#pragma once
#include "../common/comm.h"
#include "../common/notifier.h"
#include "../common/sensor_socket.h"
#include <thread>
#include <mutex>
class CEgoWindow;
class CMessageQueue;
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
};
class CControlSensor
{
public:
	CControlSensor(CMessageQueue * window);
	bool Start();
	void Stop();
	void Notify(TPCANMsg& canmsg,uint64_t timestamp);
	void SetEngineRPM(int32_t rpm);
	ControlStatus CheckStatus();
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 _automous = false;
	/*
	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; //À®°È
	bool _emergeny=false; //¼±Í£
	bool _colddown = false; //ÀäÈ´
	bool _firewarning = false; 
	bool _hyp = false; //ҺѹʹÄÜ
	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; //ËøÏú
	bool _jar_on_off = false; //ÇùÞ
	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[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;
	 
	 
 
};