Cockpit-cpp/EgoQt/EgoDLL/EgoWindow.h

#pragma once
#include "api.h"
#include "message_queue.h"
#include "PCANBasic.h"

#define WM_NOTIFY_REP WM_APP+1
#define WM_NOTIFY_ANSWER WM_APP+2
//#define WM_NOTIFY_LEAVE WM_APP+3
#define WM_NOTIFY_CANDIDATE WM_APP+4
#define WM_NOTIFY_OFFER  WM_APP+5
#define WM_ASK_PING  WM_APP+6
#define WM_ASK_CHANNEL  WM_APP+7
#define WM_ASK_VIDEOREQ  WM_APP+8
class CPeerConnection;
class IRender;
class CEgoClient;
class CCarSim;
class CUdpSensor;
class CControlSensor;

enum ControlState
{
    Check,
    Process,
};

class CEgoWindow : public CMessageQueue
{
public:
    CEgoWindow(CEgoClient* _egoclient,IRender * render,RenderPosition pos);

    //启动窗口
    virtual void Start() override;

    //处理，可能是处理缓存区数据的
    virtual void Process(CIOBuffer* pBuffer) override;

    //停止
    virtual void Stop() override;

    //空闲状态
    virtual void OnIdle() override;

    //发送消息，向窗口发送消息
    void PostMessage(int32_t type, int64_t l = 0, int64_t r = 0);

    //可能用于设置对等体标识
    void SetPeer(int32_t peer);
    //void CreateVideoReq();
    //void DelayNextVideoReq();
    //void DelayDataChannel();
    //void DelayStartPing();

    //发送数据
    void SendData(CIOBuffer& pBuffer);

    //可能用于设置对等体通知
    void SetPeerNotify();
    //virtual void WriteCanMessage(std::unordered_map<int32_t, cannet_frame>& node, bool bLidar) override;
    int32_t GetSteerAngle();
    //接收视频流数据，接入pbuffer接入函数
    void OnNotifyRep(int32_t peer);

    void OnNotifyAnswer(CIOBuffer* pBuffer);
    void OnNotifyLeave();
    void OnNotifyCandidate(CIOBuffer* pBuffer);
    void OnNotifyOffer(CIOBuffer* pBuffer);

    //这可能是帧回调函数
    static  void FrameCallback(void* user_data,
                               const uint8_t* yptr, int32_t strideY,
                               const uint8_t* uptr, int32_t strideU,
                               const uint8_t* vptr, int32_t strideV,
                               const int32_t stride, const int frame_width,
                               const int frame_height);

    //可能是ARGB32帧准备函数
    void OnArgb32FrameReady(const uint8_t* yptr, int32_t strideY, const uint8_t* uptr, int32_t strideU, const uint8_t* vptr, int32_t strideV, const int32_t stride, const int frame_width, const int frame_height);

    //设置窗口尺寸
    void SetSize(int32_t width, int32_t height);

    //视频请求函数，用于处理视频请求
    void OnAskVideoReq();

    //数据通道请求函数，用于处理数据通道请求
    void OnAskDataChannel();
    void OnAskPing();
    void StopPing();
    ControlState GetControlState();
    void SetControlState(ControlState state);
    CEgoClient* GetEgoClient();
    void SetReady(bool b);

    //显示雷达函数，用于显示雷达数据
    void DisplayRadar(int32_t radar0, int32_t radar1, int32_t radar2, int32_t radar3, int32_t radar4, int32_t radar5, int32_t radar6, int32_t radar7, int32_t radar8);


    void DisplayPing(int32_t temp,double temp1);
    void DisplayStatue(FeedData data);
    void WriteStatue(TPCANMsg* CANMsg);
    void WriteCan(CIOBuffer* pBuffer);

private:
    void InitPeerConnection(int32_t peer);
    void SetRenderWindow(int32_t width, int32_t height);

private:
    CControlSensor* _controlSensor;
    CEgoClient* _client;
    std::unique_ptr<CPeerConnection> _peerconnection;
    int32_t _peer;
    RenderPosition _pos;
    BITMAPINFO bmi_;
    //SocketClient* _client;
    bool start_;
    //bool _channelcreated;
    //std::mutex buffer_lock_;
    std::unique_ptr<uint8_t> image_;
    std::unique_ptr<uint8_t> _rotate;
    //std::thread _delayThread;
    IRender* _render;
    ControlState _control;

    //std::unique_ptr<IPeerNotify> _peerNotify;

};