#ifndef RSDRIVER_H
#define RSDRIVER_H
#include <thread>
#include <iostream>
#include <QUdpSocket>
#include <QNetworkDatagram>
#include <iostream>
#include <QMutex>
#include <QDateTime>
#include "rawdata.h"
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include "modulecomm.h"

namespace  lidar{

extern char gstr_hostip[256];
extern char gstr_port[256];


    struct {
      std::string frame_id; ///< tf frame ID
      std::string model;    ///< device model name
      int npackets;         ///< number of packets to collect
      double rpm;           ///< device rotation rate (RPMs)
      double time_offset;   ///< time in seconds added to each  time stamp
      bool start_from_edge;
    } config_;

    void getPacket(int n);

    int StartLidar_rs_m1();
    void StopLidar_rs_m1();

    class rsM1_Buf
    {
    private:
        char * mstrdata;
        int mnSize;  //Data SizeUse
        QMutex mMutex;
        int mIndex;
    public:
        rsM1_Buf()
        {
            mstrdata = new char[BK32_DATA_BUFSIZE];
            mIndex = 0;
            mnSize = 0;
        }
        ~rsM1_Buf()
        {
            delete mstrdata;
        }
        void WriteData(const char * strdata,const int nSize)
        {
            mMutex.lock();
            memcpy(mstrdata,strdata,nSize);
            mnSize = nSize;
            mIndex++;
            mMutex.unlock();
        }
        int ReadData(char * strdata,const int nRead,int * pnIndex)
        {
            int nRtn = 0;
            if(mnSize <= 0)return 0;
            mMutex.lock();
            nRtn = mnSize;
            if(nRtn >nRead)
            {
                nRtn = nRead;
                std::cout<<"lidar_rsM1 rsM1_Buf ReadData data nRead = "<<nRead<<" is small"<<std::endl;
            }
            memcpy(strdata,mstrdata,nRtn);
            mnSize = 0;
            if(pnIndex != 0)*pnIndex = mIndex;
            mMutex.unlock();
            return nRtn;
        }
    };
}


#endif // RSDRIVER_H