), 2);
        });

        auto zero_all_btn = mpos->add<Button>("Zero all");
        zero_all_btn->set_callback([&]() {
            cnc.zero_offset(cboOffset->selected_index());
        });

        auto goto_zero_btn = mpos->add<Button>("Goto 0");
        goto_zero_btn->set_callback([&]() {
            cnc.go_to_zero(true, true, true);
        });

        // jogging
        layer->add<Label>("Jogging", "sans-bold", 20);
        auto holder = new Widget(layer);

        holder->set_layout(new GridLayout(Orientation::Horizontal, 2, Alignment::Middle, 0, 0));

        auto jogBtnsHolder = holder->add<Widget>();
        jogBtnsHolder->set_layout(new GridLayout(Orientation::Horizontal, 3, Alignment::Middle, 0, 6));

        jogBtnsHolder->add<Label>("");
        jogBtnsHolder->add<ToolButton>(FA_ARROW_ALT_CIRCLE_UP);
        jogBtnsHolder->add<Label>("");

        jogBtnsHolder->add<ToolButton>(FA_ARROW_ALT_CIRCLE_LEFT);
        jogBtnsHolder->add<ToolButton>(FA_HOME);
        jogBtnsHolder->add<ToolButton>(FA_ARROW_ALT_CIRCLE_RIGHT);

        jogBtnsHolder->add<Label>("");
        jogBtnsHolder->add<ToolButton>(FA_ARROW_ALT_CIRCLE_DOWN);
        jogBtnsHolder->add<Label>("");

        auto jogZBtnsHolder = holder->add<Widget>();
        jogZBtnsHolder->set_layout(new BoxLayout(Orientation::Vertical, Alignment::Minimum, 0, 6));

        jogZBtnsHolder->add<ToolButton>(FA_ANGLE_UP);
        jogZBtnsHolder->add<ToolButton>(FA_HOME);
        jogZBtnsHolder->add<ToolButton>(FA_ANGLE_DOWN);

        // work parameters
        layer->add<Label>("Work parameters", "sans-bold", 20);
        auto x = new Widget(layer);
        x->set_layout(new GridLayout(Orientation::Horizontal, 4, Alignment::Middle, 0, 6));

        x->add<Label>("Offset:");
        std::vector<std::string> offset_items = {"G54", "G55", "G56", "G57", "G58", "G59"};
        cboOffset = x->add<ComboBox>(offset_items);
        cboOffset->set_callback([&](int idx) {
            refresh_offset();
            update_dro();
        });

        x->add<Label>("Tool:");
        std::vector<std::string> tool_items = {"None"};
        cboTool = x->add<ComboBox>(tool_items);

        // buttons to change state
        new Label(layer, "Actions", "sans-bold");
        auto *actions = new Widget(layer);
        actions->set_layout(new BoxLayout(Orientation::Horizontal));

        auto *btnUnlock = new Button(actions, "Unlock");
        btnUnlock->set_callback([&] {
            cnc.request_unlock();
        });
        auto *btnHome = new Button(actions, "Home");
        btnHome->set_callback([&] {
            cnc.request_home();
        });
        auto *btnReset = new Button(actions, "Reset");
        btnReset->set_background_color(colRed);
        btnReset->set_callback([&] {
            cnc.request_reset();
        });
        auto *btnCycleStart = new Button(actions, "Cycle Start");
        btnCycleStart->set_callback([&] {
            cnc.request_cycle_start();
        });
        auto *btnFeedHold = new Button(actions, "Feed Hold");
        btnFeedHold->set_callback([&] {
            cnc.request_feed_hold();
        });

        // No need to store a pointer, the data structure will be automatically
        // freed when the parent window is deleted
        new Label(layer, "Program", "sans-bold");

        Widget *pgm_actions = new Widget(layer);
        pgm_actions->set_layout(new BoxLayout(Orientation::Horizontal));


        btnLoadProgram = new Button(pgm_actions, "Load");
        btnLoadProgram->set_callback([&] {
            auto path = file_dialog(
                    {{"gcode", "G-Code files"},
                     {"nc",    "G-Code files"},
                     {"ngc",   "G-Code files"}}, true);

            btnCheckProgram->set_background_color(colBg);
            btnRunProgram->set_background_color(colBg);

