using System;

using System.IO.Ports;
using System.Windows.Forms;
using GMap.NET;
using GMap.NET.MapProviders;
using GMap.NET.WindowsForms;
using GMap.NET.WindowsForms.Markers;

namespace FlightMonitor
{
public partial class MainForm : Form
{
private SerialPort serialPort;
private GMapOverlay markersOverlay;
private GMapMarker currentLocationMarker;

public MainForm()
{
InitializeComponent();
InitializeGMap();
InitializeSerialPort();
}

private void InitializeGMap()

{
// Cấu hình GMap
gMapControl1.MapProvider = GMapProviders.GoogleMap;
gMapControl1.MinZoom = 1;
gMapControl1.MaxZoom = 20;
gMapControl1.Zoom = 15;
gMapControl1.ShowCenter = false;
gMapControl1.Position = new PointLatLng(21.004337, 105.844133); // Vị
trí Hà Nội
markersOverlay = new GMapOverlay("markers");
gMapControl1.Overlays.Add(markersOverlay);
}

private void InitializeSerialPort()

{
// Cấu hình SerialPort
serialPort = new SerialPort
{
BaudRate = 115200,
Parity = Parity.None,
DataBits = 8,
StopBits = StopBits.One
};
serialPort.DataReceived += SerialPort_DataReceived;
}

private void SerialPort_DataReceived(object sender,

SerialDataReceivedEventArgs e)
{
// Xử lý dữ liệu nhận từ drone
string data = serialPort.ReadExisting();
Invoke(new Action(() => UpdateFlightData(data)));
}
 private void UpdateFlightData(string data)
{
// Giả sử dữ liệu là chuỗi
"lat,lon,altitude,battery,temperature,mode,sats"
var values = data.Split(',');
if (values.Length == 7 &&
float.TryParse(values[0], out float latitude) &&
float.TryParse(values[1], out float longitude) &&
float.TryParse(values[2], out float altitude) &&
float.TryParse(values[3], out float battery) &&
float.TryParse(values[4], out float temperature) &&
int.TryParse(values[5], out int mode) &&
int.TryParse(values[6], out int satellites))
{
// Cập nhật bản đồ và các thông số
lblAltitude.Text = $"Altitude: {altitude} m";
lblBattery.Text = $"Battery: {battery} V";
lblTemperature.Text = $"Temperature: {temperature} °C";
lblMode.Text = $"Flight Mode: {GetFlightModeName(mode)}";
lblSatellites.Text = $"Satellites: {satellites}";
lblLatitude.Text = $"Latitude: {latitude}";
lblLongitude.Text = $"Longitude: {longitude}";
UpdateMapLocation(latitude, longitude);
}
}

private string GetFlightModeName(int mode)

{
switch (mode)
{
case 1: return "Auto Level";
case 2: return "Altitude Hold";
case 3: return "GPS Hold";
case 4: return "RTH";
default: return "Unknown";
}
}

private void UpdateMapLocation(float latitude, float longitude)

{
// Cập nhật vị trí drone trên bản đồ
var point = new PointLatLng(latitude, longitude);
gMapControl1.Position = point;

if (currentLocationMarker == null)
{
currentLocationMarker = new GMarkerGoogle(point,
GMarkerGoogleType.red_dot);
markersOverlay.Markers.Add(currentLocationMarker);
}
else
{
currentLocationMarker.Position = point;
}

gMapControl1.Refresh();
}
 private void btnConnect_Click(object sender, EventArgs e)
{
if (!serialPort.IsOpen)
{
serialPort.PortName = comboBoxPorts.Text;
serialPort.Open();
btnConnect.Text = "Disconnect";
}
else
{
serialPort.Close();
btnConnect.Text = "Connect";
}
}

private void MainForm_Load(object sender, EventArgs e)

{
comboBoxPorts.Items.AddRange(SerialPort.GetPortNames());
}

private void btnZoomIn_Click(object sender, EventArgs e)

{
if (gMapControl1.Zoom < gMapControl1.MaxZoom)
gMapControl1.Zoom++;
}

private void btnZoomOut_Click(object sender, EventArgs e)

{
if (gMapControl1.Zoom > gMapControl1.MinZoom)
gMapControl1.Zoom--;
}

private void btnClearWaypoints_Click(object sender, EventArgs e)

{
// Xóa tất cả waypoint
markersOverlay.Markers.Clear();
if (currentLocationMarker != null)
markersOverlay.Markers.Add(currentLocationMarker);
}
private void gMapControl1_MouseClick(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Right)
{
// Lấy tọa độ từ vị trí chuột
var point = gMapControl1.FromLocalToLatLng(e.X, e.Y);

// Hỏi tên waypoint

string waypointName = InputBox.Show("Add Waypoint", "Enter a name
for the waypoint:");
if (string.IsNullOrWhiteSpace(waypointName))
{
waypointName = "Waypoint"; // Tên mặc định
}

// Thêm marker vào bản đồ

var waypointMarker = new GMarkerGoogle(point,
GMarkerGoogleType.blue_pushpin);
waypointMarker.ToolTipText = $"Name: {waypointName}\nLat:
{point.Lat:F6}\nLon: {point.Lng:F6}";
 waypointMarker.ToolTipMode = MarkerTooltipMode.OnMouseOver;
markersOverlay.Markers.Add(waypointMarker);

// Truyền tọa độ qua SerialPort

SendCoordinatesToDrone(point.Lat, point.Lng);

// Thông báo
MessageBox.Show($"Waypoint '{waypointName}' added at
({point.Lat:F6}, {point.Lng:F6}).");
}
}
private void SendCoordinatesToDrone(double latitude, double longitude)
{
if (serialPort != null && serialPort.IsOpen)
{
try
{
// Định dạng chuỗi tọa độ
string dataToSend = $"{latitude:F6},{longitude:F6}";

// Gửi dữ liệu qua SerialPort

serialPort.WriteLine(dataToSend);

MessageBox.Show($"Coordinates sent to drone:\n{dataToSend}");

}
catch (Exception ex)
{
MessageBox.Show($"Failed to send data to drone: {ex.Message}");
}
}
else
{
MessageBox.Show("SerialPort is not open. Cannot send data to
drone.");
}
}

}
}