#ifndef MAVLINKNODE_H
#define MAVLINKNODE_H

#include <QObject>
#include "QThread"
#include "QFile"
#include "QDebug"

#include "mavlink.h"
#include "replay.h"
#include "missionprocess.h"
#include "parameterprocess.h"
#include "commandprocess.h"
#include "statusprocess.h"
#include "Terminal.h"
#include "sbusparser.h"
#include "QUdpSocket"

#include "rcprocess.h"
#include "rtkprocess.h"

#include "ThreadTemplet.h"
#include "../DataLogger.h"


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

    typedef struct {
        int sysid;          /* ID of message sender system/aircraft */
        int compid;         /* ID of the message sender component */

        mavlink_autopilot_version_t autopilot_version;
        mavlink_sys_status_t sys_status;
        mavlink_heartbeat_t heartbeat;
        mavlink_ping_t ping;
        mavlink_attitude_t attitude;
        mavlink_ins1_t ins1;
        mavlink_ins2_t ins2;
        mavlink_gps_raw_int_t gps_raw_int;
        mavlink_global_position_int_t global_position_int;
        mavlink_servo_output_raw_t servo_output_raw;
        mavlink_rc_channels_raw_t rc_channels_raw;
        mavlink_nav_controller_output_t nav_controller_output;
        mavlink_airspeed_autocal_t airspeed_autocal;
        mavlink_rpm_t rpm;
        mavlink_scaled_pressure_t scaled_pressure;
        mavlink_extended_sys_state_t extended_sys_state;
        mavlink_battery_status_t battery_status;
        mavlink_vibration_t vibration;
        mavlink_enginestate_t enginestate;
        mavlink_vfr_hud_t vfr_hud;
        mavlink_aoa_ssa_t aoa_ssa;
        mavlink_emb_atmo_com_t emb_atom_com;
        mavlink_turbinestate_t turbinstate;
        mavlink_bmustate_t bmustate;
        mavlink_ccmstate_t ccmstate;
        mavlink_serial_control_t serial_control;

        mavlink_statustext_t statustext;

    }_vehicle;

    typedef struct
    {
        uint16_t flag;//0x23f8
        uint16_t id;//1
        int32_t time;//(second+min*60+hour*3600)*1000
        int32_t lng;//*10000000
        int32_t lat;//*10000000
        int32_t alt;//*10
        int32_t ve;
        int32_t vn;
        int32_t vu;
        int32_t v;
        int32_t course;//*10
    }_showinfo;//192.168.5.8:10038


    explicit MavLinkNode(QObject *parent = nullptr);
    ~MavLinkNode();

     _vehicle vehicle;
      QHash<int,_vehicle> vehicleList;

     Replay *replay = nullptr;

     MissionProcess *Mission = nullptr;
     ParameterProcess *Parameter = nullptr;
     commandprocess *Commander = nullptr;
     statusprocess *Status = nullptr;
     terminal *Terminal = nullptr;
     rcprocess *RC = nullptr;
     rtkprocess *rtk = nullptr;

     bool isCommunicationLost = false;

     // 通讯状态机：Connected(正常) / Lost(丢失) / Recovering(恢复观察期)
     enum CommState { Connected, Lost, Recovering };
     CommState m_commState = Connected;
     bool m_commandBlocked = false;   // 指令下发阻断标志
     QTimer *m_recoveryTimer = nullptr;  // 恢复观察期定时器

     uint64_t rate_in = 0;
     uint64_t count_in = 0;

     uint64_t rate_out = 0;
     uint64_t count_out = 0;



     uint64_t bittotal = 0;

     uint64_t parserSuccess = 0;
     uint64_t parserFailure = 0;


     uint64_t TotalFrame_1s = 0;
     uint64_t LossFrame_1s = 0;

     float rssi = 100;



     QByteArray rtkrawdata;


    QByteArray csvData;

    QByteArray autopilot_version_csv;
    QByteArray sys_status_csv;
    QByteArray heartbeat_csv;
    QByteArray ping_csv;
    QByteArray attitude_csv;
    QByteArray ins1_csv;
    QByteArray ins2_csv;
    QByteArray gps_raw_int_csv;
    QByteArray global_position_int_csv;
    QByteArray servo_output_raw_csv[10];
    QByteArray rc_channels_raw_csv;
    QByteArray nav_controller_output_csv;
    QByteArray airspeed_autocal_csv;
    QByteArray rpm_csv;
    QByteArray scaled_pressure_csv;
    QByteArray extended_sys_state_csv;
    QByteArray battery_status_csv;
    QByteArray vibration_csv;
    QByteArray enginestate_csv;
    QByteArray vfr_hud_csv;
    QByteArray aoa_ssa_csv;
    QByteArray emb_atom_com_csv;
    QByteArray turbinstate_csv;
    QByteArray bmustate_csv;
    QByteArray ccmstate_csv;
    QByteArray serial_control_csv;


