#pragma once
#ifndef _IV_CONTROL_CAN_
#define _IV_CONTROL_CAN_
#include <control/controlcan.h>
#include <common/boost.h>
#include <common/car_status.h>
#include <boost/serialization/singleton.hpp>
#include <common/obstacle_type.h>
#include <control/mobileye.h>
#ifdef WIN32
#include <control/can_card.h>
#endif

//#define USE_MOBILEYE

namespace iv {
    namespace control {
        class CanUtil : public boost::noncopyable
        {
        public:
            CanUtil();
            ~CanUtil();

            void openCanCard();
            void closeCanCard();
            void receive();
            void send();

            void initial();
            void pack_command();

            void receive_radar();	//毫米波雷达接收数据线程执行方法

#ifdef USE_MOBILEYE
            void receive_mobileye();
#endif

            /* 获取毫米波雷达传输数据*/
            void getRadarData(iv::ObsRadar & obs_radar);
            //zsl 2018.06.19
            void Ui_GetRadarDate(iv::ObsRadar & obs_radar);
        //	void Ui_GetRadarDate(iv::ObsRadarPointer & obs_radar);

            bool did_radar_ok();
            void startsend(bool start_or_stop);
            void set_trumpet_on();
            void set_trumpet_off();
            void set_handbrake_on();
            void set_handbrake_off();

            void impl_0x700(VCI_CAN_OBJ receivedata);
            void impl_0x737(VCI_CAN_OBJ receivedata);
            void impl_0x738(VCI_CAN_OBJ receivedata);
            obstacle_data_a impl_0x739(VCI_CAN_OBJ receivedata);
            obstacle_data_b impl_0x73a(VCI_CAN_OBJ receivedata);
            obstacle_data_c impl_0x73b(VCI_CAN_OBJ receivedata);
            void impl_0x669(VCI_CAN_OBJ receivedata);
            void impl_0x766(VCI_CAN_OBJ receivedata);
            void impl_0x767(VCI_CAN_OBJ receivedata);
            void impl_0x768(VCI_CAN_OBJ receivedata);
            void impl_0x769(VCI_CAN_OBJ receivedata);
            next_lane_a impl_0x76c(VCI_CAN_OBJ receivedata);
            next_lane_b impl_0x76d(VCI_CAN_OBJ receivedata);
            void impl_0x76a(VCI_CAN_OBJ receivedata);
            void impl_0x76b(VCI_CAN_OBJ receivedata);

            void obs_print(std::vector<obstacle_data_a> obstacleStatusA, std::vector<obstacle_data_b> obstacleStatusB, std::vector<obstacle_data_c> obstacleStatusC);

            bool is_stop = false;
            bool is_trumpet_duang = false;
            bool remotecontrol_is_stop = false;
            bool remotecontrol_is_start = false;
        private:
            boost::shared_ptr<boost::thread> thread_receive;	//接收控制板数据线程
            boost::shared_ptr<boost::thread> thread_radar_receive;	//接收毫米波雷达数据线程

            boost::shared_ptr<boost::thread> thread_mobileye_receive;   //mobileye

            boost::shared_ptr<boost::thread> thread_send;		//发送数据线程 每10毫秒发送一次
            iv::ObsRadar obs_radar1;
            iv::ObsRadar obs_radar_;		//毫米波雷达障碍物数据
            iv::ObsRadar obs_radar_ui;		//专门用来给GUI读毫米波雷达的数据
            bool obs_find_flag = false;		//采集内容标志位，有内容就是true


            boost::mutex mutex_;
#ifdef WIN32
            HINSTANCE  m_hDLL;//用来保存打开的动态库句柄


                        LPVCI_OpenDevice VCI_OpenDevice; //接口函数指针
                        LPVCI_CloseDevice VCI_CloseDevice;
                        LPVCI_InitCan VCI_InitCAN;
                        LPVCI_ReadBoardInfo VCI_ReadBoardInfo;
                        LPVCI_ReadErrInfo VCI_ReadErrInfo;
                        LPVCI_ReadCanStatus VCI_ReadCanStatus;
                        LPVCI_GetReference VCI_GetReference;
                        LPVCI_SetReference VCI_SetReference;
                        LPVCI_GetReceiveNum VCI_GetReceiveNum;
                        LPVCI_ClearBuffer VCI_ClearBuffer;
                        LPVCI_StartCAN VCI_StartCAN;
                        LPVCI_ResetCAN VCI_ResetCAN;
                        LPVCI_Transmit VCI_Transmit;
                        LPVCI_Receive VCI_Receive;
                        LPVCI_GetReference2 VCI_GetReference2;
                        LPVCI_SetReference2 VCI_SetReference2;
                        LPVCI_ResumeConfig VCI_ResumeConfig;
                        LPVCI_ConnectDevice VCI_ConnectDevice;
                        LPVCI_UsbDeviceReset VCI_UsbDeviceReset;
                        LPVCI_FindUsbDevice VCI_FindUsbDevice;
#endif



            DWORD m_devtype = 4;//USBCAN2类型号
            DWORD m_devind = 0;		//can卡设备号  第一个插入的是0  第二个是1
            DWORD m_cannum = 0;		//can通道号
            DWORD m_cannum_radar = 1;	//毫米波雷达can通道号

#ifdef USE_MOBILEYE
             DWORD m_devindmob = 1;
#endif

            BYTE m_sendtype = 0;
            BYTE m_frameflag = 0;
            BYTE m_frameformat = 0;

            bool send_connect = false;
            bool is_repeat = false;
            int m_connect = 0;

        };
        typedef boost::serialization::singleton<iv::control::CanUtil> CanUtilSingleton;
    }
}

#define ServiceCanUtil iv::control::CanUtilSingleton::get_mutable_instance()
#endif // !_IV_CONTROL_CAN_