#ifndef TIME_MANAGER_H
#define TIME_MANAGER_H
#include "radarobjectarray.pb.h"
//#include "cameraobjectarray.pb.h"
#include "objectarray.pb.h"
#include "obstacles.pb.h"
#include "worker.h"
#include <memory>
#include <chrono>
#include <mutex>
#include <algorithm>


namespace iv {

class TimeManager: public Worker
{
public:
    typedef  iv::radar::radarobjectarray RadarDataType;
    typedef  iv::lidar::objectarray LidarDataType;
//    typedef  iv::vision::cameraobjectarray CameraDataType;
    typedef  iv::vision::ObstacleInfo VisionDataType;
    typedef  std::chrono::system_clock::time_point TimeType;
//    typedef  std::function<void(RadarDataType&, LidarDataType&,CameraDataType&)> DataCallback;

//    typedef  std::function<void(RadarDataType&,CameraDataType&)> RVCallback;

     typedef  std::function<void(RadarDataType&, LidarDataType&,VisionDataType&)> DataCallback;

     typedef  std::function<void(RadarDataType&,VisionDataType&)> RVCallback;


    TimeManager(const float hz);

    void SetDataCallback(DataCallback rlvcallback);
    void SetRVCallback(RVCallback rvcallback);

    void DoWork();

    void CacheRadarData(const iv::radar::radarobjectarray& radar_object_array);
    void CacheLidarData(const iv::lidar::objectarray& lidar_object_array);
//    void CacheCameraData(const iv::vision::cameraobjectarray& camera_object_array);
    void CacheCameraData(const iv::vision::ObstacleInfo& vision_object_array);

    void GetDataRLV(void);

    void GetDataRV(void);

private:
    std::mutex mutex_data_;


private:
    ///cache data
    std::vector<iv::lidar::objectarray> lidar_cache_;
    std::vector<iv::radar::radarobjectarray> radar_cache_;
    std::vector<iv::vision::ObstacleInfo> vision_cache_;

private:
    iv::lidar::objectarray lidar_objects_;
    iv::radar::radarobjectarray radar_objects_;
    iv::vision::ObstacleInfo vision_objects_;


static const int lidarCacheSize = 10;
static const int radarCacheSzie = 30;
static const int cameraCacheSzie = 20;

private:
    DataCallback data_call_back_;
    RVCallback  rv_call_back_;


};

}



#endif // TIME_MANAGER_H