#ifndef HCP2_H
#define HCP2_H
#include "all_head.h"


extern VehicleStatus back_car;

void formationcontrol(VehicleStatus Master,VehicleStatus Slave,VehicleStatus *formationD,unsigned char controlMode);

enum ins550DecodeType
{
  i16 = 1,i32 = 2,u8 = 3,u32 = 4
};
void Listen_gpsimu(const char * _strdata,const unsigned int _nSize,const unsigned int _index,const QDateTime * _dt,const char * _strmemname);
class radio : public QThread
{
    Q_OBJECT
public:
    QByteArray mserial_send_data;
    iv::gps::gpsimu mgpsimu_mem_data;
    CarStatusData * mcar_status_data;

    radio(const char * struartdev,const char * strmsgradio_name_send, const char * strmsgradio_car_id, \
          const char * strmemgps, const char * strmemmap_index, const char * strcollision_index);
    ~radio();

private slots:
    void onTimer();
    void onTimerServer();
    void receiveData();

private:
    bool mbSerialOpen;
    QSerialPort *m_serialPort_Radio;
    int mnNotRecvCount;
    qint64 mnLastOpenTime;
    QString mstrRadio;
    uint8_t mcar_id;
    uint8_t mcollision_point;//碰撞点
    QByteArray mserial_recv_data;
    iv::radio::radio_send mradio_protobuf_send;
    iv::formation_map_index::map mmap_protobuf_index;
    void * mpmem_radio_send_addr = nullptr; //电台发送给brain数据地址
    void * mpmem_radio_gps_addr = nullptr; //电台接收brain数据地址
    void * mpmem_map_addr = nullptr;
    void * mpmem_collisionIndex_addr = nullptr;
    qint64 mnLastServerDataTime;
    QTime mTime;
    bool mserver_status;
    int virtual_gps_index_counter;
    int mset_cmd_mode;
    double mcar_control_speed;
    int mserver_map_index;
    int mcar_map_index;
    int micur_maptrace_index;
    bool mbRunPause;
    QVector<std::string> mvmap_name;

    void run();
    bool serialPortInit(const char * struartdev);
    bool preprocData();
    void radioServerDataDecode();
    void radioServerDataDecodeSen(const uint8_t *_data);
    bool checkSum(const uint32_t _index);
    void protoMsgSend();
    void mapProtoMsgSend();
    void serialData_Decode(QByteArray rx_data);
    void mapInit();
    void recvCurMapIndex(const char * _strdata,const unsigned int _nSize,const unsigned int _index,const QDateTime * _dt,const char * _strmemname);//从maptrace监听当前map index

    void recvBrainCMD(const char *_strdata, const int _nSize,const unsigned int _index,const QDateTime * _dt,const char * _strmemname);

};

#endif // p900_H