#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include "QApplication"


#include "Config/Config.h"

#include "Cockpit.h"


#include "mavlinknode.h"

#include "QThread"

#include "opmapwidget.h"
#include "Cockpit.h"
#include "dlink.h"
#include "skin.h"

#include "StatusUI/StatusUI.h"
#include "InspectUI/InspectUI.h"
#include "ToolsUI/ToolsUI.h"
#include "HealthUI/HealthUI.h"
#include "pureprojection.h"

//sub widget
#include "About/About.h"
#include "Help/Help.h"
#include "Setting/Setting.h"

#include "QTextToSpeech"


//cmd ui
#include "QQuickWidget"
#include "QQuickView"

#include "CommandUI/CommandUI.h"


//mission ui
#include "MissionUI/propertyui.h"

//menubar ui
#include "MenuBarUI/MenuBarUI.h"



//selfcheck
#include "CheckUI/CheckUI.h"


QT_BEGIN_MOC_NAMESPACE

//#pragma execution_character_set("utf-8")


class MainWindow : public QMainWindow
{
    Q_OBJECT

    typedef struct
    {
         double d0;
         double kd;
         double le;
    }_servo;

public:
    MainWindow(QWidget *parent = nullptr);
    ~MainWindow();



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

    void setCommunicationLostState(bool flag);

    void setBeep(QVariant state);
    void beep(int sysid);

    void setTTS(QVariant state);


    void setServoOffset(QVariant ch1_d0,QVariant ch1_kd,QVariant ch1_len,
                        QVariant ch2_d0,QVariant ch2_kd,QVariant ch2_len,
                        QVariant ch3_d0,QVariant ch3_kd,QVariant ch3_len,
                        QVariant ch4_d0,QVariant ch4_kd,QVariant ch4_len,
                        QVariant ch5_d0,QVariant ch5_kd,QVariant ch5_len,
                        QVariant ch6_d0,QVariant ch6_kd,QVariant ch6_len,
                        QVariant ch7_d0,QVariant ch7_kd,QVariant ch7_len,
                        QVariant ch8_d0,QVariant ch8_kd,QVariant ch8_len);

    void setMargin(int type, QMap<int,Config::_latlng> latlng,QColor color);



    void INS_Info(Parse::_ins info);
    void NAV_Info(Parse::_nav info);
    void gear_Info(Parse::_gear info);


    void EADC_Info(Parse::_eadc info);
    void ECU_Info(Parse::_ecu info);
    void SSPC_Info(Parse::_sspc info);


    void actuator_info(Parse::_actuator info);
    void actuator_info_brake(Parse::_actuator info);
    void actuator1_info(Parse::_actuator1 info);
    void actuator2_info(Parse::_actuator2 info);

    void imu_info(Parse::_imu info);
    void euler_info(Parse::_euler info);
    void vel_info(Parse::_vel info);
    void pos_info(Parse::_pos info);

    void SSPC_Info_state(Parse::_sspc info);

    void onTabIndexChanged(const int &index);


    void RTCM_Byte(uint32_t count);
    void RC_Byte(uint32_t count);


protected slots:

    bool event(QEvent *event);

    void closeEvent(QCloseEvent *event);
    void resizeEvent(QResizeEvent *event);
    void mousePressEvent(QMouseEvent* event);
    void keyPressEvent(QKeyEvent *event);
    //void mouseMoveEvent();

private slots:

    void updateVehicle(MavLinkNode::_vehicle vehicle);

    void TotalDistance(double value);


    void Timer_1s_out(void);


    void updateDlink(float rssi, uint64_t in, uint64_t out);
    void dlinkinfo(double rssi,double in,double out);

    void update_servo_output_raw(int sysid, mavlink_servo_output_raw_t servo);


    void ins1_Update(mavlink_ins1_t ins);
    void ins2_Update(mavlink_ins2_t ins);

    void TTSsay(QString str);

protected slots:

signals:

    void setECUTemp(qreal temp,qreal pressure);

    void setBat(quint16 value[10]);

protected:

    int MainIndex = 0;

    Config *config = nullptr;

    StatusUI *statusui = nullptr;
    HealthUI *healthui = nullptr;
    MenuBarUI *menuBarUI = nullptr;
    CommandUI *commandUI = nullptr;
    Cockpit *copk = nullptr;
    CheckUI *checkUI = nullptr;
    propertyui *missionUI = nullptr;

    mapcontrol::OPMapWidget *map = nullptr;

    DLink *dlink = nullptr;

    ToolsUI *toolsui = nullptr;

    Setting *setting = nullptr;


    QQuickWidget *quick = nullptr;

    QTimer *updateTimer = nullptr;

    QTextToSpeech *tts = nullptr;


    bool isCommunicationLost = true;


    internals::PointLatLng StartPoint;

    QTimer *Timer_1s = nullptr;

    QDateTime *FlightTime = nullptr;
    QDateTime *StartupTime = nullptr;

    bool isEngineStartUp = false;

    bool isEnableBeep = true;
    bool isEnableTTS = true;

    float m_la = 0;
    float m_ra = 0;
    float m_le = 0;
    float m_re = 0;
    float m_ru = 0;

    double fuelTotal = 349;

    QMap<int,uint16_t> servos;

    QMap<uint16_t,double> table_lail = {{1218,20},{1505,0},{2032,-30}};
    QMap<uint16_t,double> table_rail = {{1145,-30},{1502,0},{1764,20}};
    QMap<uint16_t,double> table_ele  = {{1154,25.3},{1499,0},{1845,-25.7}};
    QMap<uint16_t,double> table_tail = {{1353,-5.2},{1459,-3},{1598,0},{1768,2.5},{1936,4}};
    QMap<uint16_t,double> table_rud  = {{1277,23},{1499,0},{1728,-27}};

    QMap<uint16_t,double> table_flux  = {{1277,23},{1499,0},{1728,-27}};


    _servo ch1;
    _servo ch2;
    _servo ch3;
    _servo ch4;
    _servo ch5;
    _servo ch6;
    _servo ch7;
    _servo ch8;


    uint32_t health;
    uint32_t enabled;
    uint32_t present;

    qreal Ma = 0;



};

#endif // MAINWINDOW_H