#ifndef DATACLUSTER_H
#define DATACLUSTER_H
#include "commoninclude.h"
#define PI 3.14

extern iv::Ivlog * gIvlog;

class DataCluster
{
public:
    DataCluster();
    ~DataCluster();
//    QByteArray bameta;
//    QByteArray baframe;

private:
    //map
    QMutex mMutexNavi;
    std::vector<iv::GPSData> m_navigation_data;
    qint64 mnNaviUpdateTime = 0;
    //gps
    QMutex mMutexGPS;
    //fusion
    QMutex mMutexFusion;
    iv::fusion::fusionobjectarray mfusionarray;
    std::string mvobsStype[3] =  {"Car","Pedestrian","Others"};
    bool mbfusionUpdate = false;
    //chassis
    float mfSOC = 0;
    //plantTrace
    QMutex mMutexPlan,mMutexPlanLeft,mMutexPlanRight;
    std::vector<iv::TracePoint> m_plan,m_plan_left,m_plan_right;
    //lidar pc
    QMutex mMutexPointCloud;
    pcl::PointCloud<pcl::PointXYZI> mpointCloud;
    /******** ShareMem section START *******/
    void * mpamaptrace = Q_NULLPTR;
    void * mpagpsimu = Q_NULLPTR;
    void * mpalidarpc = Q_NULLPTR;
    void * mpafusion = Q_NULLPTR;
    void * mpabrain = Q_NULLPTR;
    void * mpachassis = Q_NULLPTR;
    void * mpacanstate = Q_NULLPTR;
    void * mpaVechicleState = Q_NULLPTR;
    void * mpaplantrace = Q_NULLPTR;
    void * mpaplantrace_left = Q_NULLPTR;
    void * mpaplantrace_right = Q_NULLPTR;
    void UpdateMap(const char * strdata,const unsigned int nSize,const unsigned int index, \
                      const QDateTime * dt,const char * strmemname);
    void UpdateGPSIMU(const char * strdata,const unsigned int nSize,const unsigned int index, \
                      const QDateTime * dt,const char * strmemname);
    void UpdateLidarPc(const char * strdata,const unsigned int nSize,const unsigned int index, \
                      const QDateTime * dt,const char * strmemname);
    void UpdateFusion(const char * strdata,const unsigned int nSize,const unsigned int index, \
                      const QDateTime * dt,const char * strmemname);
    void UpdateDecition(const char * strdata,const unsigned int nSize,const unsigned int index, \
                      const QDateTime * dt,const char * strmemname);
    void UpdateChassis(const char * strdata,const unsigned int nSize,const unsigned int index, \
                      const QDateTime * dt,const char * strmemname);
    void UpdateCanSt(const char * strdata,const unsigned int nSize,const unsigned int index, \
                      const QDateTime * dt,const char * strmemname);
    void UpdateVehicleState(const char * strdata,const unsigned int nSize,const unsigned int index, \
                      const QDateTime * dt,const char * strmemname);
    void UpdatePlanTrace(const char * strdata,const unsigned int nSize,const unsigned int index, \
                      const QDateTime * dt,const char * strmemname);
    void UpdatePlanTraceLeft(const char * strdata,const unsigned int nSize,const unsigned int index, \
                      const QDateTime * dt,const char * strmemname);
    void UpdatePlanTraceRight(const char * strdata,const unsigned int nSize,const unsigned int index, \
                      const QDateTime * dt,const char * strmemname);
    /********ShareMem section END*******/

    /********Json Frame Data Section Start *******/
    QJsonObject fillPoseData();
    //填充障碍物数据
    QJsonObject fillObsData();
    //填充障碍物预瞄点
    QJsonObject fillTrackPoint();
    //填充站该无标签数据
    QJsonObject fillObsLabel();
    //填充预测轨迹数据
    QJsonObject fillTrajectory();
    //填充车辆预瞄轨迹数据
    QJsonObject fillVehTrajectory();
    //填充序列曲线数据
    QJsonArray fillTimeSeries();
    QJsonObject fillPrimitives();
    QJsonObject fillPrimitivesTest();
    QJsonObject fillLidarPC();
    QJsonObject fillMapTrace();
public:
    QJsonObject fillFrame();
    /********Json Frame Data Section END *******/

};

#endif // DATACLUSTER_H