#ifndef TERMINAL_H
#define TERMINAL_H

#include <QObject>

#include "QDebug"
#include "QThread"
#include "mavlink.h"
#include "QTimer"
#include "QTime"
#include <QtEndian>

#include "ThreadTemplet.h"

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

public slots:
    //读取和写入指令
    void Transmit(QString msg);

    //线程对外接口
    void Parse(mavlink_message_t msg);
private slots:
   //线程私有接口

   void process();

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


   //所有相关函数
   void serial_control(void);


signals:
   void readError();

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

   void Recieve(QString msg);

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


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


   QString SerialData;

};

#endif // STATUSPROCESS_H