#ifndef ADCAPOLLOMPC_IMPL_H
#define ADCAPOLLOMPC_IMPL_H

#include "modules/control/controller/mpc_controller.h"

#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"

#include "cyber/time/clock.h"
#include "modules/common/vehicle_state/vehicle_state_provider.h"
#include "modules/control/common/control_gflags.h"
#include "modules/control/proto/control_conf.pb.h"
#include "modules/localization/common/localization_gflags.h"
#include "modules/planning/proto/planning.pb.h"

#include "modules/common/configs/config_gflags.h"

#include "modulecomm.h"

#include "gpsimu.pb.h"

class adcapollompc_impl
{
public:
    adcapollompc_impl(std::string strconfpath);

private:
    apollo::common::VehicleStateProvider * mvehicle_state;
    apollo::control::MPCController mMPCController;

private:
    void UpdateGPSIMU(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);


private:
    void * mpagpsimu;

    apollo::localization::LocalizationEstimate mapollolocalize;

    double mfLat0 = 39;
    double mfLon0 = 117;
    double mfX0 = 0;
    double mfY0 = 0;
};

#endif // ADCAPOLLOMPC_IMPL_H