#ifndef EGOD_H
#define EGOD_H
#include "EgoInterface.h"
#include <QObject>
#include <QtGui>

Q_DECLARE_METATYPE(UserCamera);

class CEgoNotify : public QObject, public IEgoNotify {
  Q_OBJECT

public:
  void OnRobot(std::unique_ptr<UserCamera> &info) override;
  void OnSigin(bool bRet) override;
  void OnNotifyDel(int32_t peer) override;
  void OnNotifyRadar(int32_t r0, int32_t r1, int32_t r2, int32_t r3, int32_t r4,
                     int32_t r5,int32_t r6) override;
//  void OnNotifyIMU() override;
  void OnNotifyPing(int32_t value,double temp) override;
  void OnNotifyKickOff() override;
  virtual void OnNotifyMoveEnd(int32_t rid, WorkArea area, int32_t no) override;
  virtual void OnNotifyLeave(int32_t peer);
//     void OnEmergency(bool enable, bool motor, bool gear, bool turnl, bool turnR) override;
//     void OnAccel(int16_t accel, bool onoff) override;
//     void OnSteer(uint64_t steer) override;
//     void OnArm(int16_t flip, int16_t armL, int16_t armR, bool onoff) override;
    void OnNotifyFeed(const FeedData& data) override;
   // void OnLidarData(bool isLeft, bool isDense, int32_t seq, PointXYZI* data, int32_t length) override;
   // virtual void OpenFullView(const char*) override;
   // virtual void CloseFullView() override;
    virtual void OnNotifyVideoFail(int32_t uid) override;
    virtual void OnNotifyState(int32_t uid, UserState state) override;
    virtual void OnNDTPos(Position* pos) override;
    virtual void OnNotifyMoveRet(MoveDesc desc) override;
    virtual void OnNotifyEncode(int32_t left, int32_t right) override;

signals:
  void egoLoginResult(bool rst);
  void egoCarAppend(const UserCamera &info);
  void egoRadar(int32_t r0, int32_t r1, int32_t r2, int32_t r3, int32_t r4,
                int32_t r5,int32_t r6);
  void egoEncode(int32_t left, int32_t right);
  void egoFeedData(const FeedData& data);
  void egoPing(int32_t value, double temp);
  void egoNotifyDel(int32_t peer);
  void egoKickoff();
  void egoMoveEnd(int32_t peer, WorkArea area, int32_t no);
  void egoNotifyLeave(int32_t peer);
  void egoNotifyFail(int32_t uid);
  void egoNotifyState(int32_t uid, UserState);
  void egoMoveRet(MoveDesc desc);
  void egoPosition(float x, float y, float z);
private:
   // std::vector<UserCamera> _users;
};
#endif