#ifndef VEHICLE_H
#define VEHICLE_H

#include "VehicleManage_global.h"
#include <QObject>
#include "QIcon"
#include "QHash"
#include "QMap"
#include "QDebug"
#include "QDateTime"
#include "mavlink.h"
#include "QTimer"




/*

 定时往外发消息

 航线 航迹 图片 颜色

 参数 状态 指令

 消息 警告


 自己在发送心跳


 有自己的定时器，定时查询是否要解码，定时检查是不是来数据了


*/


class VEHICLEMANAGE_EXPORT Vehicle : public QObject
{
    Q_OBJECT
public:
    explicit Vehicle(int id = 1, QObject *parent = nullptr);
    ~Vehicle();


public slots:

    QString Name(void)
    {
        return name;
    }
    void setName(QString value)
    {
        name = value;
    }

    QIcon Icon(void)
    {
        return icon;
    }
    void setIcon(QIcon value)
    {
        icon = value;
    }

    QColor TailColor(void)
    {
        return tailColor;
    }
    void setTailColor(QColor value)
    {
        tailColor = value;
    }

    QColor WayColor(void)
    {
        return wayColor;
    }
    void setWayColor(QColor value)
    {
        wayColor = value;
    }


    int SysID(void)
    {
        return sysid;
    }
    void setSysID(int value)
    {
        sysid = value;
    }


    int Type(void)
    {
        return type;
    }
    void setType(int value)
    {
        type = value;
    }


    bool Selected(void)
    {
        return isSelected;
    }
    void setSelected(bool value)
    {
        isSelected = value;
    }

    bool Heartbeat(void)
    {
        return heartbeat;
    }
    void setHeartbeat(bool value)
    {
        heartbeat = value;
        //发一次声音 beep
    }

    bool Arm(void)
    {
        return arm;
    }
    void setArm(bool value)
    {
        arm = value;
        //有变化后要播报语音
    }

    int Flightmode(void)
    {
        return flightmode;
    }
    void setFlightmode(int value)
    {
        flightmode = value;
        //有变化后要播报语音
    }

    int Flightstate(void)
    {
        return flightstate;
    }
    void setFlightstate(int value)
    {
        flightstate = value;
        //有变化后要播报语音
    }

    void setMsg(mavlink_message_t *msg);
    void setParam(mavlink_param_value_t *param);
    void setMission(mavlink_mission_item_int_t *item);

    void _Handler(mavlink_message_t msg);


private slots:

    void receiveMessage(mavlink_message_t message);


    void heartbeattimeout(void);


signals:

private:

    QTimer *heartbeattimer = nullptr;



    //一些可以配置的东西可以存在json里面，一旦生成这个飞机就导入json的设置
    //基本信息
    QString name = "vehicle";
    QIcon icon = QIcon("fixwing.png");
    QColor tailColor = "#026F80";
    QColor wayColor = "#F09382";

    qint32 group = 0;//当前飞机的组别
    qint32 sysid = 0;//当前飞机的ID
    qint32 type = 0;//设备类型
    bool isSelected = false;

    bool issendheartbeat = false;
    bool heartbeat = false;//反复变化
    bool arm = false;//false 上锁 true 解锁
    qint32 flightmode = 0;//飞行模式 stanby  bit  operational
    qint32 flightstate = 0;//

    qint32 imu_select = 0;//惯导选择
    qint32 das_select = 0;//大气选择

    //健康字
    bool inner_INS = false;
    bool outer_INS = false;
    bool servosystem = false;
    bool loadinggear = false;
    bool recorder = false;//数据记录健康
    bool inner_das = false;
    bool outer_das = false;

    //惯性
    qreal roll = 0;
    qreal pitch = 0;
    qreal yaw = 0;

    qreal p = 0;
    qreal q = 0;
    qreal r = 0;

    qreal ax = 0;
    qreal ay = 0;
    qreal az = 0;

    //导航
    qreal lat = 0;
    qreal lng = 0;
    qreal gpsalt = 0;//GPS海拔
    qreal relalt = 0;//相对海拔
    qreal absalt = 0;//绝对海拔
    qreal baroalt = 0;//气压海拔

    qreal groudspeed = 0;
    qreal heading = 0;

    qint32 fixtype = 0;
    qint32 directioncapture = false;
    qint32 satellites = 0;

    qreal vn = 0;
    qreal ve = 0;
    qreal vd = 0;

    //大气
    qreal tas = 0;//真空速
    qreal cas = 0;//表速
    qreal Ma = 0;//马赫数
    qreal alpha = 0;//攻角
    qreal beta = 0;//侧滑角

    //控制
    qreal aileron = 0;//副翼
    qreal elevator = 0;//升降舵
    qreal throttle = 0;//油门
    qreal ruddor = 0;//方向舵
    //...



    //遥控
    QList<uint16_t> rc = {0};//收到的rc信号
    QList<uint16_t> rc_cmd = {0};//地面站站发出的rc指令

    //电压
    qreal mainvoltage = 0;//飞控电压
    qreal servovoltage = 0;//舵机电压
    qreal powervoltage = 0;//动力电压
    QList<qreal> battery = {0};//其余电压
    QList<qreal> voltagegain = {1};//电压转换系数

    //数据链
    bool isOnline = false;//数据链有没有丢失
    qreal rssi = 0;//数据链强度
    qint32 datain = 0;//数据输入量
    qint32 dataout = 0;//数据输出量

    //数据记录
    bool isrecording = false;//是否在记录


    /*
     *       航线组
     *         |
     *        /  \
     *       /    \
     *     航线1  航线2
     *    / | \    | \
     *   p  p  p   p  p
     *
     * 组下面有航线，航线下面有航点
     *
     */

    //当前飞机的航线
    QMap<int,QMap<int,mavlink_mission_item_int_t *>> missions;//航线组  航线


    //电子围栏 geoFancy

    //飞机的参数
    QMap<int,mavlink_param_value_t *> parameters;

    //飞机收到的消息
    QMap<int,mavlink_message_t *> messages;

    //飞机已经发出去的消息




    //飞机收到的指令




    //飞机要发出去的指令




    //log文件，各种操作都要记录


};

#endif // VEHICLE_H