#pragma once
#include <iostream>
#include <fstream>
#include <atomic>
#include "dji_typedef.h"
#include "dji_core.h"

#include "pch.h"

#include "VehicleController.h"
#include "IrisSensor_WDA_P0.h"
#include "DataFileManager.h"
#include "ConfigParser_DJI.h"
#include "CCtrlNikiraPMA.h"

using namespace  ZZ_DATA_DEF::DJI;
using namespace  ZZ_DATA_DEF::UA_SENSOR;
using namespace  ZZ_DATA_DEF::CH4_GAS_SENSOR;
//using namespace  ZZ_DATA_DEF::CO2_GAS_SENSOR;
//using namespace  ZZ_DATA_DEF::UA_SENSOR;
//using namespace  ZZ_DATA_DEF::MainConfig;

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

private:
	QTime lastTime;
	QTimer m_clsCapTimer;

	int iFlagIsPathGenerated;

	//MiscControls      m_struMiscCtrls;
	//M300RTKSettings   m_struM300RTKSs;
	//SensorPort        m_struSensorPort;

	M350RTKDataFrame m_struM350RTKDataFrame;
	//M300RTKDataFrame m_struM300RTKDataFrame;
	//GSDataFrame      m_struGSDataFrame;
	UASDataFrame     m_struUASDataFrame;
	NikiraDataFrame  m_struGasDataFrame;

	double m_dRotationMatrix[9];
	float m_fTempWindVecX, m_fTempWindVecY, m_fTempWindVecZ;
	float m_fTempFixedWindVecX, m_fTempFixedWindVecY, m_fTempFixedWindVecZ;
public:
	atomic<int> m_iFlagCaptureStatus;
private:
	VehicleController m_ctrlVehicle;

	DataFileManager   m_ctrlData;

	CtrlNikiraPMA     m_ctrlGasSensor;
	IrisSensor_WDA_P0 m_ctrlWindSensor;
public:
	int SetupContext();
	int StartUp();
private:
	//int StartDataGrab();
	int SetupMessagePipe();
	int GetData();
	int WindSensorCorrection();
	int QuaternionToRotationMatrix();
	int ConvertWindData();
	int RotateWindVec();
	int FormFixedWindData();
signals:
	void Signal_UpdateVehicleMessage(QString qstrMessage);
public slots:
	void OnTestTimer();
	int OnTimerCapture();
	int Slot_StartCapture();
	int Slot_StopCapture();
};