#pragma once

#include <iostream>
#include <fstream>

#include "dji_typedef.h"
#include "dji_core.h"
#include "dji_waypoint_v2.h"

#include "ConfigParser_DJI.h"
#include "pch.h"

//#include "ConfigParser_M300RTK.h"
#include "Widget_Nikira.h"
#include "ZZ_Types.h"
using namespace std;
using namespace ZZ_DATA_DEF::DJI;
//using namespace ZZ_DATA_DEF::MainConfig;

class VehicleController :public QObject
{
	Q_OBJECT
public:
	VehicleController(QObject* parent = nullptr);
	virtual ~VehicleController();

public:
	static int m_siFlagIsPumpWorking;
	static int m_siFlagIsStartCaptureSignalEmitted;
	static VehicleController* spCaller;
	static char m_scCaptureMode;
	SensorPort        m_struSensorPort;
private:
	///////////Config need modify
	ZZ_ConfigParser_M350RTK m_clsConfigParser;
	AppRegInfo        m_struAppRegInfo;
	HardwareInfo      m_struHardwareInfo;
	//ZZ_ConfigParser_M300RTK m_clsConfigParser;
	ZZ_Widget_Nikira       m_clsWidget;

	//M300RTKSettings   m_struM300RTKSs;
	//AppRegInfo        m_struAppRegInfo;
	//HardwareInfo      m_struHardwareInfo;
	//UIConfig          m_struUIConfig;

	int m_iFlagIsVehicleTakeoff;
	int m_iFlagIsVehicleCapturing;
	int m_iFlagIsCaptureModeInited;

	float m_fHeightOfHomePoint_BM;
public:
	/// test func Do Not Call
	static T_DjiReturnCode DjiTest_FcSubscriptionReceiveFlightStatusCallback(const uint8_t* ccData, uint16_t sDataSize,const T_DjiDataTimestamp* tDjiTimestamp);
	static T_DjiReturnCode DjiTest_FcSubscriptionReceiveHeightCallback(const uint8_t* data, uint16_t dataSize,const T_DjiDataTimestamp* timestamp);

	/// callback func to monitor flight status
	static T_DjiReturnCode ZZ_DjiWaypointV2EventCallback(T_DjiWaypointV2MissionEventPush eventData);
public:
	/// call First
	int Initialize();
	int SetupEnvironment();
	/// call Seconde
	int StartupPSDK_M350RTK();

	///call to save Settings
	int UpdateUIConfig();

	/// data call
	int GetOneDataFrame(M350RTKDataFrame &M350RTKDataFrame);
private:
	/// 
	int SetupMessagePipe();
	///
	int SetupWidget();
	///
public:///for test
	int InitSystemParams();
	int SetupSubscriptions();
	///
public:///for test
	int SetupWaypointStatusCallback();
	///
	
	///
	int LoadUserAppInfo(T_DjiUserInfo* struDjiUserInfo);
	static T_DjiReturnCode DjiUser_PrintMessage(const uint8_t* data, uint16_t dataLen);
signals:
	int Signal_StartCapture();
	int Signal_StopCapture();

	void Signal_UpdateVehicleMessage(QString qstrMessage);
public slots:
	int Slot_OnChangeCaptureMode(char cMode);
	///for test
	int Slot_TestStartCapture();
	int Slot_TestStopCapture();
};