#ifndef SDI_DATARECV_CONSUMER_H
#define SDI_DATARECV_CONSUMER_H

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

#include "modulecomm.h"
#include "ultrasonic.pb.h"

#include "byte_qvector_producer_consumer.h"

#include "decode_cfg.h"
#include "iv_msgunit.h"

#ifndef DIST_ERROR
#define DIST_ERROR 50000 //50000mm
#endif

union BYTES2UINT
{
    uint16_t wordData = 0;
    uint8_t byteData[2];
};

class SDI_DataRecv_Consumer : public QThread
{
    Q_OBJECT
public:
    SDI_DataRecv_Consumer(Byte_Qvector_Producer_Consumer *pBuf);
    ~SDI_DataRecv_Consumer();

protected:
    void run();

private:
    void Clear_Sensor_Data(void);
    void ResultFilterAndPublish(void);
    void BubbleSort(QVector<uint16_t> &sensorTOF, QVector<uint16_t> &sensorMagnitude);

    Byte_Qvector_Producer_Consumer *pBuffer;

    uint16_t SDI_payload_size = 0;
    uint8_t SDI_sensor_CNT = 0;
    uint16_t SDI_TX_Mask = 0;

    QVector<uint16_t> sensorTOF_0;
    QVector<uint16_t> sensorTOF_1;
    QVector<uint16_t> sensorTOF_2;
    QVector<uint16_t> sensorTOF_3;
    QVector<uint16_t> sensorTOF_4;
    QVector<uint16_t> sensorTOF_5;
    QVector<uint16_t> sensorTOF_6;
    QVector<uint16_t> sensorTOF_7;
    QVector<uint16_t> sensorTOF_8;
    QVector<uint16_t> sensorTOF_9;
    QVector<uint16_t> sensorTOF_10;
    QVector<uint16_t> sensorTOF_11;

    QVector<uint16_t> sensorMagnitude_0;
    QVector<uint16_t> sensorMagnitude_1;
    QVector<uint16_t> sensorMagnitude_2;
    QVector<uint16_t> sensorMagnitude_3;
    QVector<uint16_t> sensorMagnitude_4;
    QVector<uint16_t> sensorMagnitude_5;
    QVector<uint16_t> sensorMagnitude_6;
    QVector<uint16_t> sensorMagnitude_7;
    QVector<uint16_t> sensorMagnitude_8;
    QVector<uint16_t> sensorMagnitude_9;
    QVector<uint16_t> sensorMagnitude_10;
    QVector<uint16_t> sensorMagnitude_11;

};

#endif // SDI_DATARECV_CONSUMER_H