#ifndef IVDECISION_H
#define IVDECISION_H

#include "ivmodule.h"

#include "modulecomm.h"

#include "gps_type.h"

#include "gpsimu.pb.h"

#include "radarobjectarray.pb.h"

#include <QMutex>

#include <memory>

namespace iv {

class ivdecision : public ivmodule
{
public:
    ivdecision();

public:
    virtual void modulerun();


public:
    virtual void rundecision() = 0;
    virtual void sharemsg() = 0;

private:
    std::string strgpsmsgname = "hcp2_gpsimu";
    std::string strlidarmsgname = "lidar_obs";
    std::string strradarmsgname = "radar";
    std::string strmapmsgname = "tracemap";
    std::string strmobileyemsgname = "mobileye";

private:
    void * mpagpsmsg;
    void * mpalidarmsg;
    void * mparadarmsg;
    void * mpamapmsg;
    void * mpamobileyemsg;

private:
    void UpdateGPSMsg(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    void UpdateRADARMsg(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);

private:

    iv::GPSData mNowGPS;
    std::shared_ptr<iv::gps::gpsimu> mGPSIMUptr = 0;
    qint64 mnGPSUpdateTime = 0;
    QMutex mMutexGPS;

    std::shared_ptr<iv::radar::radarobjectarray> mRADAR = 0;
    qint64 mnRADARUpdateTime = 0;
    QMutex mMutexRADAR;



private:
    const qint64 mnNewThresh = 1000; //3 seconds


public:
    bool GetGPS(iv::GPSData & xGPSData);
    bool GetRADAR(std::shared_ptr<iv::radar::radarobjectarray> & xRADAR);
//    void GetLidarPtr();
//    void GetRadar();
//    void GetMap();
//    bool IsMapUpdate();
//    void GetMobileye();

};

}

#endif // IVDECISION_H