#ifndef THREADTEMPLET_H
#define THREADTEMPLET_H

#include <QObject>
#include "QThread"
#include "QFile"
#include "QDebug"
#include "mavlink.h"
#include "QtEndian"
#include "QDataStream"
#include "QFile"
#include "QDateTime"
#include "ParsePack.h"
#include "QMutex"

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

public:
    explicit ThreadTemplet(QObject *parent = nullptr);
    ~ThreadTemplet();



signals:

    Q_INVOKABLE void error(QVariant type);

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

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

public slots:
    //地面站对外接口
    void setGCSID(int m_sysid, int m_compid);
    void setID(int m_sysid,int m_compid);



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

    bool isInterruptionRequested(void)
    {
        return  QThread::currentThread()->isInterruptionRequested();
    }

    float frq(void)
    {
        return running_frq;
    }

    void setPlogName(QString name)
    {
        plogFileName = name;
    }

    //缓存对外接口
    Q_INVOKABLE void setbuff(quint32 src,QByteArray data);
    void initbuff(void);
    QByteArray readbuff(quint32 src);


    void Send(mavlink_message_t msg);

    bool setLogData(QString name, uint8_t type, mavlink_message_t msg);

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

   //缓存私有接口

   //解析

protected:

    typedef struct {
       qint32 max_size;
       quint8 select;
       QByteArray buff[2];
    }_buffdef;

    enum SourceType{
       c_sock = 0,
       s_port = 1
    };

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

    typedef struct {
        bool isWaitingforValue;
    }_recieve;

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

    typedef struct
    {
        _recieve recieve;
        _transmit transmit;
        _modetype m_Mode;
    }_status_;

    _status_ status;

    bool running_flag = false;
    qreal running_frq = 0.01;//1Hz

    QThread *thread = nullptr;

    _buffdef serial_buff;
    _buffdef client_buff;


    int GCS_SysID = 0xF1;
    int GCS_CompID = MAV_COMP_ID_MISSIONPLANNER;

    //目标id
    uint8_t sysid;
    uint8_t compid;

    Parser2_t parser;
    Packer2_t packer;

    QString plogFileName;

    QMutex mutex;

};
#endif // THREADTEMPLET_H