#ifndef VEHICLE_CONTROL_H
#define VEHICLE_CONTROL_H

#include <QObject>
#include <QTimer>
#include <QDateTime>
#include <QVector>
#include <QThread>

#include <iostream>
#include <memory>
#include <string>

#include <grpcpp/grpcpp.h>

#include "VehicleControl_service.grpc.pb.h"
#include "VehicleControl.grpc.pb.h"

#include "modulecommext.h"
#include "remotectrl.pb.h"

using grpc::Channel;
using grpc::ClientContext;
using grpc::Status;

using org::jeecg::defsControl::grpc::VehicleControl; ///< service name

using org::jeecg::defsControl::grpc::ControlReply; ///< rpc fuction parameter and return
using org::jeecg::defsControl::grpc::UploadMapReply;
using org::jeecg::defsControl::grpc::CtrlModeReply;

class VehicleControlClient : public QThread{
    Q_OBJECT

public:
    VehicleControlClient(std::shared_ptr<Channel> channel);

    ~VehicleControlClient(void);

    std::string vehicleControl(void);
    void updateControlData(void);

    void VehicleControlClientSend();
    iv::modulecommext::modulecommmsg<iv::remotectrl> * mpa;

protected:
    void run();

private:
    std::unique_ptr<VehicleControl::Stub> stub_;

    org::jeecg::defsControl::grpc::ShiftStatus shiftCMD = org::jeecg::defsControl::grpc::ShiftStatus::SHIFT_PARKING;
    double steeringWheelAngleCMD = 0;
    double throttleCMD = 0;
    double brakeCMD = 0;

    org::jeecg::defsControl::grpc::CtrlMode modeCMD = org::jeecg::defsControl::grpc::CtrlMode::CMD_EMERGENCY_STOP; ///< update by slot function

public slots:
    void ctrlMode_Changed_Slot(org::jeecg::defsControl::grpc::CtrlMode ctrlMode);
};

class VehicleChangeCtrlModeClient : public QThread{
    Q_OBJECT

public:
    VehicleChangeCtrlModeClient(std::shared_ptr<Channel> channel);

    ~VehicleChangeCtrlModeClient(void);

    std::string changeCtrlMode(void);
    void updateCtrolMode(void);

protected:
    void run();

private:
    std::unique_ptr<VehicleControl::Stub> stub_;

    org::jeecg::defsControl::grpc::CtrlMode modeCMD = org::jeecg::defsControl::grpc::CtrlMode::CMD_EMERGENCY_STOP;

signals:
    void ctrlMode_Changed(org::jeecg::defsControl::grpc::CtrlMode ctrlMode);
};

class VehicleUploadMapClient : public QThread{
    Q_OBJECT

public:
    VehicleUploadMapClient(std::shared_ptr<Channel> channel);

    ~VehicleUploadMapClient(void);

    std::string uploadMap(void);
    void updateMapPOIData(void);

protected:
    void run();

private:
    std::unique_ptr<VehicleControl::Stub> stub_;

    bool isNeedMap = false;
    std::string patrolPathID;
    QVector<org::jeecg::defsControl::grpc::MapPoint> POIPoints;

signals:
    void patrolPOI_Recieved(std::string pathID);

public slots:
    void uploadPath_Finished_Slot(std::string pathID);
};

#endif // VEHICLE_CONTROL_H