            if (pgm.load_from_file(path)) {
                btnCheckProgram->set_enabled(true);
//                btnRunProgram->set_enabled(true);
                this->init_program_geometry();
            } else {
                btnCheckProgram->set_enabled(false);
                btnRunProgram->set_enabled(false);
            }
        });
        btnLoadProgram->set_tooltip("Load program");

        btnCheckProgram = new Button(pgm_actions, "Check");
        btnCheckProgram->set_enabled(false);
        btnCheckProgram->set_callback([&] {
            cnc.check_program(pgm);
        });
        btnCheckProgram->set_tooltip("Check program");

        btnRunProgram = new Button(pgm_actions, "Run");
        btnRunProgram->set_enabled(false);
        btnRunProgram->set_callback([&] {
            cnc.run_program(pgm, "G" + std::to_string(cboOffset->selected_index() + 54));
        });
        btnRunProgram->set_tooltip("Execute program");

        perform_layout();

        m_render_pass = new RenderPass({this});
        m_render_pass->set_clear_color(0, Color(0.3f, 0.3f, 0.32f, 1.f));
        m_render_pass->set_depth_test(RenderPass::DepthTest::Always, true);
        m_render_pass->set_cull_mode(RenderPass::CullMode::Disabled);
    }

    void refresh_offset() {
        auto offset_name = "G" + std::to_string(cboOffset->selected_index() + 54);
        cnc.set_work_offset(offset_name);
    }

    void fill_in_parameters() {
        parameters_vscroll = new VScrollPanel(tab_widget);
        tab_widget->append_tab("Parameters", parameters_vscroll);

        parameters_layer = new Widget(parameters_vscroll);
        parameters_layer->set_layout(new GridLayout(Orientation::Horizontal, 1, Alignment::Middle));

        auto& parameters = cnc.get_parameters();

        for (auto& entry: parameters) {
            auto w = parameters_layer->add<Widget>();
            w->set_layout(new BoxLayout(Orientation::Horizontal, Alignment::Middle, 2, 2));
            auto x = w->add<Label>(entry.first, "sans-bold", 20);
            x->set_fixed_width(50);

            auto y = w->add<TextBox>(entry.second);
            y->set_editable(true);
            y->set_fixed_width(200);

            auto z = w->add<ToolButton>(FA_SAVE);
            z->set_flags(Button::Flags::NormalButton); // no toggle, please
            z->set_tooltip("save");
        }
    }


    void fill_in_settings() {
        settings_vscroll = new VScrollPanel(tab_widget);
        tab_widget->append_tab("Settings", settings_vscroll);

        settings_layer = new Widget(settings_vscroll);
        settings_layer->set_layout(new GridLayout(Orientation::Horizontal, 1, Alignment::Middle));

        auto& settings = cnc.get_settings();

        for (auto& s: settings) {
            auto w = settings_layer->add<Widget>();
            w->set_layout(new BoxLayout(Orientation::Horizontal, Alignment::Middle, 2, 2));
            auto x = w->add<Label>(s.first, "sans-bold", 20);
            x->set_fixed_width(40);

            auto desc = grbl::setting_description(std::stoi(s.first.substr(1)));

            auto y = w->add<TextBox>(s.second);
            y->set_editable(true);
            y->set_tooltip(desc);
            y->set_fixed_width(200);

            auto z = w->add<ToolButton>(FA_SAVE);
            z->set_flags(Button::Flags::NormalButton); // no toggle, please
            z->set_tooltip("save");

            auto t = w->add<TextArea>();
            t->set_fixed_width(200);
            t->set_fixed_height(20);
            t->clear();
            t->append(desc.substr(0, desc.find_first_of('\n')));
        }
    }

    void init_program_geometry() {
        renderer.update(pgm, cnc);

        auto max_pos = renderer.get_extents_max();
        auto min_pos = renderer.get_extents_min();

        cam_target = (max_pos - min_pos) / 2.0f;
        cam_zoom = (max_pos.x - min_pos.x);
        cam_src_rotation = glm::quat(1.0, 0.0, 0.0, 0.0);
    }

    bool resize_event(const Vector2i& size) override {
        return Screen::resize_event(size);
    }

    void on_connected() override {
    }

    void on_disconnected() override {
    }

    void on_settings_reloaded() override {
    }

    void on_parameters_reloaded() override {
        refresh_offset();
        update_dro();
    }


    grbl::realtime_status_report last_report;

    volatile bool machine_initialized = false;

    void on_init_completed() override {
        machine_initialized = true;
        // need to do UI related things in UI thread
    }

