modularization/src/driver/driver_cloud_grpc_client_BS/vehicle_upload.h

#ifndef VEHICLE_UPLOAD_H
#define VEHICLE_UPLOAD_H

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

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

#include <grpcpp/grpcpp.h>

#include "VehicleUpload_service.grpc.pb.h"
#include "VehicleUpload.grpc.pb.h"

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

using org::jeecg::defsDetails::grpc::DataExchange; ///< service name

using org::jeecg::defsDetails::grpc::UplinkRequest; ///< rpc fuction parameter and return
using org::jeecg::defsDetails::grpc::ResponseMessage;
using org::jeecg::defsDetails::grpc::UploadPathRequest;

using org::jeecg::defsDetails::grpc::VehicleStatus; ///< other enum

class DataExchangeClient : public QThread{
    Q_OBJECT

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

    ~DataExchangeClient(void);

    std::string uploadVehicleInfo(void);
    std::string uploadPath(void);
    void updateData(void);
    void updatePath(std::string pathID,QVector<org::jeecg::defsDetails::grpc::MapPoint> points);

protected:
    void run();

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

    std::string id;
    uint64_t timeStamp;
    double SOC; //0.0-100.0%
    VehicleStatus statusFeedback = VehicleStatus::STATUS_EMERGENCY_STOP;
    double mileage; // kilometer
    double speed; // m/s
    org::jeecg::defsDetails::grpc::ShiftStatus shiftFeedback;
    double steeringWheelAngleFeedback; //+/-540 degree
    double throttleFeedback;
    double brakeFeedback;
    int32_t GPSRTKStatus; //GPS-RTK status 0-6 6 is best
    org::jeecg::defsDetails::grpc::GPSPoint positionFeedback;
    double pitch;
    double roll;
    double heading;

    QByteArray cameraImageFront;
    QByteArray cameraImageRear;
    QByteArray cameraImageLeft;
    QByteArray cameraImageRight;

    bool sensorStatusGPSIMU; //0 GPS-IMU ok 1 GPS-IMU error
    bool sensorStatusLidar;
    bool sensorStatusRadar;
    bool sensorStatusCamFront;
    bool sensorStatusCamRear;
    bool sensorStatusCamLeft;
    bool sensorStatusCamRight;

    int32_t isArrived; //0 no destination 1 not arrived 2 arrived

    std::string plateNumber;

    org::jeecg::defsDetails::grpc::CtrlMode modeFeedback = org::jeecg::defsDetails::grpc::CtrlMode::CMD_EMERGENCY_STOP; //mode Feedback

    org::jeecg::defsDetails::grpc::GPSPoint destinationPosition;

    std::string patrolPathID;
    QVector<org::jeecg::defsDetails::grpc::MapPoint> pathPoints;

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

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

#endif // VEHICLE_UPLOAD_H