#ifndef QMAPPAINTER_H
#define QMAPPAINTER_H

#include <qpainter.h>
#include <qpixmap.h>
#include <qstring.h>
#include <qwidget.h>
#include <gmapping/utils/gvalues.h>
#include <gmapping/utils/point.h>

class QMapPainter :  public QWidget{
	public:
		QMapPainter( QWidget * parent = 0, const char * name = 0, WFlags f = 0);
		virtual ~QMapPainter();
	public:
		template < typename Cell >
		void setPixmap(unsigned int xsize, unsigned int ysize, Cell** values);
		template < typename Iterator >
		void drawPoints(const Iterator& begin, const Iterator& end, unsigned char r,  unsigned char g, unsigned char b);
		void start(int period);
	protected:
		virtual void timerEvent(QTimerEvent * te);
		virtual void resizeEvent(QResizeEvent *);
		int timer;
		virtual void paintEvent ( QPaintEvent *paintevent );
		QPixmap * m_pixmap;
};

template <typename Cell>
void QMapPainter::setPixmap(unsigned int xsize, unsigned int ysize, Cell** values){
	QSize s(xsize, ysize);
	m_pixmap->resize(s);
	m_pixmap->fill(Qt::white);
	QPainter painter(m_pixmap);
	for (unsigned int x=0; x<(unsigned int)xsize; x++)
		for (unsigned int y=0; y<(unsigned int)ysize; y++){
			double v=(double) values[x][y];
			
			if (v>=0){
				unsigned int grayVal=(unsigned char) (255-(unsigned char)(255*v));
				painter.setPen(QColor(grayVal, grayVal, grayVal));
			} else {
				painter.setPen(QColor(255, 100, 100));
			}
			painter.drawPoint(x,ysize-y);
		}
}

template < typename Iterator >
void QMapPainter::drawPoints(const Iterator& begin, const Iterator& end, unsigned char r,  unsigned char g, unsigned char b){
	QPainter painter(m_pixmap);
	painter.setPen(QColor(r,g,b));
	for (Iterator it=begin; it!=end; it++){
		GMapping::IntPoint p=(GMapping::IntPoint)*it;
		painter.drawPoint(p.x, height()-p.y);
	}
}

#endif