#ifndef SBGRECORDER_H
#define SBGRECORDER_H

#include <QtSerialPort/QSerialPort>
#include <QtSerialPort/QSerialPortInfo>

#include "sbgerrorcodes.h"
#include "sbgbuffer.h"
#include "sbglogparse.h"
#include "sbgcrc.h"

#include "utility_tc.h"


namespace sbgtc
{
    class SbgRecorder:public QObject
    {
        Q_OBJECT

    public:
        SbgRecorder();

        QByteArray merge(QByteArray sbgMessage);
        bool verify(int index,QByteArray sbgMessage);
        SbgErrorCode extractOneValidFrame(rawBuffer *pHandle, uint8_t *pMsgClass, uint8_t *pMsg, void *pData, size_t *pSize, size_t maxSize);
        SbgErrorCode sbgBinaryLogParse(SbgEComClass msgClass, SbgEComMsgId msg, const void *pPayload, size_t payloadSize, SbgBinaryLogData *pOutputData);
        void parseSbgMessage(QByteArray * sbgMessage);


        double calculateTimeDifferenceBetweenSystemAndSbg(SbgBinaryLogData logData);

        int getSbgState() const;

    private:
        //0:没有惯导可用串口;1:惯导对应的串口打开成功,但是波特率等参数设置失败;2:惯导对应的串口打开成功;3:正在采集;
        int m_iSbgState;

        QSerialPort * m_serial;
        bool m_bRecordControl;

        bool m_bIsSbgReady;
        bool m_bIsRecordHyperspecatralImage;
        bool m_bIsNAV_POSITION_MODE;
        bool m_bIsAccuracyLessThan7;
        bool m_bIsSyncSystemTimeBaseGpstime;

        uint32_t m_iSolutionMode;
        int m_iSolutionModeCounter;

        QString m_baseFileName;

    public slots:
        void openSerialPort();
        void closeSerialPort();

        void onSbgReady(double second,QString baseFileName);

        void startRecordSbg();
        void stopRecordSbg();

        void startRecordHyperspectral();
        void stopRecordHyperspectral();


    signals:
        void sbgReady(double second,QString baseFileName);
        void serialPortStatus(int);

        void sbgSolutionModeSignal(int);

        void sbgAccuracySignal(int, int);
    };

}

#endif // SBGRECORDER_H