#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>

#include <QTabWidget>
#include <QScrollArea>
#include <QGroupBox>
#include <QLabel>
#include <QLineEdit>
#include <QPushButton>
#include <QComboBox>

#include <QFileDialog>
#include <QProgressBar>

#include "gpsimu.pb.h"
#include "ndtpos.pb.h"
#include "fusiongpsndt.pb.h"

#include <queue>
#include <QMutex>
#include <QMutex>
#include <QTimer>
#include <QFileInfo>
#include <QMessageBox>

#include "modulecomm.h"
#include "fusion_gpslidar.h"

namespace Ui {
class MainWindow;
}

class MainWindow : public QMainWindow
{
    Q_OBJECT

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

private:
    Ui::MainWindow *ui;

    void CreateView();
    void CreateTab1View(QTabWidget * p);
    void CreateTab2View(QTabWidget * p);
    void CreateTab3View(QTabWidget * p);
    void CreateTab4View(QTabWidget * p);
public:
     void resizeEvent(QResizeEvent *event);

private:
     void AdjustWPos(QSize sizemain);


private:
     QTabWidget * mTabMain;
     int mnCountIndexBase;

     QLineEdit * mpLEGPS[100],* mpLENDT[100],* mpLEFusion[100],* mpLEGPSSel[100],* mpLENDTSel[100],* mpLEOrigin[100],* mpLEDBOrigin[100];
     QGroupBox * mpGroupDB;
     QComboBox * mpCBPCD;
     QLineEdit * mpLEMapName;

     std::vector<iv::pcdunit> mvectorPCD;

public:

     iv::gps::gpsimu mgpsimu;
     iv::lidar::ndtpos mndtpos;
     iv::fusion::gpsndt mgpsndt;

     QMutex mMutexFusion,mMutexGPS,mMutexNDT;

     bool mbgpsimuupdate = false;
     bool mbndtposupdate = false;
     bool mbgpsndtupdate = false;

     bool mbGPSSel = false;
     bool mbNDTSel = false;

     fusion_gpslidar * mpfusion_gpslidar;

     bool mbSelect = false;

     QProgressBar * mpProgSelect;


private:
    void updateGPS();
    void updateNDT();
    void updateFusion();

    void UpdatePCDVector();
    void selectitem(int index);

public:

    void SetGPS(iv::gps::gpsimu xgpsimu);
    void SetNDT(iv::lidar::ndtpos xndtpos);
    void SetGPSNDT(iv::fusion::gpsndt xgpsndt);
private slots:
     void onTimer();
     void onSelGPS();
     void onSelNDT();
     void onCALOrigin();
     void onSetOrigin();

     void onCreateDB();
     void onSelectDB();
     void onDBAdd();
     void onDBRemove();
     void onDBChange();
     void onDBSel();
     void onLoadPCD();
     void onSavePCD();
     void onFusiondbMsg(const int nMsgID,const char * strmsg);
     void onMapChange(int index);
};

#endif // MAINWINDOW_H