#ifndef MAINWINDOW_H
#define MAINWINDOW_H

extern "C"
{
#include "SIL.h"
    typedef void (*SIL_initialize_ptr)(void);
    typedef void (*SIL_step_ptr)(void);
    typedef const rtwCAPI_ModelMappingStaticInfo *(*SIL_GetCAPIStaticMap_ptr)(void);
}

#include <QMainWindow>
#include <QUdpSocket>
#include <QTimer>
#include <QHostAddress>
#include <QFile>

QT_BEGIN_NAMESPACE
namespace Ui
{
    class MainWindow;
}
QT_END_NAMESPACE

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    MainWindow(QWidget *parent = nullptr);
    ~MainWindow();

public slots:
    void update200Hz();
    void onFire();
    void onExport();
    void onImport();
    void onTimes(int);

private:
    Ui::MainWindow *ui;

    SIL_initialize_ptr init_func;
    SIL_step_ptr step_func;
    SIL_GetCAPIStaticMap_ptr getmap_func;
    ExtU_SIL_T *u;
    ExtY_SIL_T *y;
    RT_MODEL_SIL_T *m;

    real_T Att0[3];
    real_T X0[3];
    real_T hground;
    int stage;
    real_T gear_height;
    int times;
    int idx;

    void setup_param(const QVector<QString> &head, const QVector<double> &onecase);
    void scan_param(void);

    uint8_t seq;
    uint8_t seq_rec;

    QFile *rec_file;

    QTimer *timer200Hz;
    QUdpSocket *qgc_sock;
};
#endif // MAINWINDOW_H