    QFile * autopilot_version_file = nullptr;
    QFile * sys_status_file = nullptr;
    QFile * heartbeat_file = nullptr;
    QFile * ping_file = nullptr;
    QFile * attitude_file = nullptr;
    QFile * ins1_file = nullptr;
    QFile * ins2_file = nullptr;
    QFile * gps_raw_int_file = nullptr;
    QFile * global_position_int_file = nullptr;
    QFile * servo_output_raw_file = nullptr;
    QFile * rc_channels_raw_file = nullptr;
    QFile * nav_controller_output_file = nullptr;
    QFile * airspeed_autocal_file = nullptr;
    QFile * rpm_file = nullptr;
    QFile * scaled_pressure_file = nullptr;
    QFile * extended_sys_state_file = nullptr;
    QFile * battery_status_file = nullptr;
    QFile * vibration_file = nullptr;
    QFile * enginestate_file = nullptr;
    QFile * vfr_hud_file = nullptr;
    QFile * aoa_ssa_file = nullptr;
    QFile * emb_atom_com_file = nullptr;
    QFile * turbinstate_file = nullptr;
    QFile * bmustate_file = nullptr;
    QFile * ccmstate_file = nullptr;
    QFile * serial_control_file = nullptr;


    int infoExportID = 1;

    DataLogger *m_dataLogger = nullptr;

signals:

    void signal_autopilot_version();
    void signal_sys_status();
    void signal_heartbeat();
    void signal_ping();
    void signal_attitude();
    void signal_ins1(mavlink_ins1_t ins);
    void signal_ins2(mavlink_ins2_t ins);
    void signal_gps_raw_int();
    void signal_global_position_int();
    void signal_servo_output_raw(int sysid,mavlink_servo_output_raw_t servo);
    void signal_rc_channels_raw();
    void signal_nav_controller_output();
    void signal_airspeed_autocal();
    void signal_rpm();
    void signal_scaled_pressure();
    void signal_extended_sys_state();
    void signal_battery_status();
    void signal_vibration();
    void signal_enginestate();
    void signal_vfr_hud();
    void signal_aoa_ssa();
    void signal_emb_atom_com();
    void signal_turbinstate();
    void signal_bmustate();
    void signal_ccmstate();
    void signal_serial_control();


    void signal_vehicle(MavLinkNode::_vehicle vehicle);


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

    void updateDlink(float rssi,uint64_t in,uint64_t out);
    void CommuniationLost(bool);
    void communicationStateChanged(int state);  // 通讯状态变更（0=Connected, 1=Lost, 2=Recovering）

    void beep(int);

    void addVehicles(int sysid,int compid);

    void recievemsg(mavlink_message_t msg);

    void state_updated();
    void parameter_updated();
    //void mission_updated();

    void setCurrentID(int sysid,int compid);



    void setAltitude(int sysid,int compid,double roll,double pitch,double yaw);
    void setPos(int sysid,int compid,double x,double y,double z);
    void setHeading(int sysid,int compid,double x,double y,double z);


    void recieveData(const int &id,const QByteArray &data);



public slots:
    //线程对外接口
    void CreateCSV(void);

    //缓存对外接口
    void readPendingDatagramsReplay(void);

    void setCurrentSelected(int sysid,int compid);

    void setLogfile(QString file);

    void setGCSID(int id);

    void infoExport(_showinfo info);

    // 查询指令阻断状态（通讯丢失期间禁止下发指令）
    bool isCommandBlocked(void) const { return m_commandBlocked; }

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

   //缓存私有接口


   void TimerOut(void);
   void LogTimerOut(void);
   void timer_1s_Out(void);




   //解析
   void Mavlinkparse(quint32 src,QByteArray datagram);

   void MAVLinkRcv_Handler(mavlink_message_t msg);

   void StatusParse(mavlink_message_t msg);
   void CommandParse(mavlink_message_t msg);
   //

   //check for new vehicle
   void CheckVehicle(int sysid, int compid);

   // 通讯状态恢复观察期回调
   void onRecoveryTimerOut(void);

private:
   // CSV 文件写入辅助函数（消除重复的 open/write/close 模式）
   static void writeCsvFile(QFile *&file, const QString &filePath, const QByteArray &data);


protected:

   int Current_sysID = 0xF1;
   int Current_CompID = MAV_COMP_ID_MISSIONPLANNER;

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

   bool hasConneted = false;
   int32_t CommucationOverCount = 5;
   uint64_t CommucationOverTimer = 5000;

    uint8_t GCS_System_ID = 0xFF;





    QTimer *gdt_timer = nullptr;
    QTimer *timer = nullptr;


    QByteArray databuff;

    _buffdef serial_buff;
    _buffdef client_buff;

    QString mavlogFileName;
    QFile *mavLogFile = NULL;

    QTimer *logTimer = nullptr;



    QTimer *timer_1s = nullptr;

    QDateTime startuptime;

};

#endif // MAVLINKNODE_H