#ifndef RCPROCESS_H
#define RCPROCESS_H

#include <QObject>
#include "QDebug"
#include "QtEndian"
#include "QDateTime"

#include "sbusparser.h"

#include "ThreadTemplet.h"

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

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

signals:
    void new_remote_ctrl(QList<uint16_t>);

public slots:

    //缓存对外接口

    void SoftRCUpdate(QList<uint16_t> rc);
    void setRCActive(uint32_t value)
    {
        isRCActive = value;
        qDebug() << "set ch" << isRCActive;
    }

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

   //缓存私有接口

   void update15Hz(void);

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




protected:

    uint16_t rcin[20];
    int rcin_cnt = 0;
    bool rcin_update = true;

    uint32_t isRCActive = 0;

    SBusParser sbus;
    QList<uint16_t> sbuslist;

};


#endif // RCPROCESS_H