    void on_realtime_status_report(grbl::realtime_status_report report) override {
//        if (report == last_report) return;

        if (last_report.status != report.status) {
            lblStatus->clear();
            lblStatus->append(grbl::status_to_string(cnc.get_status().status));

            lblSubstatus->clear();
            if (cnc.get_status().status == grbl::machine_status::alarm) {
                lblSubstatus->append(grbl::alarm_to_string(last_alarm));
            } else {
                lblSubstatus->append(cnc.get_status().sub_status);
            }
        }

        update_dro();
        last_report = report;
    }

    void update_dro() {
        auto work_pos = cnc.get_work_pos();
        mpos_x_text->set_value(std::to_string(work_pos[0]));
        mpos_y_text->set_value(std::to_string(work_pos[1]));
        mpos_z_text->set_value(std::to_string(work_pos[2]));
    }

    void on_banner(std::string line) override {
    }

    void on_message(std::string message) override {
        set_caption(message);
    }

    void on_alarm(int alarm) override {
        last_alarm = alarm;
    }

    void on_check_completed(bool success, size_t failed_index, size_t error) override {
        btnCheckProgram->set_background_color(success ? colGreen : colRed);
        if (success) {
            btnRunProgram->set_enabled(true);
            new MessageDialog(this, MessageDialog::Type::Information, "Check result", "Program checked successfully");
        } else {
            btnRunProgram->set_enabled(false);
            std::stringstream ss;
            auto i = pgm.instruction_at(failed_index);
            ss << "Program check failed at line " << i.line << " (" << i.command << "). Error: " << error << ", "
               << grbl::error_to_string(error);
            new MessageDialog(this, MessageDialog::Type::Warning, "Check result", ss.str());
        }
    }

    void on_run_completed(bool success, size_t failed_index, size_t error) override {
        btnRunProgram->set_background_color(success ? colGreen : colRed);
        if (success) {
            new MessageDialog(this, MessageDialog::Type::Information, "Run result", "Program executed successfully");
        } else {
            std::stringstream ss;
            auto i = pgm.instruction_at(failed_index);
            ss << "Program execution failed at line " << i.line << " (" << i.command << "). Error: " << error << ", "
               << grbl::error_to_string(error);
            new MessageDialog(this, MessageDialog::Type::Warning, "Run result", ss.str());
        }
    }


    bool keyboard_event(int key, int scancode, int action, int modifiers) override {
        if (Screen::keyboard_event(key, scancode, action, modifiers))
            return true;

//        if (key == GLFW_KEY_ESCAPE && action == GLFW_PRESS) {
//            set_visible(false);
//            return true;
//        }

        if (key == GLFW_KEY_SPACE && action == GLFW_PRESS && !window->mouse_focused()) {
            // reset trackball rotation
            cam_src_rotation = glm::quat(1, 0, 0, 0);
        }

        auto new_jog = jog;

        if (key == GLFW_KEY_LEFT_SHIFT) {
            if (action == GLFW_PRESS) {
                new_jog.speed_fast_pressed = true;
            } else if (action == GLFW_RELEASE) {
                new_jog.speed_fast_pressed = false;
            }
        }

        if (key == GLFW_KEY_LEFT_CONTROL) {
            if (action == GLFW_PRESS) {
                new_jog.speed_slow_pressed = true;
            } else if (action == GLFW_RELEASE) {
                new_jog.speed_slow_pressed = false;
            }
        }

        if (key == GLFW_KEY_UP) {
            if (action == GLFW_PRESS) {
                new_jog.up_pressed = true;
            } else if (action == GLFW_RELEASE) {
                new_jog.up_pressed = false;
            }
        }

        if (key == GLFW_KEY_DOWN) {
            if (action == GLFW_PRESS) {
                new_jog.down_pressed = true;
            } else if (action == GLFW_RELEASE) {
                new_jog.down_pressed = false;
            }
        }

        if (key == GLFW_KEY_LEFT) {
            if (action == GLFW_PRESS) {
                new_jog.left_pressed = true;
            } else if (action == GLFW_RELEASE) {
                new_jog.left_pressed = false;
            }
        }

        if (key == GLFW_KEY_RIGHT) {
            if (action == GLFW_PRESS) {
                new_jog.right_pressed = true;
            } else if (action == GLFW_RELEASE) {
                new_jog.right_pressed = false;
            }
        }

