#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>



#include <vtkActor.h>
#include <vtkGenericOpenGLRenderWindow.h>
#include <vtkLookupTable.h>
#include <vtkNamedColors.h>
#include <vtkNew.h>
#include <vtkPlatonicSolidSource.h>
#include <vtkPolyDataMapper.h>
#include <vtkProperty.h>
#include <vtkRenderWindow.h>
#include <vtkRenderer.h>
#include <vtkVersion.h>


#include <QSurfaceFormat>
#include <QVTKOpenGLNativeWidget.h>


#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/point_types.h>//各种格式的点的头文件
#include <pcl/io/pcd_io.h>
#include  <QKeyEvent>

#include "ars548recv.h"

#include "vtkCubeSource.h"

#if VTK_VERSION_NUMBER >= 89000000000ULL
#define VTK890 1
#endif


#define NUM_DET_MAX 800
#define NUM_OBJ_MAX 50

QT_BEGIN_NAMESPACE
namespace Ui {
class MainWindow;
}
QT_END_NAMESPACE

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    MainWindow(QWidget *parent = nullptr);
    ~MainWindow();

public:
     void resizeEvent(QResizeEvent *event);
     void keyReleaseEvent(QKeyEvent *event) Q_DECL_OVERRIDE;

signals:
     void detupdate();

private slots:

    void onTimer();

    void on_actionReset_Camera_triggered();

    void on_actionFull_Screem_triggered();

    void onDetUpdate();

    void on_actionAll_triggered();

    void on_actionObjectAll_triggered();

private:
    Ui::MainWindow *ui;

    boost::shared_ptr< pcl::visualization::PCLVisualizer > view;

    void DrawAxis();

    bool mbFull = false;

    ars548recv * mprecv;

private:
    void threaddet();
    void threadobj();
    bool mbThreadRun = true;
    std::thread * mpthreaddet;
    std::thread * mpthreadobj;

    iv::radar::radar4ddetectarray mdetarray;
    std::mutex mmutexdet;
    bool mbdetupdate = false;
    iv::radar::radar4dobjectarray mobjarray;
    bool mbobjupdate = false;
    std::mutex mmutexobj;

    std::vector<std::string> mvectordetname;

    vtkNew<vtkSphereSource> sphereSource[NUM_OBJ_MAX];
    vtkNew<vtkPolyDataMapper> mapper[NUM_OBJ_MAX];

    vtkNew<vtkCubeSource> detSource[NUM_DET_MAX];
    vtkNew<vtkPolyDataMapper> detmapper[NUM_DET_MAX];

};
#endif // MAINWINDOW_H