#include "ivdecision_brain.h"


bool handPark;
long handParkTime;
bool rapidStop;
int gpsMissCount;
bool changeRoad;
double avoidX;
bool parkBesideRoad;
double steerSpeed;
bool transferPieriod;
bool transferPieriod2;
double traceDevi;


namespace iv {


ivdecision_brain::ivdecision_brain()
{
    mvehState = VehState::normalRun;
}


int ivdecision_brain::getdecision(brain::decition &xdecition)
{
    static qint64 nLastMapUpdate = 0;
    iv::GPSData now_gps_ins;
    if(GetGPS(now_gps_ins) == false)
    {
        return -1;   //No GPS Position
    }
    if(IsMAPUpdate(nLastMapUpdate))
    {
        GetMAP(mgpsMapLine,nLastMapUpdate);
        mbisFirstRun = true;
    }

    if(mbisFirstRun)
    {
        //Init
    }

    switch (mvehState) {
    case VehState::normalRun:
        return getdecision_normal(xdecition);
        break;
    default:
        break;
    }

    return -1000;//mode error.
}


int ivdecision_brain::getdecision_normal(brain::decition &xdecition)
{

    iv::decition::Decition gps_decition(new iv::decition::DecitionBasic);

    double obsDistance = -1;
    int esrLineIndex = -1;
    double lidarDistance = -1;
    int roadPre = -1;

    return 0;
}

}