#ifndef CANRECV_CONSUMER_H
#define CANRECV_CONSUMER_H

#include <QObject>
#include <QTimer>
#include <QDateTime>
#include <QThread>

#include "modulecomm.h"
#include "radarobjectarray.pb.h"

#include "can_producer_consumer.h"
#include "decode_cfg.h"
#include "iv_msgunit.h"

#define RADAR_OBJ_MAX_NUM 128

class CANRecv_Consumer : public QThread
{
    Q_OBJECT
public:
    CANRecv_Consumer(CAN_Producer_Consumer *pBuf);
    ~CANRecv_Consumer();
    void Clear_CAN_PrivateTempVariable(void);

protected:
    void run();
    uint32_t Trans_From_CANRaw(const iv::can::canraw &xraw); //only for standard data frame, return can id
    void Pack_Info_To_SHM_ch0(uint32_t can_id);
    void Pack_Info_To_SHM_ch1(uint32_t can_id);
    void Pack_Info_To_SHM_ch2(uint32_t can_id);
    void Pack_Info_To_SHM_ch3(uint32_t can_id);
    void Pack_Info_To_SHM_ch4(uint32_t can_id);
    void Pack_Info_To_SHM_ch5(uint32_t can_id);
    void Pack_Info_To_SHM_ch6(uint32_t can_id);
    void Pack_Info_To_SHM_ch7(uint32_t can_id);
    //ro trans phy 3
    double Trans_DVA_RMS_Ro_To_Phy(uint8_t data);
    double Trans_Ori_RMS_Ro_To_Phy(uint8_t data);
    double Trans_ProbOfExist_Ro_To_Phy(uint8_t data);
    //rotation and translation
    void Rotate_Translate(double &x,double &y,double theta,double offset_x,double offset_y); //RFU,deg

signals:
    void RadarObjectArray_Ready(void);

private slots:
    void RadarObjectArray_Ready_Slot(void);

private:
    CAN_Producer_Consumer *pBuffer;

    uint8_t radarType = 0; //0 ARS408-21xx 1 ARS408-21sc3 2 SRR308

    uint32_t CAN_ID = 0x000u;
    uint8_t CAN_DLC = 0;
    uint8_t CAN_data[8] = {0};

    ars408_can_database_ch0_rx_t ars408_can_database_ch0_rx;
    ars408_can_database_ch1_rx_t ars408_can_database_ch1_rx;
    ars408_can_database_ch2_rx_t ars408_can_database_ch2_rx;
    ars408_can_database_ch3_rx_t ars408_can_database_ch3_rx;
    ars408_can_database_ch4_rx_t ars408_can_database_ch4_rx;
    ars408_can_database_ch5_rx_t ars408_can_database_ch5_rx;
    ars408_can_database_ch6_rx_t ars408_can_database_ch6_rx;
    ars408_can_database_ch7_rx_t ars408_can_database_ch7_rx;

    iv::radar::radarobjectarray xradarObjArray;
    QVector<iv::radar::radarobject> vradarObj;
    QVector<bool> radarObjFreshFlag;

    bool persistent_Error = false; //notice if multi thread, these param need a mutex lock
    bool interference_Error = false; //
    bool temperature_Error = false; //
    bool temporary_Error = false; //
    bool voltage_Error = false; //
    bool speed_Loss = false; //
    bool yaw_Rate_Loss = false; //
    std::string radar_Version = "4.30.1"; //

    iv::radar::radarobjectarray radarObjArray_Send;
    QMutex radarObjArraySend_Lock;
};

#endif // CANRECV_CONSUMER_H