#ifndef VEHICLE_CONTROL_H
#define VEHICLE_CONTROL_H

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

#include <iostream>
#include <memory>
#include <string>

#include <yaml-cpp/yaml.h>
#include <grpcpp/grpcpp.h>

#include "VehicleControl_service.grpc.pb.h"
#include "VehicleControl.grpc.pb.h"

#ifndef IV_MSGUNIT
#define IV_MSGUNIT

namespace iv {
struct msgunit
{
    char mstrmsgname[256];
    int mnBufferSize = 10000;
    int mnBufferCount = 1;
    void * mpa = nullptr;
    std::shared_ptr<char> mpstrmsgdata;
    int mndatasize = 0;
    bool mbRefresh = false;
    bool mbImportant = false;
    int mnkeeptime = 100;
};
}

#endif

using grpc::Channel;
using grpc::ClientContext;
using grpc::Status;

using org::jeecg::defsControl::grpc::VehicleControl; ///< service name

using org::jeecg::defsControl::grpc::ControlReply; ///< rpc fuction parameter and return
using org::jeecg::defsControl::grpc::UploadMapReply;
using org::jeecg::defsControl::grpc::CtrlModeReply;

class VehicleControlClient : public QThread{
    Q_OBJECT

public:
    VehicleControlClient(std::shared_ptr<Channel> channel);

    ~VehicleControlClient(void);

    std::string vehicleControl(void);
    void updateControlData(void);
    void dec_yaml(const char * stryamlpath);

protected:
    void run();

private:
    std::unique_ptr<VehicleControl::Stub> stub_;

    iv::msgunit shmRemoteCtrl;

    org::jeecg::defsControl::grpc::ShiftStatus shiftCMD = org::jeecg::defsControl::grpc::ShiftStatus::SHIFT_PARKING;
    double steeringWheelAngleCMD = 0;
    double throttleCMD = 0;
    double brakeCMD = 0;

    org::jeecg::defsControl::grpc::CtrlMode modeCMD = org::jeecg::defsControl::grpc::CtrlMode::CMD_AUTO; ///< update by slot function

public slots:
    void ctrlMode_Changed_Slot(org::jeecg::defsControl::grpc::CtrlMode ctrlMode);
};

class VehicleChangeCtrlModeClient : public QThread{
    Q_OBJECT

public:
    VehicleChangeCtrlModeClient(std::shared_ptr<Channel> channel);

    ~VehicleChangeCtrlModeClient(void);

    std::string changeCtrlMode(void);
    void updateCtrolMode(void);

protected:
    void run();

private:
    std::unique_ptr<VehicleControl::Stub> stub_;

    org::jeecg::defsControl::grpc::CtrlMode modeCMD = org::jeecg::defsControl::grpc::CtrlMode::CMD_AUTO;
    org::jeecg::defsControl::grpc::UseStatus useStatusCMD = org::jeecg::defsControl::grpc::UseStatus::ENABLING;//使用状态修改命令
    org::jeecg::defsControl::grpc::GPSPoint deactivatePosition; //停用站点
    double speedCMD = 0.0; //平台设定的期望运行速度
    org::jeecg::defsControl::grpc::NavSwitch navagationSwitch = org::jeecg::defsControl::grpc::NavSwitch::NAV_STOP; //开始-停止导航

signals:
    void ctrlMode_Changed(org::jeecg::defsControl::grpc::CtrlMode ctrlMode);
};

class VehicleUploadMapClient : public QThread{
    Q_OBJECT

public:
    VehicleUploadMapClient(std::shared_ptr<Channel> channel);

    ~VehicleUploadMapClient(void);

    std::string uploadMap(void);
    void updateMapPOIData(void);

protected:
    void run();

private:
    std::unique_ptr<VehicleControl::Stub> stub_;

    bool isNeedMap = false;
    std::string patrolPathID;
    QVector<org::jeecg::defsControl::grpc::MapPoint> POIPoints;

signals:
    void patrolPOI_Recieved(std::string pathID);

public slots:
    void uploadPath_Finished_Slot(std::string pathID);
};

#endif // VEHICLE_CONTROL_H