#ifndef ADCINTELLIGENTVEHICLE_H
#define ADCINTELLIGENTVEHICLE_H

#include <QMainWindow>
#include <QtWidgets/QMainWindow>
#include <common/boost.h>
//#include <control/control_status.h>
//#include <control/can.h>
#include "ui_ADCIntelligentVehicle.h"
//#include <decition/brain.h>
//#include <control/can.h>
#include "look.h"
#include <common/car_status.h>
#include <qtimer.h>
#include <qpainter.h>
#include <QGraphicsView>
#include <QWheelEvent>
#include <QKeyEvent>
#include <QPoint>
#include <QPointF>
#include <qfiledialog.h>
#include <qmessagebox.h>
#include <QCloseEvent>
#include <qabstractscrollarea.h>
#include <QGraphicsItem>
#include <QKeyEvent>
#include <qpainter.h>
#include <QDebug>
#include <string>
#include <cassert>
#include <iostream>
#include <sstream>
#include <math.h>
#include <mobileye_info.h>

#include <QUdpSocket>
#include <QHostAddress>

#include <QTime>

#include <QSet>

#include <QtWebEngineWidgets/QtWebEngineWidgets>

#include "common/can_type.h"
#include "common/decition_type.h"
#include "common/vehiclestate_type.h"
#include "common/hmi_type.h"
#include "common/lidar.h"
#include "common/obstacle_type.h"
#include "common/constants.h"

#include "../../../src/decition/common/common/tracepointstation.h"

#include "modulecomm.h"

#include <QMutex>
#include <thread>

//#include <platform/platform.h>

#include "hmi.pb.h"
#include "gpsimu.pb.h"
#include "radarobjectarray.pb.h"
#include "decition.pb.h"
#include "brainstate.pb.h"
#include "canstate.pb.h"
#include "v2x.pb.h"
#include "mobileye.pb.h"
#include "ivlog.h"
#include "mapreq.pb.h"
#include "vbox.pb.h"
#include "fusionobject.pb.h"
#include "fusionobjectarray.pb.h"
#include "brainrunstate.pb.h"

extern iv::Ivlog * gIvlog;

#define USE_PAD_CTRL


class MyView : public QGraphicsView
{
    Q_OBJECT

public:
    MyView(QWidget *parent);
    qreal x, y, beishu;   //倍数
protected:
    void wheelEvent(QWheelEvent *event) Q_DECL_OVERRIDE;  //Q_DECL_OVERRIDE也就是c++的override   作用是防止写错虚函数：
    void mouseMoveEvent(QMouseEvent *event) Q_DECL_OVERRIDE;
    void mousePressEvent(QMouseEvent *event) Q_DECL_OVERRIDE;
    void mouseReleaseEvent(QMouseEvent *event) Q_DECL_OVERRIDE;
    void keyPressEvent(QKeyEvent *event) Q_DECL_OVERRIDE;
    void keyReleaseEvent(QKeyEvent *event) Q_DECL_OVERRIDE;

signals:
    void CtrlManual(bool bManual);


public:
    QSet<int> mPressKeys;
public Q_SLOTS:
    void zoomIn();  // 放大
    void zoomOut();  // 缩小
private:
    bool bottonstatus = false;
    QPoint myview_lastMousePos;

};


namespace Ui {
class ADCIntelligentVehicle;
}


struct packageHead
{
    unsigned char type;
    int size;
};
struct dataInfo    //与PAD通信结构体
{
    unsigned char is_run = 0;
    unsigned char is_mapLoad = 0;
    unsigned char is_initSuccess = 0;
    double speed;
    double accelerate;
    double brake;
    double swerve;
    double gps_lng;
    double gps_lat;
    double gps_head;
    double radarobs;
    double lidarobs;
    double obs;
    unsigned char RTKstatus;
    unsigned char radarStatus;
    unsigned char lidarStatus;
    unsigned char boche_status;

};


class DataToUI
{
public:
    struct packageHead mHead;
    struct dataInfo mInfo;
};


