Cockpit-cpp/ZjQt/EgoDLL/include/EgoInterface.h

#pragma once

#ifdef EGODLL_EXPORTS
#define EGODLL_API __declspec(dllexport)
#else
#define EGODLL_API __declspec(dllimport)
#endif
#include <stdint.h>
#include <memory>
#include <array>
#include "../common/comm.h"
struct PointXYZI  ///< user defined point type
{
	float x;
	float y;
	float z;
	uint8_t intensity;
};
struct Position
{
	float x;
	float y;
	float z;
	float rx;
	float ry;
	float rz;
	float rw;
};
/*
enum PageProp
{
	WorkPage1,
	WorkPage2,
	EngineParameterPage,
	CalibrationPage,
	WarningPage
};
*/
class IRender
{
public:
	virtual void OnRender(std::unique_ptr<uint8_t>& pBuffer, int32_t width, int32_t height) = 0;
	virtual void Empty() = 0;
};

/*
一个抽象接口类
类中定义的纯虚函数需要在其派生类中实现
*/
class IEgoNotify
{
public:
	
	virtual void OnRobot(std::unique_ptr<UserCamera>& info) = 0;
	virtual void OnSigin(bool bRet) = 0;
	virtual void OnNotifyDel(int32_t peer) = 0;
	virtual void OnNotifyKickOff() = 0;
	virtual void OnNotifyRadar(int32_t r0, int32_t r1, int32_t r2, int32_t r3, int32_t r4, int32_t r5,int32_t r6, int32_t r7) = 0;
	virtual void OnNotifyImu(float x, float y) = 0;
	virtual void OnNotifyEncode(int32_t left, int32_t right) = 0;
	virtual void OnNotifyLeave(int32_t peer) = 0;
	virtual void OnNotifyPing(int32_t value, double temp) = 0;
	virtual void OnNotifyState(int32_t uid, UserState state) = 0;
	virtual void OnNotifyVideoFail(int32_t uid) = 0;
	virtual void OnNotifyFeed(const FeedData& data) = 0;
	virtual void OnNotifyMoveEnd(int32_t rid, WorkArea area, int32_t no) = 0;
	virtual void OnNotifyMoveRet(MoveDesc desc) = 0;
	virtual void OnNDTPos(Position* pos) = 0;

	//add-wfg

	virtual void OnCautionLight(bool cautionLight) = 0;
	virtual void OnLightL(bool lightL) = 0;
	virtual void OnLightR(bool lightR) = 0;
	virtual void OnGearF(bool gearF) = 0;
	virtual void OnGearR(bool gearR) = 0;
	virtual void OnCarPark(bool carPark) = 0;
	virtual void OnBuzzerPlay(bool buzzerPlay) = 0;
	virtual void OnLightFront(bool lightFront) = 0;
	virtual void OnLightWork(bool lightWork) = 0;
	virtual void OnEmergency(bool emergency) = 0;

	//mqtt
	virtual void OnMqttData(cannet_frame* frames) = 0;


	//virtual void OpenFullView(const char* viewurl) = 0;
	//virtual void CloseFullView() = 0;
	/*
	virtual void OnEmergency(bool enable, bool motor, bool gear, bool turnl, bool turnR) = 0;
	virtual void OnAccel(int16_t accel,bool onoff) = 0;
	virtual void OnSteer(uint64_t steer) = 0;
	virtual void OnArm(int16_t flip, int16_t armL, int16_t armR, bool onoff) = 0;
	*/
};
enum ControlStatus
{
	Ok,
	GearNotN,
	Gear_D_d_1,
	BootStrap,//已加电
	Startup,//已启动
	Emergency,
	Steer,
	Throttle,
	Brake,
	ArmTriger,
	DircLightNotOff,//转向灯关闭

};
class IEgoControl
{
public:
	virtual void Login(std::string account, std::string pass) = 0;
	virtual void Start(std::array<IRender*, RenderPosition::ALL>& ar) = 0;
	virtual void ReqCarList() = 0;
	virtual void OnCarConnect(int32_t peer) = 0;
	virtual void OnCarLeave() = 0;
	virtual void OnMoveBegin(int32_t rid,WorkArea area, int32_t no) = 0;
	//virtual void SwitchDriver(int32_t id) = 0;
	virtual ControlStatus CheckStatus() = 0;
	virtual std::string GetAccount() = 0;
	virtual std::string GetPassword() = 0;
	virtual std::string GetName() = 0;
	//virtual bool IsAutoClose() = 0;

	//virtual void ChangeState(UserState state) = 0;
	virtual void ChangeState(int carID,UserState state) = 0;

	virtual void SetReady(bool b) = 0;
	//virtual void SetCurrentPage(PageProp prop) = 0;

};
 


EGODLL_API IEgoControl* GetEgoController(IEgoNotify* n);