angular.module('appControllers').controller('GPSCtrl', GPSCtrl); // get the main module contollers set
GPSCtrl.$inject = ['$rootScope', '$scope', '$state', '$http', '$interval']; // Inject my dependencies

// create our controller function with all necessary logic
function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
	$scope.$parent.helppage = 'plates/gps-help.html';
	$scope.data_list = [];
	$scope.isHidden = false;

	var status = {};
	var display_area_size = -1;

	var statusGPS = document.getElementById("status-gps"),
        statusIMU = document.getElementById("status-imu"),
        statusBMP = document.getElementById("status-bmp"),
        statusLog = document.getElementById("status-logging"),
		statusCal = document.getElementById("status-calibrating");

	function sizeMap() {
		var width = 0;
		var el = document.getElementById("map_display").parentElement;
		width = el.offsetWidth; // was  (- (2 * el.offsetLeft))
		if (width !== display_area_size) {
			display_area_size = width;
			$scope.map_width = width;
			$scope.map_height = width;
		}
		return width;
	}

	function setGeoReferenceMap(la, lo) {
		// Mercator projection
		// var map = "img/world.png";
		var map_width = 2530;
		var map_height = 1603;
		var map_zero_x = 1192;
		var map_zero_y = 1124;
		var font_size = 18; // size of font used for marker

		sizeMap();
		var div_width = $scope.map_width;
		var div_height = $scope.map_height;

		
		// longitude: just scale and shift
		var x = (map_width * (180 + lo) / 360) - (map_width/2 - map_zero_x); // longitude_shift;

		// latitude: using the Mercator projection
		la_rad = la * Math.PI / 180; // convert from degrees to radians
		merc_n = Math.log(Math.tan((la_rad / 2) + (Math.PI / 4))); // do the Mercator projection (w/ equator of 2pi units)
		var y = (map_height / 2) - (map_width * merc_n / (2 * Math.PI)) - (map_height/2 - map_zero_y); // fit it to our map

		// dot = '<div style="position:absolute; width:' + dot_size + 'px; height:' + dot_size + 'px; top:' + y + 'px; left:' + x + 'px; background:#ff7f00;"></div>';
		// <img src="map-world-medium.png" style="position:absolute;top:0px;left:0px">
		$scope.map_pos_x = map_width - Math.round(x - (div_width / 2));
		$scope.map_pos_y = map_height - Math.round(y - (div_height / 2));

		$scope.map_mark_x = Math.round((div_width - (font_size * 0.85)) / 2);
		$scope.map_mark_y = Math.round((div_height - font_size) / 2);
	}


	function loadStatus(data) { // mySituation
		status = angular.fromJson(data);
		// consider using angular.extend()
		$scope.raw_data = angular.toJson(data, true); // makes it pretty

		
		$scope.Satellites = status.Satellites;
		$scope.GPS_satellites_tracked = status.SatellitesTracked;
		$scope.GPS_satellites_seen = status.SatellitesSeen;
		$scope.Quality = status.Quality;
		
		var solutionText = "No Fix";
		if (status.Quality == 2) {
			solutionText = "GPS + SBAS (WAAS / EGNOS)";
		} else if (status.Quality == 1) {
			solutionText = "3D GPS"
		}
		$scope.SolutionText = solutionText;
		
		$scope.gps_accuracy = status.Accuracy.toFixed(1);
                $scope.gps_vert_accuracy = (status.AccuracyVert*3.2808).toFixed(1); // accuracy is in meters, need to display in ft


		// NACp should be an integer value in the range of 0 .. 11
		// var accuracies = ["≥ 10 NM", "< 10 NM", "< 4 NM", "< 2 NM", "< 1 NM", "< 0.5 NM", "< 0.3 NM", "< 0.1 NM", "< 100 m", "< 30 m", "< 10 m", "< 3 m"];
		// $scope.gps_accuracy = accuracies[status.NACp];
		// "LastFixLocalTime":"2015-10-11T16:47:03.523085162Z"

		$scope.gps_lat = status.Lat.toFixed(5); // result is string
		$scope.gps_lon = status.Lng.toFixed(5); // result is string
		$scope.gps_alt = status.Alt.toFixed(1);
		$scope.gps_track = status.TrueCourse.toFixed(1);
		$scope.gps_speed = status.GroundSpeed.toFixed(1);
        $scope.gps_vert_speed = status.GPSVertVel.toFixed(1);

		// "LastGroundTrackTime":"0001-01-01T00:00:00Z"

		/* not currently used 
		$scope.ahrs_temp = status.Temp;
		*/
		$scope.press_time = Date.parse(status.LastTempPressTime);
		$scope.gps_time = Date.parse(status.LastGPSTimeTime);
		if ($scope.gps_time - $scope.press_time < 1000) {
			$scope.ahrs_alt = Math.round(status.Pressure_alt);
		} else {
			$scope.ahrs_alt = "---";
		}

		$scope.ahrs_heading = Math.round(status.Gyro_heading);
		// pitch and roll are in degrees
		$scope.ahrs_pitch = Math.round(status.Pitch*10)/10;
		$scope.ahrs_roll = Math.round(status.Roll*10)/10;
        $scope.ahrs_slip_skid = Math.round(status.SlipSkid*10)/10;
        ahrs.animate(0.1, $scope.ahrs_pitch, $scope.ahrs_roll, $scope.ahrs_heading, $scope.ahrs_slip_skid);

