#ifndef MISSIONPROCESS_H
#define MISSIONPROCESS_H

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

#include "opmapwidget.h"
#include "waypointitem.h"
#include "maptype.h"

#include "QDebug"
#include "QThread"
#include "mavlink.h"
#include "QTimer"
#include "QTime"
#ifdef QtMavlinkNode
#include <mavlinknodeglobal.h>
class MAVLINKNODESHARED_EXPORT MissionProcess : public QObject {
#else
class MissionProcess : public QObject
{
#endif
    Q_OBJECT

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


    typedef struct {
        bool isWaitingforCount;
        bool isWaitingforItem;
    }_recieve;

    typedef struct {
       uint32_t count;
       bool isWaiteforRequest;
       bool isWaiteforACK;

       int seq;
       uint8_t type;

    }_transmit;

    typedef struct
    {
        _recieve recieve;
        _transmit transmit;


        _modetype m_Mode;

    }_mission_;

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

    _mission_ mission_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);

    //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);


    //读取航线的指令
    void ReadCmd(uint8_t m_sysid, uint8_t m_compid);
    void WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count );


    void SetCurrentPoint(int seq);

    void transmitPoint(float param1,float param2,float param3,float param4,
                         int32_t x,int32_t y,float z,
                         uint16_t seq,
                         uint16_t group,
                         uint16_t command,
                         uint8_t target_system,
                         uint8_t target_component,
                         uint8_t frame,
                         uint8_t current,
                         uint8_t autocontinue,
                         uint8_t mission_type);


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

   void process();

   //定时器


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

   //所有的相关函数
   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,
                 int32_t x, int32_t 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(uint16_t seq);
   void clear_all(void);

   void item_reached(void);
   void request_partial_list(void);
   void write_partial_list(void);

signals:

   void clearWaypoint(void);

   void readReady();


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

   void readError();

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


   void sendItemOK(uint16_t seq,bool flag);

   void receivedPoint(float param1,float param2,float param3,float param4,
                        int32_t x,int32_t y,float z,
                        uint16_t seq,
                        uint16_t group,
                        uint16_t command,
                        uint8_t target_system,
                        uint8_t target_component,
                        uint8_t frame,
                        uint8_t current,
                        uint8_t autocontinue,
                        uint8_t mission_type);

   void currentPoint(int seq);

private:

   uint8_t sysid;
   uint8_t compid;

   mavlink_mission_request_list_t mission_request_list;
   mavlink_mission_count_t mission_count;
   mavlink_mission_request_int_t mission_request_int;
   mavlink_mission_request_t mission_request;
   mavlink_mission_item_int_t mission_item_int;
   mavlink_mission_item_t mission_item;
   mavlink_mission_ack_t mission_ack;
   mavlink_mission_current_t mission_current;
   mavlink_mission_set_current_t mission_set_current;
   mavlink_mission_clear_all_t mission_clear_all;
   mavlink_mission_item_reached_t mission_item_reached;
   mavlink_mission_request_partial_list_t mission_request_partial_list;
   mavlink_mission_write_partial_list_t mission_write_partial_list;

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

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


    //超时时间（ms）
    int readTimeout = 3000;
    int sendTimeout = 3000;

    QList<mapcontrol::WayPointItem *> wplist;


    //bool isReadMission = false;



    //bool isWriteMission = false;


    QMap<int,mapcontrol::WayPointItem::_property> items;

    //bool ismTimerTimeOut = false;

};







#endif // MISSIONPROCESS_H