package org.vato.carcontroller;

import android.content.SharedPreferences;
import android.os.Bundle;
import android.view.View;
import android.widget.SeekBar;
import android.widget.Switch;
import android.widget.Toast;

import androidx.appcompat.app.AppCompatActivity;
import androidx.preference.PreferenceManager;

import com.google.protobuf.Empty;

import org.vato.carcontroller.LIDAR.LidarTrackingController;

import java.util.stream.Stream;

import io.grpc.stub.StreamObserver;

public class SimpleController extends AppCompatActivity implements SeekBar.OnSeekBarChangeListener {

    private SeekBar steeringSlider;
    private SeekBar throttleSlider;
    private Switch recordSwitch;
    private Switch recordLidarSwitch;

    private static PiLoader grpcController;
    private PersonTrackingGrpc.PersonTrackingStub trackingStub;

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_simple_controller);

        steeringSlider = findViewById(R.id.steeringBar);
        if (steeringSlider != null) {
            steeringSlider.setOnSeekBarChangeListener(this);
        }
        throttleSlider = findViewById(R.id.throttleBar);
        if (throttleSlider != null) {
            throttleSlider.setOnSeekBarChangeListener(this);
        }

        recordSwitch = findViewById(R.id.recordSwitch);
        recordLidarSwitch = findViewById(R.id.lidarSwitch);
    }

    @Override
    protected void onResume() {
        super.onResume();
        SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(getApplicationContext());

        if (grpcController == null) {
            grpcController = new PiLoader(prefs.getString("host", "10.0.0.53"), Integer.parseInt(prefs.getString("port", "50051")));
        }
        // Should call the equivalent of the load method either here or in the loader.
        grpcController.start();
    }

    @Override
    protected void onPause() {
        super.onPause();
        grpcController.stop();
    }

    @Override
    protected void onStop() {
        super.onStop();
        grpcController.stop();
    }

    @Override
    public void onProgressChanged(SeekBar seekBar, int i, boolean b) {
        // Call the gRPC method to change the throttle.
        switch (seekBar.getId()) {
            case R.id.steeringBar:
                if (grpcController != null) {
                    grpcController.updateSteering(i);
                }
                break;
            case R.id.throttleBar:
                if (grpcController != null) {
                    grpcController.updateThrottle(i);
                }
                break;
        }

    }

    @Override
    public void onStartTrackingTouch(SeekBar seekBar) {
    }

    @Override
    public void onStopTrackingTouch(SeekBar seekBar) {
        // Reset back to the middle, as this is how the controller will normally work.

        // Check if this will actually still call the onProgressChanged listener method.
        // Otherwise update the steering/throttle here as well.
        steeringSlider.setProgress(50);
        throttleSlider.setProgress(50);
    }

    public void saveRecording(View view) {
        grpcController.saveRecording();

    }

    public void record(View view) {
        grpcController.record(recordSwitch.isChecked());
    }

    public void recordLidar(View view) {
        StreamObserver<Empty> response = new StreamObserver<Empty>() {
            @Override
            public void onNext(Empty value) {
                Toast.makeText(getApplicationContext(), "Started Recording Lidar", Toast.LENGTH_SHORT).show();
            }

            @Override
            public void onError(Throwable t) {
                Toast.makeText(getApplicationContext(), "Failed to set lidar recording", Toast.LENGTH_SHORT).show();
            }

            @Override
            public void onCompleted() {

            }
        };

    }
}