#ifndef __PLC_MONITOR__HH_
#define __PLC_MONITOR__HH_
#include "LibmodbusWrapper.h"
#include "Runnable.h"
#include <string.h>
#include <mutex>
#include <vector>
#include <time.h>

#include "qtmessagedef.h"

struct whiskboom_laser_value
{
    float x;
    float y;
    float a;
    float l;
    float w;
    float h;
    int corrected;
};

#define WM_LOG_MSG						WM_USER+1001
#define WM_MONITOR_MSG					WM_USER+1002

namespace modbus
{
#define REG_PARKSTATUS (0)
#define REG_WHISKBOOMLASER_STATUS (1)
#define REG_WHISKBOOMLASER_CENTERX (2)
#define REG_WHISKBOOMLASER_CENTERY (3)
#define REG_WHISKBOOMLASER_ANGLEA (4)
#define REG_WHISKBOOMLASER_LENGTH (5)
#define REG_WHISKBOOMLASER_WIDTH (6)
#define REG_WHISKBOOMLASER_HEIGHT (7)

    enum PLC_PARKING_STATUS
    {
        PLC_PARKING_WAIT = 0,
        PCL_PARKING_REQUEST,
        PCL_PARKING_ERROR
    };

	enum LASER_DATA_CORRECT
	{
		eLaser_data_init=0,
		eLaser_data_ok,
		eLaser_data_failed
	};

    enum PCL_LASER_STATUS
    {
        PLC_LASER_READY = 0,
        PLC_LASER_START,
        PLC_LASER_WORKING,
        PLC_LASER_FINISH_OK,
        PLC_LASER_FINISH_FAILED,
        PLC_LASER_ERROR,
        PLC_LASER_PING=254,
        PLC_LASER_PONG
    };


	typedef void(*CommandCallback)(bool On, uint16_t param,void* pointer,int action_type);
    typedef void(*PLCMonitorCallback)(QtMessageData data,void* pointer);

    class CPLCMonitor :
        public CRunnable
    {

    public:
        CPLCMonitor(void* pMainObject=NULL);
        ~CPLCMonitor();
    public:
        int connect(const char *ip, int port, int slave_id);
        void disconnect();
		int reconnect();
        void set_callback(CommandCallback func, PLCMonitorCallback monitorCallback,void* pointer);
    private:
        std::mutex cs_cmd;

    private:
        bool _measure_finished;
        struct whiskboom_laser_value _value;
    public:
		bool setMeasureResult(int addr, struct whiskboom_laser_value * value = NULL);
		void MeasureComplete(bool bOK=true);
	public:
		int write_laserstatus_register(uint16_t value);
	protected:
		CommandCallback		m_callback;
		void*				m_pointer;
        PLCMonitorCallback  m_PlcDataCallback;

    public:
        bool isMonitor() { return _monitoring == true; };
    private:
        bool _monitoring;

    private:
        CLibmodbusWrapper dev;
    
    private:
        clock_t _heartbeat_write_clock;

    private:
        int read_registers(int addr, int nb, uint16_t *dest);
        int write_registers(int addr, int nb, uint16_t *dest);

        int read_register(int addr, uint16_t *dest);
        int write_register(int addr, uint16_t *dest);

        int clear_laserstatus_register(uint16_t value);
        int write_laserresult_register(int addr ,uint16_t *pvalue);

    private:
        static const double PLC_LASER_TIMEOUT_READY;
        static const double PLC_LASER_TIMEOUT_PINGPANG;
        static const double PLC_LASER_TIMEOUT_START;
        static const double PLC_LASER_TIMEOUT_MAXMEASURE;

    public:
        virtual void Run();
	private:
		void Monitoring();
        static void thread_monitor(void* lp);
        void*						m_logWnd;
        void*						m_laser_data_wnd;
        std::thread*				m_thread_read;
    private:
        std::mutex cs_pcl;

		std::string				m_strIP;
		int						m_port;
		int						m_slave_id;

    };
}

#endif