#ifndef SIMMODEL_H
#define SIMMODEL_H

#include <chrono>
#include <thread>

#include "gpsimu.pb.h"

#include "modulecomm.h"

class simmodel
{
public:
    simmodel();
    ~simmodel();

    enum SHIFT_GEER
    {
        PARK = 0,
        REVERSE = 1,
        DRIVE = 2
    };

protected:
    double mx;
    double my;
    double mhdg;
    SHIFT_GEER mshift;
    double macc;
    double mwheelsteer;
    double mvel;

    double mlon0,mlat0;

    bool mbInitOK = false;

public:
    double GetX();
    double GetY();
    double Gethdg();
    SHIFT_GEER GetShift();
    double Getacc();
    double Getwheelsteer();
    double Getvel();


    virtual void CalcModel() = 0;

protected:
    double mfcmd_acc;
    double mfcmd_torque;
    double mfcmd_brake;
    double mfcmd_wheelangle;
    int64_t mlastcmdtime = 0;  //chrono ns

public:
    void SetCMD(double facc,double ftorque,double fbrake,double fwheelangle);

    void SetX(double fx);
    void SetY(double fy);
    void Sethdg(double fhdg);
    void SetShift(SHIFT_GEER sg);
    void Setacc(double facc);
    void Setwheelsteer(double fwheelsteer);
    void Setvel(double fvel);
    void SetLon0Lat0(double flon0,double flat0);


private:
    std::thread * mpthread;
    bool mbrun = true;
    void threadupdate();

    std::thread * mpthreadstate;
    void threadstate();

    void * mpa;


};

#endif // SIMMODEL_H