#ifndef FRMMAPGPS_H
#define FRMMAPGPS_H

#include <QWidget>
#include "gps.h"
#include "ringbuffer.h"
#include <iostream>
#include <stdio.h>

struct GPSPoint
{
public:
    double longtude ;
    double latitude  ;
    GPSPoint(double longtude ,double latitude  )
    {
        this->latitude = latitude;
        this->longtude = longtude;
    }
    GPSPoint()
    {

    }

    QString toString()
    {
        QString strLongitude = QString("%1,").arg(longtude ,0, 'g',14);
        QString strLatitude = QString("%1").arg(latitude,0, 'g',14);
        QString strPos = strLongitude+strLatitude;
        return strPos;
    }
};




class WebView;
class MapBaiDu;
class QTableWidget;

namespace Ui {
class frmMapGps;
}
#include "mat_t.h"
class frmMapGps : public QWidget
{
    Q_OBJECT

public:
    explicit frmMapGps(QString mapKey,QWidget *parent = 0);
    virtual ~frmMapGps();
    QString MapKey ;

public:
    QList<GPSPoint> ListGPSPoints;

protected:
    bool CheckBeingDebugged();
    void showEvent(QShowEvent *);

    Ui::frmMapGps *ui;

private:
    //通用浏览器控件
    WebView *web;
    //百度地图类
    MapBaiDu *baidu;
    bool bLoaded;
    bool bInited;

    //设备名称
    QString name ;
    //RingBuffer buffer;
    //路径点集合用来重新绘制路径确认是否正确
    //QList<QStringList> routeDatas;


private:
    void AddPoint(GPS *pGPS);
    void KalMan_main(GPS *pGPS);
    void kalm_init(double T);

    mat_t kalm_pool(double x, double y);

public:
    void UpdateGPSInfo(GPS *pGPS);

private slots:
    //初始化界面数据
    void initForm();
    //加载地图
    void loadMap();
    //显示信息
    void setInfo(int angle, int index, int count);

protected:
    //初始化表格控件
    virtual void initTable();
    void initTable(QTableWidget *tableWidget);

protected slots:
    //添加数据到表格
    void addItem2(QTableWidget *tableWidget, long index, const QString &point);

    void addItem(QTableWidget *tableWidget, long index, const QString &point,const QString  ppm="");
    // 网页加载
    void loadFinished(bool bFinished);
    //收到网页发过来的数据
    void receiveDataFromJs(const QString &type, const QVariant &data);

    void on_tableWidgetSource_itemSelectionChanged();
     //执行js函数
    void on_tableWidgetSource_cellDoubleClicked(int row, int column);
    void runJs(const QString &js);
    virtual void tableSelectionChanged();

private slots:

    void AddDeviceMark();
    //移动设备点轨迹
    void moveMarker();
private:
    mat_t F = mat_t(4, 4, 0.0);
    mat_t H= mat_t(2, 4, 0.0);
    mat_t P0= mat_t(4, 4, 0.0);
    mat_t I= mat_t(4, 4, 0.0);
    mat_t Xkf= mat_t(4, 1, 0.0);
    mat_t Q= mat_t(4, 4, 0.0);
    mat_t R= mat_t(2, 2, 0.0);
    mat_t Z= mat_t(2, 1, 0.0);
};
//--------------------------------------------

#endif // FRMMAPGPS_H