#pragma once
#include <QObject>
#include "common.h"
#include "./modbus/PLCMonitor.h"
#include "./src/CalibParam.pb.h"
#include "laser/LivoxLaser.h"
#include "laser/Sick511FileLaser.h"
#include "src/measuretask.h"
#include "qtmessagedef.h"

class CProcess :public QObject
{
    Q_OBJECT
public:
    CProcess(Automatic::stCalibParam param,void* mainWnd=NULL);
	bool			Init();
	std::string		LastError() { return m_last_error; }
	void			PushTask(uint16_t param , int action_type,bool test=false);
    size_t			TaskQueueSize() { return m_thread_queue->TaskCount(); }
    virtual ~CProcess();
protected:
    // after received command from plc
    static void action_callback(bool bOn, uint16_t param, void* pointer, int action_type);
    // send info to UI
    static void monitor_callback(QtMessageData data,void* pointer);
	static void create_mat_param(Automatic::stLaserCalibParam laser, double*);

protected:
signals:
    void MainWndSignal(QVariant data);

protected:
    static void result_callback(void* data,void* pointer);

public:
    // pointer of laser handles
	CLaser**  m_laser;
	modbus::CPLCMonitor							m_monitor;
protected:
    tq::IQueue*                                 m_thread_queue;
    // 激光标定参数
	Automatic::stCalibParam		m_laser_calib_param;
	std::string					m_last_error;

public:
	////获取最近结果
	mutable std::mutex							m_mutex;
    void*										m_main_wnd;
	int											m_plate_index;


};

std::string Error_string(ERROR_CODE code);