        $scope.ahrs_heading_mag = Math.round(status.Mag_heading);
        $scope.ahrs_gload = Math.round(status.GLoad*100)/100;
        gMeter.update($scope.ahrs_gload);

        if (status.RateOfTurn > 0.001) {
			$scope.ahrs_turn_rate = Math.round(360/status.RateOfTurn/60*10)/10; // minutes/turn
        } else {
            $scope.ahrs_turn_rate = '---'
		}
        if (status.AHRSStatus & 0x01) {
            statusGPS.classList.remove("off");
            statusGPS.classList.add("on");
        } else {
            statusGPS.classList.add("off");
            statusGPS.classList.remove("on");
        }
        if (status.AHRSStatus & 0x02) {
            if (statusIMU.classList.contains("off")) {
                setTimeout(gMeter.reset(), 1000);
			}
            statusIMU.classList.remove("off");
            statusIMU.classList.add("on");
        } else {
            statusIMU.classList.add("off");
            statusIMU.classList.remove("on");
        }
        if (status.AHRSStatus & 0x04) {
            statusBMP.classList.remove("off");
            statusBMP.classList.add("on");
        } else {
            statusBMP.classList.add("off");
            statusBMP.classList.remove("on");
        }
		if (status.AHRSStatus & 0x10) {
            statusLog.classList.remove("off");
            statusLog.classList.add("on");
		} else {
            statusLog.classList.add("off");
            statusLog.classList.remove("on");
		}
        if (status.AHRSStatus & 0x08) {
            statusCal.classList.add("blink");
            statusCal.classList.remove("on");
            statusCal.innerText = "Caging";
        } else {
            statusCal.classList.remove("blink");
            statusCal.classList.add("on");
            statusCal.innerText = "Ready";
        }
		// "LastAttitudeTime":"2015-10-11T16:47:03.534615187Z"

		setGeoReferenceMap(status.Lat, status.Lng);

		// $scope.$apply();
	}

	function getStatus() {
		// Simple GET request example (note: response is asynchronous)
		$http.get(URL_GPS_GET).
		then(function (response) {
			loadStatus(response.data);
			// $scope.$apply();
		}, function (response) {
			$scope.raw_data = "error getting gps / ahrs status";
		});
	}

	function getSatellites() {
		// Simple GET request example (note: response is asynchronous)
		$http.get(URL_SATELLITES_GET).
		then(function (response) {
			loadSatellites(response.data);
		}, function (response) {
			$scope.raw_data = "error getting satellite data";
		});
	}

	function setSatellite(obj, new_satellite) {
		new_satellite.SatelliteNMEA = obj.SatelliteNMEA;
		new_satellite.SatelliteID = obj.SatelliteID;     // Formatted code indicating source and PRN code. e.g. S138==WAAS satellite 138, G2==GPS satellites 2
		new_satellite.Elevation = obj.Elevation;        // Angle above local horizon, -xx to +90
		new_satellite.Azimuth = obj.Azimuth;         // Bearing (degrees true), 0-359
		new_satellite.Signal = obj.Signal;          // Signal strength, 0 - 99; -99 indicates no reception
		new_satellite.InSolution = obj.InSolution;   // is this satellite in the position solution
	}

	function loadSatellites(data) {
		if (($scope === undefined) || ($scope === null))
			return; // we are getting called once after clicking away from the status page

		var satellites = data; // it seems the json was already converted to an object list by the http request
		$scope.raw_data = angular.toJson(data, true);

		$scope.data_list.length = 0; // clear array
		// we need to use an array so AngularJS can perform sorting; it also means we need to loop to find a tower in the towers set
		for (var key in satellites) {
			//if (satellites[key].Messages_last_minute > 0) {
				var new_satellite = {};
				setSatellite(satellites[key], new_satellite);
				$scope.data_list.push(new_satellite); // add to start of array
			//}
		}
		// $scope.$apply();
	}
	
	var updateStatus = $interval(function () {
		// refresh GPS/AHRS status once each 100 milliseconds (aka polling)
		getStatus();
		getSatellites();
	}, 100, 0, false);

	$state.get('gps').onEnter = function () {
		// everything gets handled correctly by the controller
	};

	$state.get('gps').onExit = function () {
		// stop polling for gps/ahrs status
		$interval.cancel(updateStatus);
	};


	// GPS/AHRS Controller tasks go here
	var ahrs = new ahrsRenderer("ahrs_display");
	ahrs.init();
	ahrs.orientation(0, 0, 90);

	$scope.hideClick = function() {
		$scope.isHidden = !$scope.isHidden;
		var disp = "block";
		if ($scope.isHidden) {
			disp = "none";
		}
		var hiders = document.querySelectorAll(".hider");

		for (var i=0; i < hiders.length; i++) {
			hiders[i].style.display = disp;
		}
	};

	$scope.AHRSCage = function() {
	    if (!$scope.IsCaging()) {
            $http.post(URL_AHRS_CAGE).then(function (response) {
                // do nothing
            }, function (response) {
                // do nothing
            });
        }
	};

	$scope.IsCaging = function() {
        return statusCal.innerText == "Caging";
	};

	var gMeter = new gMeterRenderer("gMeter_display", 4.4, -1.76);
}