//Split Map to Some  Domain for quick find gps point for draw.
namespace iv {
struct MapPointDomain
{
public:
    int mxpos;
    int mypos;
    std::vector<iv::GPSData> mvectorgpsdata;
};
}


class ADCIntelligentVehicle : public QMainWindow
{
    Q_OBJECT

public:
    explicit ADCIntelligentVehicle(QWidget *parent = 0);
    ~ADCIntelligentVehicle();

signals:
    void otaversion(const char * strversion);

public slots:

    void savestabuyEditinfo(const QString &txt);
//    void on_pb_load_navigation_data_clicked();		//加载地图    当前没有实现
    void on_pb_start_all_clicked();					//启动无人驾驶
//    void on_pb_open_can_card_clicked();				//打开can
    void on_pb_auto_drive_mode_clicked();			//自动驾驶使能
    void on_pb_auto_braking_mode_clicked();			//自动刹车使能
    void on_pb_auto_accelerate_mode_clicked();		//自动油门使能
    void on_pb_auto_wheel_mode_clicked();			//自动方向盘使能
    void on_pushButton_clicked();
    void on_pb_speed_control_mode_clicked();		//速度控制模式使能

    void on_hs_braking_percent_valueChanged(int value);	//响应刹车压力改变
    void on_hs_accelerate_percent_valueChanged(int value);	//响应油门改变
    void on_hs_wheel_angle_valueChanged(int value);		//响应方向盘改变

//    void on_pushButton_2_clicked();    //打开地图采集器
    void on_pushButton_3_clicked();
    void on_pushButton_4_clicked();

    void on_timer_car_status_time_out();	//获取车辆状态定时器响应
    void on_timer_mobileye_info_time_out();
    virtual void paintEvent(QPaintEvent *);
    void timeoutslot();

    void onRecvUDP();
    void onStateTimer();
    void onStateTimerMap();
    void onStateTimer1();

    void onotaversion(const char * strversion);

protected:

    void keyPressEvent(QKeyEvent *event) Q_DECL_OVERRIDE;// 加/减键进行缩放
    void closeEvent(QCloseEvent *event);
private slots:
    void on_listWidget_clicked();

    void on_pushButton_5_clicked();

    void on_pushButton_6_clicked();

    void on_pushButton_7_clicked();

    void on_pushButton_8_clicked();

    void on_pushButton_9_clicked();

    void onTimerManual();

    void onCtrlManual(bool bCtrl);

    void on_pb_v2xEn_clicked();

    void on_pBtn_door_open_clicked();

    void on_pBtn_door_close_clicked();

    void on_pBtn_low_beam_open_clicked();

    void on_pBtn_low_beam_close_clicked();

    void on_pBtn_high_beam_open_clicked();

    void on_pBtn_high_beam_close_clicked();

private:
    Ui::ADCIntelligentVehicle *ui;
    /**************************************/
    QWebEngineView * mMapview;
    /**************************************/
    //    boost::shared_ptr<iv::decition::BrainDecition> brain;
    bool is_brain_running_flag_ = false;
    bool is_map_loaded_flag_ = false;
    bool is_can_opened_ = false;
    bool is_auto_drive_mode_enable_ = false;
    bool is_auto_braking_mode_enable_ = false;
    bool is_auto_accelerate_mode_enable_ = false;
    bool is_auto_wheel_mode_enable_ = false;
    bool is_3 = false;
    bool is_speed_control_mode_enable_ = false;
    bool is_show_enable = false;

    Look_decition *look_decition;
    Mobileye_info *mobileye_info;
    Qt::MouseButton m_translateButton;  // 平移按钮
    qreal m_translateSpeed;  // 平移速度
    qreal m_zoomDelta;  // 缩放的增量
    bool m_bMouseTranslate;  // 平移标识
    QPoint m_lastMousePos;  // 鼠标最后按下的位置
    qreal m_scale;  // 缩放值
    QTimer * timer_car_status;
    QTimer * timer_mobileye_info;
    qreal horizontalOffset;
    qreal verticalOffset;

    qreal scaleFactor;
    qreal currentStepScaleFactor;

