#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 "IrisSensor_Gas_P0.h"
#include "DataFileManager.h"
#include "MainConfigParser.h"

using namespace  ZZ_DATA_DEF::M300RTK;
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;

	M300RTKDataFrame m_struM300RTKDataFrame;
	GSDataFrame      m_struGSDataFrame;
	UASDataFrame     m_struUASDataFrame;

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

	VehicleController m_ctrlVehicle;

	DataFileManager   m_ctrlData;

	IrisSensor_Gas_P0 m_ctrlGasSensor;
	IrisSensor_WDA_P0 m_ctrlWindSensor;
public:
	int SetupContext();
	int StartUp();
private:
	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();
};