#ifndef PARAMETERPROCESS_H
#define PARAMETERPROCESS_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 ParameterProcess : public ThreadTemplet{
#else
class ParameterProcess : public ThreadTemplet
{
#endif
    Q_OBJECT


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

    enum _readtype {
        All = 0,
        One = 1
    };


    typedef struct {
        bool isWaitingforValue;

        _readtype type;

    }_recieve;

    typedef struct {
       uint32_t count;
       
       bool isWaitingforValue;
    }_transmit;

    typedef struct
    {
        _recieve recieve;
        _transmit transmit;


        _modetype m_Mode;

    }_parameter_;


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

    _parameter_ status;


public slots:


    //读取和写入指令
    void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
    void WriteCmd(uint8_t m_sysid, uint8_t m_compid , const char *id, uint8_t type, float value);
    void WriteCmd2(uint8_t m_sysid, uint8_t m_compid ,QVariant id,QVariant type,QVariant value);


    //线程对外接口

    void Parse(mavlink_message_t msg);

    QVariant setvalue(mavlink_param_value_t param);
    float getvalue(QVariant param,uint8_t type);

    QVariant settype(mavlink_param_value_t param);
    uint8_t gettype(QVariant type);

    QString setid(char *id);
    char * getid(QString id);


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

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


   //所有的相关函数
   void set(const char *id, uint8_t type, float value);
   void value(float value);
   void ext_ack(float value);
   void ext_set(const char *id, uint8_t type, float value);
   void ext_value(float value);
   void request_list(void);
   void request_read(const char *id, int16_t index);

signals:
   void RecieveValue(mavlink_message_t msg);

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

   mavlink_param_set_t param_set;//
   mavlink_param_union_t param_union;
   mavlink_param_value_t param_value;//
   mavlink_param_map_rc_t param_map;
   mavlink_param_ext_ack_t param_ext_ack;
   mavlink_param_ext_set_t param_ext_set;
   mavlink_param_ext_value_t param_ext_value;
   mavlink_param_request_list_t param_request_list;//
   mavlink_param_request_read_t param_request_read;//
   mavlink_param_union_double_t param_union_double;
   mavlink_param_ext_request_list_t param_ext_request_list;
   mavlink_param_ext_request_read_t param_ext_request_read;

   QList<int> indexlist;
   QList<int> lostIndex;

};

#endif // PARAMETERPROCESS_H