#pragma once
#include "../common/comm.h"
#include "../common/notifier.h"
#include "../common/sensor_socket.h"
#include <thread>
#include <mutex>
#include <algorithm>
#include <string>
#include "EgoClient.h"
#include "PCANBasic.h"
class CEgoWindow;
class CMessageQueue;

/*
舱端车辆控制
软件接收下发指令到车端
*/
enum  Sensor_Collection :int32_t
{
	//发送给下位机的Pcan地址
	Sensor_None = 0x0,
	Sensor_181 = 0x1, //0x181
	Sensor_182 = 0x2, //0x182
	Sensor_183 = 0x4, //0x183
	Sensor_184 = 0x8, //0x184
	//Sensor_All = 0xF

	Sensor_185 = 0x10, //0x185
	Sensor_All = 0x1F

	/*
	Sensor_None = 0x0,
	Sensor_ER = 0x1, //0x181
	Sensor_Steer = 0x2, //0x185
	Sensor_Signal = 0x4, //0x281
	Sensor_Drive = 0x8, //0x381
    Sensor_Arm =0x10 ,//0x481
	//Sensor_Switch=0x20,
	Sensor_All = 0x1F
	*/
};
enum  OpSide
{
	Empty,
	Arm,
	Bucket
};
class CControlSensor
{
public:
	CControlSensor(CMessageQueue * window);
	bool Start();
	void Stop();
	void Notify(TPCANMsg& canmsg,uint64_t timestamp);
	void SetEngineRPM(int32_t rpm);
	ControlStatus CheckStatus();
	TPCANStatus SendCANMessage(TPCANMsg* CANMsg);
private:
	void Run();
	TPCANStatus ReadMessage();
	//TPCANStatus ReadMessageFD();
	void ReadMessages();

private:
	 
	CEgoWindow* _window;
	 
	Sensor_Collection _collection;
	
	TPCANHandle _handle=-1;
	bool _isFD;
	std::thread _thread;
	bool _run;
	int16_t _last_speed = 0xF000;
	int64_t _startup = 0;
	int32_t _rpm = 0;
	
	cannet_frame  frames[6];
	int32_t _old_steer = 0;
	uint64_t _old_timestamp = 0;
	bool isFront = false;
	bool isSliping = false;
	bool _remote_active = false;
	uint64_t _active_tick = 0;
	 
	 
 
};