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

//表示传感器数据
enum  Sensor_Collection
{
    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
};
/*
舱端车辆控制
下发指令到车端
*/
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);
    bool _automous = true;

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;

    /*
    bool _er_enabling = false;
    bool _er_motoring = false;
    bool _er_gear = false;
    bool _er_turnl = false;
    bool _er_turnr = false;
    bool _F1 = false;
    bool _F2 = false;
    bool _F3 = false;
    bool _F4 = false;
    bool _R1 = false;
    bool _R2 = false;
    bool _R3 = false;
    bool _R4 = false;
    bool _N1 = false;
    bool _N2 = false;
    bool _N3 = false;
    bool _N4 = false;
    bool _keycc = false;
    bool _keyC = false;
    bool _keyR = false;
    bool _switchF = false;
    bool _switchR = false;
    bool _startup=false;
    bool _horn = false; //喇叭
    bool _emergeny=false; //急停
    bool _colddown = false; //冷却
    bool _firewarning = false;
    bool _hyp = false; //液压使能
    bool _flight = false;
    bool _blight = false;
    bool _beamlight = false;
    bool _nearlight = false;
    bool _smalllight = false;
    bool _leftturn = false;
    bool _rightturn = false;
    bool _louver_open = false;
    bool _louver_close = false;
    bool _lock_on_off = false; //锁销
    bool _jar_on_off = false; //敲罐
    bool _park_lift = false;
    bool _chain_lift = false;
    bool _enabling = false;
    bool _emergency = false;
    bool _resume=false;
    int16_t _gear = 1;
    int16_t _accel = 0;
    int16_t _steer = 0;
    int16_t _flip = 0;
    int16_t _armL = 0;
    int16_t _armR = 0;
    */
    cannet_frame  frames[8];
    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;

};