#ifndef IVDECISION_H
#define IVDECISION_H

#include "ivmodule.h"

#include "modulecomm.h"

#include "gps_type.h"
#include "obstacle_type.h"
#include "gpsimu.pb.h"
#include "radarobjectarray.pb.h"
#include "mobileye.pb.h"
#include "hmi.pb.h"
#include "decition.pb.h"
#include "vbox.pb.h"
#include "v2x.pb.h"
#include "ultrasonic.pb.h"
#include "brainstate.pb.h"
#include "radio_send.pb.h"
#include "chassis.pb.h"

#include <QMutex>

#include <memory>

namespace iv {

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

public:
    virtual void modulerun();


public:
    virtual int getdecision(iv::brain::decition & xdecition,iv::brain::brainstate & xbs) = 0;
    void sharemsg(iv::brain::decition & xdecition,iv::brain::brainstate & xbs);

private:
    std::string mstrgpsmsgname = "hcp2_gpsimu";
    std::string mstrlidarmsgname = "lidar_obs";
    std::string mstrradarmsgname = "radar";
    std::string mstrmapmsgname = "tracemap";
    std::string mstrmobileyemsgname = "mobileye";
    std::string mstrhmimsgname = "hmi";
    std::string mstrpadmsgname = "pad";
    std::string mstrp900msgname = "p900_send";
    std::string mstrv2xmsgname = "v2x";
    std::string mstrultramsgname = "ultra";
    std::string mstrvboxmsgname = "vbox";
    std::string mstrchassismsgname = "chassis";

    std::string mstrdecisionmsgname = "deciton";
    std::string mstrbrainstatemsgname = "brainstate";

private:
    void * mpagpsmsg;
    void * mpalidarmsg;
    void * mparadarmsg;
    void * mpamapmsg;
    void * mpamobileyemsg;
    void * mpahmimsg;
    void * mpapadmsg;
    void * mpap900msg;
    void * mpav2xmsg;
    void * mpaultramsg;
    void * mpavboxmsg;
    void * mpachassismsg;

    void * mpaDecition;
    void * mpaVechicleState;

private:
    void UpdateGPS(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    void UpdateRADAR(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    void UpdateLIDAR(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    void UpdateMAP(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    void UpdateMobileye(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    void UpdateHMI(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    void UpdateVbox(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    void Updatev2x(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    void Updateultrasonic(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    void Updatep900(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    void UpdatepChassis(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;

    std::shared_ptr<std::vector<iv::ObstacleBasic> > mlidar_obs;
    qint64 mnLIDARUpdateTime = 0;
    QMutex mMutexLIDAR;

    std::vector<iv::GPSData> mnavigation_data;	//导航数据，GPS结构体数组
    qint64 mnMAPUpdateTime = 0;
    QMutex mMutexMAP;

    std::shared_ptr<iv::mobileye::mobileye> mmobileye;
    qint64 mnmobileyeUpdateTime = 0;
    QMutex mMutexmobileye;

    std::shared_ptr<iv::hmi::hmimsg> mHMImsg;
    qint64 mnHMIUpdateTime = 0;
    QMutex mMutexHMI;

    std::shared_ptr<iv::vbox::vbox> mvboxmsg;
    qint64 mnvboxUpdateTime = 0;
    QMutex mMutexvbox;

    std::shared_ptr<iv::v2x::v2x> mv2xmsg;
    qint64 mnv2xUpdateTime = 0;
    QMutex mMutexv2x;

    std::shared_ptr<iv::ultrasonic::ultrasonic> multrasonicmsg;
    qint64 mnultrasonicUpdateTime = 0;
    QMutex mMutexultrasonic;

    std::shared_ptr<iv::radio::radio_send> mp900msg;
    qint64 mnp900UpdateTime = 0;
    QMutex mMutexp900;

    std::shared_ptr<iv::chassis> mchassismsg;
    qint64 mnchassisUpdateTime = 0;
    QMutex mMutexchassis;

private:
    const qint64 mnNewThresh = 1000; //1 seconds


public:
    bool GetGPS(iv::GPSData & xGPSData);
    bool GetRADAR(std::shared_ptr<iv::radar::radarobjectarray> & xRADAR);
    bool GetLIDARGrid(iv::LidarGridPtr & lidargridptr);
    bool GetLIDARObs(std::shared_ptr<std::vector<iv::ObstacleBasic> > & xlidar_obs);
    bool IsMAPUpdate(qint64 & nLastUpdateTime);
    bool GetMAP(std::vector<iv::GPSData> & navigation_data,qint64 & nLastUpdateTime);
    bool GetMobileye(std::shared_ptr<iv::mobileye::mobileye> & xmobileye);
    bool GetHMImsg(std::shared_ptr<iv::hmi::hmimsg> & xhmimsg);
    bool Getvboxmsg(std::shared_ptr<iv::vbox::vbox> & xvboxmsg);
    bool Getv2xmsg(std::shared_ptr<iv::v2x::v2x> & xv2xmsg);
    bool Getultrasonic(std::shared_ptr<iv::ultrasonic::ultrasonic> & xultramsg);
    bool Getp900(std::shared_ptr<iv::radio::radio_send> & xp900msg);
    bool Getchassis(std::shared_ptr<iv::chassis> & xchassismsg);

//    void GetLidarPtr();
//    void GetRadar();
//    void GetMap();
//    bool IsMapUpdate();
//    void GetMobileye();

};

}

#endif // IVDECISION_H