#ifndef STATUSPROCESS_H
#define STATUSPROCESS_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 statusprocess : public ThreadTemplet {
#else
class statusprocess : public ThreadTemplet
{
#endif
    Q_OBJECT
public:

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



    mavlink_heartbeat_t m_heartbeat;

public slots:


    //读取和写入指令
    //void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
    void setHeartbeat(QVariant state, QVariant frq );



    //线程对外接口


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 heartbeat(uint32_t custom_mode,
                  uint8_t type,
                  uint8_t autopilot,
                  uint8_t base_mode,
                  uint8_t system_status,
                  uint8_t mavlink_version);


signals:
   void readError();
private:

};

#endif // STATUSPROCESS_H