#pragma once
#include "message_queue.h"
#include "api.h"
#define  WM_NOTIFY_CONNECTED WM_APP+100
class IEgoNotify;
class CEgoWindow;
class IRender;
#include "../common/sensor_socket.h"
#include "./include/EgoInterface.h"
#include "PCANBasic.h"
class CControlSensor;
class CCarSim;
class COutSim;
class CRadarSim;
 
class CLidarSim;
 
class CEgoClient : public INativeNotify
{
public:
	CEgoClient(IEgoNotify * C);
	void Login(std::string& account, std::string& pass);
	void OnCarConnect(int32_t peer);
	void OnCarLeave();
	void ReqCarList();
	void OnMoveBegin(int32_t rid, WorkArea area, int32_t no);
	void SwitchDriver(int32_t id);
	void ChangeState(UserState state);
	int32_t GetSteerAngle();
	//void SetCurrentPage(PageProp prop);
	//PageProp GetCurrentPage();
	void Start(std::array<IRender*, RenderPosition::ALL>& ar);
	void OnRadarData(int32_t r0, int32_t r1, int32_t r2, int32_t r3, int32_t r4, int32_t r5, int32_t r6, int32_t r7);
	void OnImuData(float x, float y);
	void OnEncodeData(int32_t left, int32_t right);
	void OnPingValue(int32_t value, double temp);
	void OnStopAck();
	//增加wfg
	void SendCanDate(TPCANMsg* CANMsg);
	void SetReady(bool b);
	std::string GetAccount() ;
	std::string GetPassword() ;
	std::string GetName();
	//bool IsAutoClose();
	ControlStatus CheckStatus();
	SocketClient* GetSocketClient();
	//virtual void Process(CIOBuffer* pBuffer) override;
	
	//传递所有车辆信息
	virtual void OnRobot(const RemoNet::Robot& robot) override;
	
	virtual void OnConnected(bool bRet) override;
	virtual void OnSigin(int32_t uid,bool bRet)override;
	virtual void OnVideoRep(bool ok,int32_t index, int32_t peer) override;
	virtual void OnVideoOffer(int32_t index, const char* type, const char* sdp) override;
	virtual void OnVideoAnswer(int32_t index, const char* type, const char* sdp) override;
	virtual void OnVideoCandidate(int32_t index, const char* candidate, int32_t sdp_mline_index, const char* sdp_mid) override;
	virtual void OnNotifyDel(int32_t peer, EgoType type) override;
	virtual void OnVideoLeave(int32_t peer, EgoType type) override;
	virtual void OnNotifyKick() override;
	virtual void OnMoveEnd(int32_t rid, WorkArea area, int32_t no) override;
	virtual void OnNotifyMoveRet(MoveDesc desc) override;
	virtual void OnNotifyState(int32_t rid, UserState state) override;
	void OnNDTPos(Position* pos);
	
	//当收到消息帧通知时,根据ChannelType来调用不同通道的处理函数
	virtual void OnMessageFrameNotify(ChannelType type, int16_t cmd, int16_t length, const void* data) override;
	
	//add-wfg
	void OnCautionLight(bool cautionLight);
	void OnLightL(bool lightL);
	void OnLightR(bool lightR);
	void OnGearF(bool gearF);
	void OnGearR(bool gearR);
	void OnCarPark(bool carPark);
	void OnBuzzerPlay(bool buzzerPlay);
	void OnLightFront(bool lightFront);
	void OnLightWork(bool lightWork);
	void OnEmergency(bool emergency);
	/// <summary>
	 
	/*
	
	
	void OnEmergency(bool enable, bool motor, bool gear, bool turnl, bool turnR);
	void OnAccel(int16_t accel, bool onoff);
	void OnSteer(uint64_t steer);
	void OnArm(int16_t flip, int16_t armL, int16_t armR, bool onoff);
	*/
	/// </summary>
	 
    
	//virtual void OnLidarData(bool isLeft, bool isDense, int32_t seq, PointXYZI* data, int32_t length) override;
	void OnFeedPage(FeedData& data);
 
private:
	std::unique_ptr<SocketClient>  _client;
	int32_t _carpeer;
	std::string _account;
	std::string _pass;
	std::string _accountText;
	std::string _passText;
	std::string _name;
	//bool _autoclose = false;
	IEgoNotify* _notify;
	bool  _connected;
	std::vector<std::unique_ptr<UserCamera> > _userInfo;
	CUpdateThread _updateThread;
	std::vector<std::unique_ptr<CEgoWindow>> _WindowArray;
	std::unique_ptr<CControlSensor> _can;
	std::unique_ptr<CCarSim> _carsim;
	std::unique_ptr<COutSim> _outsim;
	std::unique_ptr<CRadarSim> _radarsim;
 
	//std::unique_ptr<CLidarSim> _lidarsim;
	int32_t _uid = 0;
	int32_t _steer_angle = 0;

	 
	//PageProp _currentpage = PageProp::WorkPage1;
 
};