#ifndef MISSIONPROCESS_H
#define MISSIONPROCESS_H

#include <QObject>
#include "mavlinknode.h"

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

#ifdef QtMavlinkNode
#include <mavlinknodeglobal.h>
class MAVLINKNODESHARED_EXPORT MissionProcess : public QObject {
#else
class MissionProcess : public QObject
{
#endif
    Q_OBJECT
public:
    explicit MissionProcess(QObject *parent = nullptr);


public slots:
    //线程对外接口
    void setRunFrq(uint32_t frq);
    void start();
    void stop();


    void MissionParse(mavlink_message_t msg);

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



   //航线读取传输
   void ReadMissionRequest();


   void request_list(void);
   void count(uint16_t count);
   void request_int(uint16_t seq);
   void request(uint16_t seq);
   void item_int(float param1,float param2,float param3,float param4,
                 float x,float y,float z,
                 uint16_t seq,uint16_t command,
                 uint8_t frame,uint8_t current,
                 uint8_t autocontinue,uint8_t mission_type);
   void item(float param1,float param2,float param3,float param4,
             float x,float y,float z,
             uint16_t seq,uint16_t command,
             uint8_t frame,uint8_t current,
             uint8_t autocontinue,uint8_t mission_type);
   void ack(void);
   void current(void);
   void setcurrent(void);
   void clear_all(void);


signals:


private:

   uint8_t sysid;
   uint8_t compid;


    mavlink_mission_count_t mission_count;
    mavlink_mission_item_t mission_item;
    mavlink_mission_item_int_t mission_item_int;
    mavlink_mission_request_t mission_request;
    mavlink_mission_request_int_t mission_request_int;
    mavlink_mission_ack_t mission_ack;



    bool running_flag = false;
    quint32 running_frq = 200;//200Hz
    QThread *Missionthread = nullptr;




    bool isRecieveCount = false;


    bool isReadMission = false;



    QTimer *mTimer = nullptr;


};


void SendMessageTo(uint8_t ch, QByteArray data,uint16_t len);



#endif // MISSIONPROCESS_H