#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <QCoreApplication>

#include <thread>
#include <mutex>

#include "modulecomm.h"
#include "ndtpos.pb.h"
#include "relocate.pb.h"
#include "pcdmap.pb.h"

#include <QLabel>

struct pose
{
  double x;
  double y;
  double z;
  double roll;
  double pitch;
  double yaw;
  double vx;
  double vy;
};

namespace Ui {
class MainWindow;
}

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    explicit MainWindow(QWidget *parent = 0);
    ~MainWindow();

signals:
    void ndtposupdate();
private slots:
    void on_pushButton_Test_clicked();

    void on_pushButton_EnableRelocation_clicked();

    void on_horizontalSlider_valueChanged(int value);

    void on_checkBox_clicked();

    void on_comboBox_currentIndexChanged(int index);

    void onndtposupdate();

private:
    void threadpcdview();

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

private:
    Ui::MainWindow *ui;

    pcl::visualization::CloudViewer * mpviewer;

    std::thread * mpthreadpcd;

    bool mbRun = true;

    void * mpandtpos;
    void * mparelocate;
    void * mpapcdmap;

    pose mCurPose;

    iv::lidar::ndtpos mndtpos;
    std::mutex mmutexndtpos;
    bool mbndtposupdate = false;

    QLabel * mpLabelStatus;


    double mfTransProb = 0.0;

    std::string mstrpcdmappath;
    std::mutex mmutexpcdmap;
    bool mbpcdmapupdate =false;

};

#endif // MAINWINDOW_H