    QImage *image,*image_small;
    QPainter *painter,*painter_small;
    MyView *myview,*myview_small;
    QTimer *timer;
    QGraphicsScene *scene,*scene_small;
    iv::ObsLiDAR Lidar_read;
    iv::ObsLiDAR Lidar_obsread;
    iv::ObsRadar RadarDate;
    double asd = 0.0;
    int load_counts = 0;

    void AutoStart();

    QUdpSocket msocksend;
    QUdpSocket msockrecv;
    QTimer mTimerState;
    QTimer mTimerStateMap;
    DataToUI mDataToUI;

    QTime mTime;
    int mnTimeLastUpdatePaint;

    void * mpa;
    QMutex mMutexNavi;
    std::vector<iv::GPSData> m_navigation_data;
    qint64 mnNaviUpdateTime = 0;

    bool mbBrainRunning = false;
    double mdecition_period = 0;

    QTime mTimeState;

    int mnTimeUpdateGPS= 0;
    int mnTimeUpdateRadar=0;
    int mnTimeUpdateDecition=0;
    int mnTimeUpdateVS=0;
    int mnTimeUpdateCANState=0;

    double mfSOC = 0.0;

    void * mpManualCtrl;
    bool mbManual= false;
    QTimer * mTimerManual;
    int mnCtrlValue[3];  //Acc Brake Gear  Acc 0-1000  Brake 0-1000 Gear -500 --- 500
    QTime mManualTime;
    int mnLastManualTime;

    void * mpafusiongpsimu;
    int64_t mnLastFusionGPSIMUUpdate = 0;


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

private:
    void * mpagpsimu;

public:
    void UpdateGPSIMU(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    unsigned int mv2xStEn = 0;
private:
    void * mparadar;
private:
    iv::radar::radarobjectarray mradararray;
    bool mbradarUpdate = false;
    QMutex mMutexRadar;
    void UpdateRADAR(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);

    void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname);
    void * mpachassis;

private:
    void * mpacanstate;
public:
    int mimobileyeState;
public:
    void UpdateCANState(const char * pdata,const int ndatasize);

private:
    void * mpaDecition;
public:
    void UpdateDecition(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);

private:
    void * mpaVechicleState;
public:
    void UpdateVehicleState(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);

    void UpdateBrainRunState(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);

private:
    void * mpaHMI;
/***********20200509****************/
public:
    void UpdatePlanTrace(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    void UpdatePlanTrace_left(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    void UpdatePlanTrace_right(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    std::vector<iv::TracePoint> m_plan,m_plan_left,m_plan_right;
    QMutex mMutexPlan,mMutexPlan_left,mMutexPlan_right;
private:
    void * mpaplantrace;
    void * mpaplantrace_left;
    void * mpaplantrace_right;
/**************************/
/**********20210429***********************/
public:
    void UpdateFusion(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    QMutex mMutexFusion;
private:
    iv::fusion::fusionobjectarray mfusionarray;
    bool mbfusionUpdate = false;
    void * mpafusion;
/*****************************************/

private:
    void * mpaLidar;

public:
    void UpdateOBS(std::shared_ptr<std::vector<iv::ObstacleBasic> > lidar_obs);
    void UpdateV2xStEn(unsigned int enable);
private:
    void * mp_v2xStSend;
    void ShareHMIMsg(iv::hmi::HMIBasic xhmi);

    iv::Ivlog * mpivlog;

    //     iv::platform::Client mplatform_client;

public:
    void * mpamapreq;   //请求地图
    void shareMapReqMsg();

private:
    void * mpaVbox;
public:
    void UpdateVbox(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);

private:
    QImage img,img2,img3,img4;
    QTimer mTimerState1;

private:
    void threadCalcDrawTrace();  //Thread for caluclate draw trace.
    void UpdateMapDomain(std::vector<iv::GPSData> & xvectorMap,std::vector<iv::MapPointDomain> & xvectorMapDomain,const int nDomainSize);
    std::vector<double> mDraw_x0,mDraw_y0,mDraw_x1,mDraw_y1,mDraw_x2,mDraw_y2;  //Save Draw Point
    QMutex mMutexDraw;

    int get_path_availspace(const QString & path);
    int mnHDDSpaceMB;

    void threadotacheck();
    bool mbotacheckclose = false;
    std::thread * mpthreadota;

};


#endif