        if (key == GLFW_KEY_PAGE_UP) {
            if (action == GLFW_PRESS) {
                new_jog.z_up_pressed = true;
            } else if (action == GLFW_RELEASE) {
                new_jog.z_up_pressed = false;
            }
        }

        if (key == GLFW_KEY_PAGE_DOWN) {
            if (action == GLFW_PRESS) {
                new_jog.z_down_pressed = true;
            } else if (action == GLFW_RELEASE) {
                new_jog.z_down_pressed = false;
            }
        }

        if (jog != new_jog) {
            cnc.request_jog(new_jog);
            jog = new_jog;
        }

        return false;
    }

    bool mouse_motion_event(const Vector2i& p, const Vector2i& rel, int button, int modifiers) override {
        auto result = Widget::mouse_motion_event(p, rel, button, modifiers);
        if (window->mouse_focused()) {
            return result;
        } else {
//            std::cout << "Mouse motion p:" << p << ", rel:" << rel << ", button:" << button << ", .modifiers:" << modifiers << std::endl;
            bool is_rotating = button == 1;
            bool is_panning = button == 2;
            if (is_rotating) {
                if (abs(rel.x()) > abs(rel.y())) {
                    cam_src_rotation *= glm::angleAxis(rel.x() / 100.0f, glm::vec3(0, 1, 0));
                } else {
                    cam_src_rotation *= glm::angleAxis(rel.y() / 100.0f, glm::vec3(1, 0, 0));
                }

            } else if (is_panning) {
//                cam_src.x += (float) rel.x() / 10.0f;
//                cam_src.y += (float) rel.y() / 10.0f;
            }
            return true;
        }
    }

    bool scroll_event(const Vector2i& p, const Vector2f& rel) override {
        if (window->mouse_focused()) {
            return Widget::scroll_event(p, rel);
        } else {
//            std::cout << "Scroll event: p:" << p << ", rel:" << rel << std::endl;
            cam_zoom -= rel.y() * cam_zoom / 10.0f;
            cam_zoom = std::max(cam_zoom, 0.1f);

            return true;
        }
    }

    void draw(NVGcontext *ctx) override {
        // not pretty but need to do this in UI thread
        if (machine_initialized) {
            fill_in_settings();
            fill_in_parameters();

            refresh_offset();
            update_dro();
            machine_initialized = false;
        }

        Widget::draw(ctx);
    }

    virtual void draw_contents() {
        auto fb_size = framebuffer_size();

        // start rendering
        m_render_pass->resize(framebuffer_size());
        m_render_pass->begin();

        if (pgm.is_loaded) {
            renderer.update(pgm, cnc);
            // compute mvp
            glm::mat4 projection = glm::perspective(45.0f * glm::pi<float>() / 180.0f,
                                                    (float) fb_size.x() / (float) fb_size.y(),
                                                    0.1f,
                                                    10000.f);

            glm::mat4 view = glm::translate(glm::mat4(1.0f), glm::vec3(0, 0, -cam_zoom)) *
                             glm::toMat4(cam_src_rotation) *
                             glm::translate(glm::mat4(1.0f), -cam_target);

            glm::mat4 model = glm::mat4(1.0f);
            auto mvp = projection * view * model;

            renderer.render(mvp, glm::vec2(fb_size.x(), fb_size.y()));
        }

        m_render_pass->end();
    }

private:
    ProgressBar *m_progress;
    ref<RenderPass> m_render_pass;

    using ImageHolder = std::unique_ptr<uint8_t[], void (*)(void *)>;
    std::vector<std::pair<ref<Texture>, ImageHolder>> m_images;
    int m_current_image;
};


int main(int argc, char **argv) {

    testing::InitGoogleTest(&argc, argv);
    auto result = RUN_ALL_TESTS();
    if (result) {
        exit(result);
    }

    try {
        nanogui::init();

        // scoped variables
        {
            ref<SenderApp> app = new SenderApp();
            app->dec_ref();
            app->draw_all();
            app->set_visible(true);

            cnc.set_listener(app);
            cnc.connect();

            nanogui::mainloop(1 / 60.f * 1000);
        }

        nanogui::shutdown();
    } catch (const std::exception& e) {
        std::string error_msg = std::string("Caught a fatal error: ") + std::string(e.what());
        std::cerr << error_msg << std::endl;
        return -1;
    } catch (...) {
        std::cerr << "Caught an unknown error!" << std::endl;
        return -2;
    }

    return 0;
}