#ifndef GDUDRONEMANAGER_H
#define GDUDRONEMANAGER_H
#include <QObject>
#include <QJSValue>
#include "QGCToolbox.h"
#include "GDUDroneCmdRolver.h"
#include "GduCmdGenerator.h"
#include "FlyControlInfo.h"
#include "GDUFlightInfo.h"
#include "protocol/CmdResponse.h"
#include "protocol/zxcanceloperation.h"
#include "./tools/gduRouteFileHelper.h"
#include "./tools/gdujoystickhelper.h"
#include "Camera.h"
#include "GDUHolderManager.h"
#include "Generalsetting.h"
#include "Controlsetting.h"
#include "DroneCheckConnRun.h"
#include "RCFlyControlRun.h"
#include "BatteryInfo.h"
#include "taskstatusinfo.h"
#include "VideoTransmissionManager.h"
#include "GDUMachineNestManager.h"

typedef struct {
    cmdComplete_t completeCallBack;
    zxCancelOperation *operation;
} CmdResult_t;

class GDUDroneManager : public QGCTool
{
    Q_OBJECT
public:
    GDUDroneManager(QGCApplication *app, QGCToolbox *toolbox);
    void setToolbox(QGCToolbox* toolbox);

    // 飞机连接状态
    Q_PROPERTY(bool          droneConnStatus         READ getDroneConnStatus  CONSTANT NOTIFY droneConnStatusChanged)
    // 飞控状态信息
    Q_PROPERTY(FlyControlInfo*              fcInfo          READ fcInfo             CONSTANT)
    //　航迹文件辅助类
    Q_PROPERTY(GduRouteFileHelper*          routeHelper     READ routeHelper        CONSTANT)
    //无人机姿态机飞行速度信息
    Q_PROPERTY(GDUFlightInfo*               gduFlightInfo       READ gduFlightInfo      CONSTANT)
    //无人机电池信息
    Q_PROPERTY(BatteryInfo*                 batteryInfo         READ batteryInfo        CONSTANT)
    //
    Q_PROPERTY(TaskStatusInfo*              taskStatusInfo      READ taskStatusInfo     CONSTANT)
    //无人机图传组件
    Q_PROPERTY(VideoTransmissionManager*    videoTransmission   READ videoTransmission  CONSTANT)


    bool                    getDroneConnStatus()  { return _droneConnStatus; }
    void                    setDroneConnStatus(bool status);
    FlyControlInfo*         fcInfo         ()  { return _fcInfo; }
    GduRouteFileHelper*     routeHelper    ()  { return _routeHelper; }

    GDUFlightInfo*          gduFlightInfo  ()  { return _gduFlightInfo; }       //获取无人机姿态信息和速度的对象
    BatteryInfo*            batteryInfo()      { return _batteryInfo; }
    TaskStatusInfo*         taskStatusInfo()   { return _taskStatusInfo; }      //获取任务状态上报信息
    VideoTransmissionManager* videoTransmission() { return _videoTransmission;}
    GDUDroneCmdRolver *droneCmdRelover = nullptr;
    GDUCmdGenerator *cmdGenerator = nullptr;

    void sendMessage(QByteArray frameBytes,cmdComplete_t block,uint64_t msgFullID,bool shouldResend=true);
    
    QMap<uint64_t,CmdResult_t> cmdAckMap;

    //相机相关操作
    Q_PROPERTY(Camera *camera  READ  camera  CONSTANT)
    Camera *camera(){return  _camera;}

    //云台控制操作
    Q_PROPERTY(GDUHolderManager *gduHolderManager  READ  gduHolderManager  CONSTANT)
    GDUHolderManager *gduHolderManager(){return  _gduHolderManager;}

    //通用设置类
    Q_PROPERTY(GeneralSetting *generalSetting READ generalSetting  CONSTANT)
    GeneralSetting *generalSetting(){
        return _generalSetting;
    }

    //控制设置界面（控制手）
    Q_PROPERTY(ControlSetting *controlSetting READ controlSetting  CONSTANT)
    ControlSetting *controlSetting(){
        return _controlSetting;
    }

   // provide the methods to qml
   Q_INVOKABLE void sendTakeOff(int height,int speed,cmdComplete_t block);
   Q_INVOKABLE void sendLanding(int speed,int option,cmdComplete_t block);
   Q_INVOKABLE void sendReturnHome(int height,int speed,cmdComplete_t block);

    /**
     * @brief sendMissionControl
     *   任务控制指令
     * @param name　任务名,例:20211221140000
     * @param action　0x00（保留，不使用）、0x01开始、0x02、暂停、0x03继续、0x04结束、0x05清理（删除任务编号目录）。0x06请求当前任务状态。0x07替换
     */
    Q_INVOKABLE void sendMissionControl(QString name, uchar action, QJSValue onFinished);

    /**
    * @brief sendRCFlyControl
        Byte0-1	左摇杆--X轴，无符号整型，1100-1900，1500中值
        Byte2-3	左摇杆--Y轴，无符号整型，1100-1900，1500中值，无符号整型，1100-1900，1500中值
        Byte4-5	右摇杆--X轴，无符号整型，1100-1900，1500中值，无符号整型，1100-1900，1500中值
        Byte6-7	右摇杆--Y轴，无符号整型，1100-1900，1500中值
        Byte8	模式开关状态：0 普通 ，1 运动，02 姿态
    * @param left_x
    * @param left_y
    * @param right_x
    * @param right_y
    * @param mode
    */
   void sendRCFlyControl(int left_x,int left_y,int right_x,int right_y,int mode);

   /**
    * @brief sendSubcribeFlyControlInfo
    *   订阅飞控状态消息
    * @param msg_id
    */
   void sendSubcribeFlyControlInfo(int msg_id);
signals:
    void droneConnStatusChanged();
    void sendDataLinkCmd(QByteArray cmd);
public slots:
    void joystickDataEventHandler(int type, int index, int value);

protected:


private:
    bool _droneConnStatus = false; // true: Drone online, false: Drone offline
    FlyControlInfo* _fcInfo = nullptr;
    GduRouteFileHelper* _routeHelper = nullptr;
    QGCToolbox *_toolBox = nullptr;
    //遥感数据获取 Add by Tzq. 2021.12.18
    GduJoystickHelper * _joystickHelper = nullptr;

    // 相机
    Camera *_camera = nullptr;
    //云台控制
    GDUHolderManager *_gduHolderManager = nullptr;
    //无人机姿态及速度信息
    GDUFlightInfo *_gduFlightInfo = nullptr;
    //通用设置
    GeneralSetting *_generalSetting = nullptr;
    //控制设置
    ControlSetting *_controlSetting = nullptr;

    //飞机连接状态检擦 发送连接命令
    DroneCheckConnRun *_droneCheckRun = nullptr;

    //遥控控制信息发送
    RCFlyControlRun *_rcFlyControlRun = nullptr;
    
    //电量信息
    BatteryInfo *_batteryInfo = nullptr;

    //任务状态上报信息
    TaskStatusInfo * _taskStatusInfo = nullptr;

    //图传组件
    VideoTransmissionManager *_videoTransmission = nullptr;

    //机巢管理类
    GDUMachineNestManager *_gduMachineNestManager = nullptr;
};

#endif // GDUDRONEMANAGER_H