#ifndef COMMANDPROCESS_H
#define COMMANDPROCESS_H

#include <QObject>

#include "QDebug"
#include "QThread"
#include "mavlink.h"
#include "QTimer"
#include "QTime"

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

    enum _modetype {
        Nop_Mode = 0,
        RecieveMode,
        TransmitMode
    };


    typedef struct {
        //bool isWaitingforCount;
        bool isWaitingforValue;


    }_recieve;

    typedef struct {
       bool isWaitingforACK;
       uint8_t type;
    }_transmit;

    typedef struct
    {
        _recieve recieve;
        _transmit transmit;


        _modetype m_Mode;

    }_command_;




public:
    explicit commandprocess(QObject *parent = nullptr);

    _command_ status;

    void setGCSID(int m_sysid, int m_compid)
    {
        Current_sysID = m_sysid;
        Current_CompID = m_compid;
    }

public slots:

    void setID(int m_sysid, int m_compid);

    void WriteCmd_long( float param1,float param2,float param3,float param4,float param5,float param6,float param7,uint16_t command,uint8_t confirmation);

    //读取和写入指令
    //void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
    void WriteCmd_int(uint8_t m_sysid, uint8_t m_compid ,
                  float param1,
                  float param2,
                  float param3,
                  float param4,
                  int32_t x,
                  int32_t y,
                  float z, uint16_t command, uint8_t frame, uint8_t current, uint8_t autocontinue);



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

    void Parse(mavlink_message_t msg);

private slots:
   //线程私有接口
   void SendMessage(mavlink_message_t msg);

   void process();

   //状态机
   void ReadStateMachine(void);
   void WriteStateMachine(void);


   //所有相关函数
   void _int(float param1,
             float param2,
             float param3,
             float param4,
             int32_t x,
             int32_t y,
             float z, uint16_t command, uint8_t frame, uint8_t current, uint8_t autocontinue);
   void _long(float param1,
              float param2,
              float param3,
              float param4,
              float param5,
              float param6,
              float param7,
              uint16_t command,
              uint8_t confirmation);
   void ack(uint16_t command,uint8_t result,uint8_t progress,int32_t result_param2);


signals:
   void readError();

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

   void commandAccepted(bool flag,uint16_t command,uint8_t result);

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

private:
   bool running_flag = false;
   quint32 running_frq = 200;//200Hz
   QThread *thread = nullptr;

   //目标id
   uint8_t sysid;
   uint8_t compid;

   //本机的id
   int Current_sysID = 0xF1;
   int Current_CompID = 0xF1;

   //超时时间（ms）
   int readTimeout = 5000;
   int sendTimeout = 5000;


   mavlink_command_int_t cmd_int;
   mavlink_command_long_t cmd_long;



};

#endif // COMMANDPROCESS_H