#ifndef MAVLINKNODE_H
#define MAVLINKNODE_H

#include <QObject>
#include "QThread"
#include "QFile"
#include "QDebug"

#include "mavlink.h"
#include "replay.h"
#include "missionprocess.h"
#include "parameterprocess.h"
#include "commandprocess.h"

#ifdef QtMavlinkNode
#include <mavlinknodeglobal.h>
class MAVLINKNODESHARED_EXPORT MavLinkNode : public QObject {
#else
class MavLinkNode : public QObject
{
#endif
    Q_OBJECT

    typedef struct {
       qint32 max_size;
       quint8 select;
       QByteArray buff[2];
    }_buffdef;



    typedef struct {
        uint8_t sysid;          /* ID of message sender system/aircraft */
        uint8_t compid;         /* ID of the message sender component */

        mavlink_autopilot_version_t autopilot_version;
        mavlink_sys_status_t sys_status;
        mavlink_heartbeat_t heartbeat;
        mavlink_ping_t ping;
        mavlink_attitude_t attitude;
        mavlink_ins1_t ins1;
        mavlink_ins2_t ins2;
        mavlink_gps_raw_int_t gps_raw_int;
        mavlink_global_position_int_t global_position_int;
        mavlink_servo_output_raw_t servo_output_raw;
        mavlink_rc_channels_raw_t rc_channels_raw;
        mavlink_nav_controller_output_t nav_controller_output;
        mavlink_airspeed_autocal_t airspeed_autocal;
        mavlink_rpm_t rpm;
        mavlink_scaled_pressure_t scaled_pressure;
        mavlink_extended_sys_state_t extended_sys_state;
        mavlink_battery_status_t battery_status;
        mavlink_vibration_t vibration;
        mavlink_enginestate_t enginestate;
        mavlink_vfr_hud_t vfr_hud;
        mavlink_aoa_ssa_t aoa_ssa;
        mavlink_emb_atmo_com_t emb_atom_com;
        mavlink_turbinestate_t turbinstate;
        mavlink_bmustate_t bmustate;
        mavlink_ccmstate_t ccmstate;

    }_vehicle;



public:
    explicit MavLinkNode(QObject *parent = nullptr);
    ~MavLinkNode();

     _vehicle vehicle;

     Replay *replay = nullptr;

     MissionProcess *Mission = nullptr;
     ParameterProcess *Parameter = nullptr;
     commandprocess *Commander = nullptr;

     bool isCommunicationLost = false;

     uint64_t bitrate = 0;
     uint64_t bitcount = 0;
     uint64_t bittotal = 0;

     uint64_t parserSuccess = 0;
     uint64_t parserFailure = 0;
     float rssi = 100;

signals:
    void CommuniationLost(bool);

    void showMessage(const QString &message,int TimeOut = 0);

    void beep(void);

    void addVehicles(int sysid,int compid);

    void SendMessageTo(quint8 ch, quint8 *data,quint16 len);
    void recievemsg(mavlink_message_t msg);

    void state_updated();
    void parameter_updated();
    //void mission_updated();

    void setCurrentID(int sysid,int compid);



    void setAltitude(int sysid,int compid,double roll,double pitch,double yaw);
    void setPos(int sysid,int compid,double x,double y,double z);
    void setHeading(int sysid,int compid,double x,double y,double z);

public slots:
    //线程对外接口
    void setRunFrq(uint32_t frq);
    void start();
    void stop();
    bool isActive(void)
    {
        return running_flag;
    }



    //缓存对外接口
    void readPendingDatagramsReplay(void);
    void setbuff(quint32 src, QByteArray data);

    void setCurrentSelected(int sysid,int compid);

    void setLogfile(QString file);




private slots:
   //线程私有接口
   void process();

   //缓存私有接口
   void initbuff(void);
   QByteArray readbuff(quint32 src);

   void TimerOut(void);

   //解析
   void Mavlinkparse(quint32 src,QByteArray datagram);

   void MAVLinkRcv_Handler(mavlink_message_t msg);

   void StatusParse(mavlink_message_t msg);
   void CommandParse(mavlink_message_t msg);
   //

   //check for new vehicle
   void CheckVehicle(int sysid, int compid);


protected:

   int Current_sysID = 0xF1;
   int Current_CompID = MAV_COMP_ID_MISSIONPLANNER;

   enum SourceType{
      c_sock = 0,
      s_port = 1
   };

   bool hasConneted = false;
   int32_t CommucationOverCount = 5;
   uint64_t CommucationOverTimer = 5000;

    uint8_t GCS_System_ID = 0xFF;

    bool running_flag = false;
    quint32 running_frq = 200;//200Hz

    QThread *thread;


    QThread *Parameterthread;


    QHash<int,int> vehicleList;

    QTimer *timer = nullptr;

    _buffdef serial_buff;
    _buffdef client_buff;

    QFile *mavLogFile = NULL;

};

#endif // MAVLINKNODE_H