#pragma once
/*
* 中央决策大脑
*/

#ifndef _IV_DECITION_BRAIN_
#define _IV_DECITION_BRAIN_

#include <common/boost.h>
#include <common/gps_type.h>
//#include <control/controller.h>
//#include <control/can.h>
#include <perception/eyes.h>
#include <decision/decition_maker.h>
//#include <decition/decition_executer.h>
#include <decision/decition_voter.h>
#include <decision/decide_gps_00.h>
#include <decision/decide_line_00.h>
#include <decision/adc_tools/compute_00.h>
#include <perception/sensor.h>
#include <perception/sensor_camera.h>
#include <perception/sensor_gps.h>
#include<perception/sensor_lidar.h>
#include<perception/sensor_radar.h>
//#include <server/carcalling.h>
//#include "adcivstatedb.h"

//#include "decition/vehiclestate_type.h"
#include "common/hmi_type.h"
#include "common/platform_type.h"
#include"common/gps_type.h"

#include <QMutex>
#include <QTime>
#include <memory>

#include "brainstate.pb.h"
#include "decition.pb.h"
#include "mapreq.pb.h"
#include "chassis.pb.h"
#include "hmi.pb.h"
#include "radio_send.pb.h"
#include "ivlog.h"
#include "formation_map.pb.h"
#include "vbox.pb.h"
#include "v2x.pb.h"
#include "ultrasonic.pb.h"

#include "fanyaapi.h"

namespace iv {
	namespace decision {
		class BrainDecition
		{
		public:
			BrainDecition();
			~BrainDecition();


            void inialize();/* 初始化*/


            bool loadMapFromFile(std::string fileName);/* 加载地图*/
			bool loadMapFromFile2(std::string fileName);
			bool loadMapFromFile3(std::string fileName);
			bool loadMapFromFile4(std::string fileName);


            void start();/* 启动大脑*/
			void stop();	//关闭

			std::vector<iv::GPSData> navigation_data;	//导航数据，GPS结构体数组
			std::vector<iv::GPSData> navigation_data2;	//导航数据，GPS结构体数组2
			std::vector<iv::GPSData> navigation_data3;	//导航数据，GPS结构体数组3
			std::vector<iv::GPSData> navigation_data4;	//导航数据，GPS结构体数组4
			std::vector<iv::ObsRadar> radar_data;
			std::vector<iv::ObsRadar> lidar_data;
			std::vector<iv::ObsRadar> camera_data;
		/*	std::vector<std::vector<iv::GPSData>> mapsL;
			std::vector<std::vector<iv::GPSData>> mapsR;*/

            double decision_period = 0.0;
            double look1 = 0.0;
            double look2 = 0.0;
            double look3 = 0.0;
            double look4 = 0.0;
            double look5 = 0.0;
            double look6 = 0.0;
            double look7 = 0.0;

            void UpdateMap(const char * mapdata,const int mapdatasize);
		private:
		//	iv::perception::Eyes* eyes;							//眼睛
 //           iv::carcalling::carcalling* carcall;
			iv::perception::Eyes* eyes;
			iv::decision::DecitionMaker* decitionMaker;			//决策器
			iv::decision::DecitionVoter* decitionVoter;			//决策仲裁 判断器
//			iv::decition::DecitionExecuter* decitionExecuter;	//决策执行器

            iv::decision::DecideGps00* decitionGps00;			//决策器
              iv::decision::DecideLine00* decitionLine00;

//			boost::shared_ptr<iv::control::Controller> controller;	//实际车辆控制器

			boost::thread* thread_run;
			
			iv::ObsLiDAR obs_lidar_;		//激光雷达障碍物
			iv::ObsRadar obs_radar_;		//毫米波雷达障碍物
			//iv::ObsCamera obs_camera_;		//摄像头障碍物
			iv::CameraInfoPtr obs_camera_;
//			iv::GPSData gps_data_;			//gps 惯导数据
			iv::LidarGridPtr obs_lidar_grid_;//激光雷达网格化
            iv::LidarGridPtr old_obs_lidar_grid_;//激光雷达网格化
            iv::TrafficLight trafficLight;
            //iv::StationCmd   stationCmd;
            int lastMode;
            bool lastPause;

			void run();	//实际执行逻辑

            void * mpamapreq;
            void * mpa;
            void * mpvbox;
            QMutex mMutexMap;

            void * mpaDecition;
            void * mpaVechicleState;
            void * mpaToPlatform;
            void * mpaPlanTrace;
            void * mpaObsTraceLeft;
            void * mpaObsTraceRight;


            void ShareDecition(iv::decision::Decition decision);
            void ShareBrainstate(iv::brain::brainstate xbs);

        private:
            void * mpaPAD;
            void * mpaHMI;
            void * mpaPlatform;
            void *mpaGroup;
            void * mpmapChangeSig;
            void * v2x;
            void * ultra;
            std::string mstrmemmap_index;

            int mnOldTime;
            QTime mTime;
            double mfSpeedLast;
            double mfVehSpeedLast;


        public:
            void UpdatePAD(const char *pdata, const int ndatasize);
            void UpdateHMI(const char * pdata,const int ndatasize);
            void UpdatePlatform(const char * pdata,const int ndatasize);
            void UpdateGroupInfo(const char * pdata,const int ndatasize);
            void UpdateSate();
            void UpdateVbox(const char * pdata,const int ndatasize);
            void Updatev2x(const char * pdata,const int ndatasize);
            void Updateultra(const char * pdata,const int ndatasize);

        private:
//            Adcivstatedb * mpasd;
            void UpdateChassis(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
            void adjuseGpsLidarPosition();

            fanyaapi mmpcapi;

            bool mbUseExternMPC = false;
        };

    }
}

#endif // !_IV_DECITION_BRAIN_