#ifndef RCPROCESS_H
#define RCPROCESS_H

#include <QObject>
#include "QThread"
#include "QFile"
#include "QDebug"
#include "QtEndian"
#include "QDateTime"
#include "QTimer"

#include "mavlink.h"
#include "sbusparser.h"


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

public:
    typedef struct {
       qint32 max_size;
       quint8 select;
       QByteArray buff[2];
    }_buffdef;



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


    void setGCSID(int m_sysid, int m_compid)
    {
        Current_sysID = m_sysid;
        Current_CompID = m_compid;
    }

signals:

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

    void new_remote_ctrl(QList<uint16_t>);


    void showMessage(const QString &message,int TimeOut = 0);

public slots:
    //线程对外接口
    void setRunFrq(uint32_t frq);
    void start();
    void stop();
    bool isActive(void)
    {
        return running_flag;
    }




    //缓存对外接口
    void setID(int m_sysid, int m_compid);
    void setbuff(quint32 src, QByteArray data);


    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 Send(mavlink_message_t msg);
   void process();

   //缓存私有接口
   void initbuff(void);
   QByteArray readbuff(quint32 src);


   void update15Hz(void);


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




protected:

   int Current_sysID = 0xF1;
   int Current_CompID = MAV_COMP_ID_MISSIONPLANNER;

   //目标id
   uint8_t sysid;
   uint8_t compid;

   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;

    bool running_flag = false;
    quint32 running_frq = 200;//200Hz

    QThread *thread;


    QByteArray databuff;

    _buffdef serial_buff;
    _buffdef client_buff;


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

    uint32_t isRCActive = 0;

    SBusParser sbus;
    QList<uint16_t> sbuslist;


    QTimer *timer = nullptr;


};


#endif // RCPROCESS_H