#include <QDebug>
#include "DroneCheckConnRun.h"
#include "protocol/ByteUtilsLowBefore.h"
#include "QGCApplication.h"
#include "GDUDroneManager.h"
#include "GduCmdGenerator.h"
#include "GDUFlightInfo.h"
#include "protocol/ProtocolEnum.h"
#include "EasyLink/easylinkmanager.h"

DroneCheckConnRun::DroneCheckConnRun(QObject *parent) : QThread(parent)
{

}

void DroneCheckConnRun::setupSendDroneConnectionCmdBlock(SendDroneConnectionCmdBlock block)
{
    _sendBlock = block;
}

void DroneCheckConnRun::run()
{
    
    GDUFlightInfo *flightInfo = qgcApp()->toolbox()->gduDroneManager()->gduFlightInfo();
    GDUCmdGenerator *cmdGenerator  = qgcApp()->toolbox()->gduDroneManager()->cmdGenerator;
    EasyLinkManager *easyLinkManager = qgcApp()->toolbox()->easyLinkManager();

    while(true){
        QThread::msleep(1000);
        if(flightInfo->drone_connect_state != DroneConnState::DroneConn_None){
            continue;
        }
        QByteArray frameData = cmdGenerator->CmdsendNPSConnect().data;
        if(_sendBlock){
            _sendBlock(frameData);
        }else{
            easyLinkManager->writeCmdDataFull(frameData,QHostAddress("145.192.1.64"),7894);
            //qDebug() <<"write connect msg " << frameData.toHex();
        }
    }
}