#ifndef MISSIONPROCESS_H
#define MISSIONPROCESS_H

#include <QObject>


#include "opmapwidget.h"
#include "waypointitem.h"
#include "maptype.h"

#include "QDebug"
#include "QThread"
#include "mavlink.h"
#include "QTimer"
#include "QTime"

#include "ThreadTemplet.h"

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

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


    typedef struct {
        bool isWaitingforCount;
        bool isWaitingforItem;
        int  group;
    }_recieve;

    typedef struct {
       uint32_t count;
       bool isWaiteforRequest;
       bool isWaiteforACK;

       int seq;
       uint8_t type;

       int group;

    }_transmit;

    typedef struct
    {
        _recieve recieve;
        _transmit transmit;


        _modetype m_Mode;

    }_mission_;

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


    _mission_ mission_status;


    int currentGroup = 3;


    QMap<int,QMap<int,QMap<int,mavlink_mission_item_int_t >>> missions;//SysID 航线组  航线



public slots:

    void Parse(mavlink_message_t msg);


    //读取航线的指令
    void ReadCmd(uint8_t m_sysid, uint8_t m_compid, int m_group);
    void WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count ,int m_group);


    void SetCurrentPoint(int seq);

    void transmitPoint(float param1,float param2,float param3,float param4,
                         int32_t x,int32_t y,float z,
                         uint16_t seq,
                         uint16_t group,
                         uint16_t command,
                         uint8_t target_system,
                         uint8_t target_component,
                         uint8_t frame,
                         uint8_t current,
                         uint8_t autocontinue,
                         uint8_t mission_type);

    void sendFence(qreal Vertex,
                   qreal group,
                   qreal Lat,
                   qreal Lng,
                   uint16_t FecneSeq,
                   uint16_t command,
                   uint16_t sysid,
                   uint16_t compid,
                   uint16_t mission_type);


    void checkoutVehicle(int sysid);

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

   //定时器


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

   //所有的相关函数
   void request_list(int missiontype);
   void count(uint16_t count,int missiontype);
   void request_int(uint16_t seq,int missiontype);
   void request(uint16_t seq, int missiontype);
   void item_int(float param1, float param2, float param3, float param4,
                 int32_t x, int32_t y, float z,
                 uint16_t seq, uint16_t command,
                 uint8_t frame, uint8_t current,
                 uint8_t autocontinue, uint8_t mission_type);
   void item(float param1,float param2,float param3,float param4,
             float x,float y,float z,
             uint16_t seq,uint16_t command,
             uint8_t frame,uint8_t current,
             uint8_t autocontinue,uint8_t mission_type);
   void ack(void);
   void current(void);
   void setcurrent(uint16_t seq);
   void clear_all(void);

   void item_reached(void);
   void request_partial_list(void);
   void write_partial_list(void);

signals:

   void clearWaypoint(void);

   void readReady();

   void readError();



   void sendItemOK(uint16_t seq,bool flag);

   void receivedPoint(float param1,float param2,float param3,float param4,
                        int32_t x,int32_t y,float z,
                        uint16_t seq,
                        uint16_t group,
                        uint16_t command,
                        uint8_t target_system,
                        uint8_t target_component,
                        uint8_t frame,
                        uint8_t current,
                        uint8_t autocontinue,
                        uint8_t mission_type);

   void vehicleChanged(float param1,float param2,float param3,float param4,
                        int32_t x,int32_t y,float z,
                        uint16_t seq,
                        uint16_t group,
                        uint16_t command,
                        uint8_t target_system,
                        uint8_t target_component,
                        uint8_t frame,
                        uint8_t current,
                        uint8_t autocontinue,
                        uint8_t mission_type);

   //void currentGroup(int group);
   void currentPoint(int seq);

private:

   mavlink_mission_request_list_t mission_request_list;
   mavlink_mission_count_t mission_count;
   mavlink_mission_request_int_t mission_request_int;
   mavlink_mission_request_t mission_request;
   mavlink_mission_item_int_t mission_item_int;
   mavlink_mission_item_t mission_item;
   mavlink_mission_ack_t mission_ack;
   mavlink_mission_current_t mission_current;
   mavlink_mission_set_current_t mission_set_current;
   mavlink_mission_clear_all_t mission_clear_all;
   mavlink_mission_item_reached_t mission_item_reached;
   mavlink_mission_request_partial_list_t mission_request_partial_list;
   mavlink_mission_write_partial_list_t mission_write_partial_list;


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

    QList<mapcontrol::WayPointItem *> wplist;


    QMap<int,mapcontrol::WayPointItem::_property> items;

     QMap<int,mapcontrol::WayPointItem::_property> FenceItems;


};
#endif // MISSIONPROCESS_H