/*
 * @Author: error: error: git config user.name & please set dead value or install git && error: git config user.email & please set dead value or install git & please set dead value or install git
 * @Date: 2023-09-21 11:04:00
 * @LastEditors: zjk 1553836110@qq.com
 * @LastEditTime: 2023-10-07 09:09:54
 * @FilePath: /moos-ivp-extend/src/pTaskSend/TaskSend.h
 * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
 */
/************************************************************/
/*    NAME: zjk                                              */
/*    ORGN: MIT                                             */
/*    FILE: TaskSend.h                                          */
/*    DATE:                                                 */
/************************************************************/

#ifndef TaskSend_HEADER
#define TaskSend_HEADER

#include "MOOS/libMOOS/MOOSLib.h"
#include <DUNE/DUNE.hpp>

#include <FL/Fl.H>
#include <FL/Fl_Double_Window.H>
#include <FL/Fl_Button.H>
#include <FL/Fl_Check_Button.H>
#include <FL/Fl_Return_Button.H>
#include <FL/Fl_Group.H>
#include <FL/Fl_Text_Editor.H>
#include <FL/Fl_Radio_Round_Button.H>
#include <Fl/Fl_Output.H>
#include <Fl/Fl_Input.H>
#include <Fl/Fl_Menu_Button.H>
#include <Fl/Fl_Multiline_Input.H>

struct Landmark {
	float lon;
	float lat;
	float depth;
	float speed;
};

struct WayPointBehavior
{
	std::string name;
  std::string source;  
	int priority;
	std::vector<Landmark> points;
	float duration;
	bool closedLoop;
	float constSpeed;
	int repeate;
	bool perpetual;
	float minDepth;
	float maxDepth;
};

class TaskSend : public CMOOSApp
{
 public:
  TaskSend();
  virtual ~TaskSend();

  bool OnNewMail(MOOSMSG_LIST &NewMail);
  bool Iterate();
  bool OnConnectToServer();
  bool OnStartUp();
  void RegisterVariables();

protected:
  // insert local vars here
  Fl_Window * taskEditView();
  inline int sendTaskCallback(Fl_Widget *w);
  inline int sendTask1Callback(Fl_Widget *w);
  inline int sendTask2Callback(Fl_Widget *w);
  inline int ModifyTask1Callback(Fl_Widget *w);
  inline int FeedbackTaskCallback(Fl_Widget *w);  
  static void st_sendTask1Callback(Fl_Widget *w, void *f) { ((TaskSend *)f)->sendTask1Callback(w);}
  static void st_sendTask2Callback(Fl_Widget *w, void *f) { ((TaskSend *)f)->sendTask2Callback(w);}
  static void st_ModifyTask1Callback(Fl_Widget *w, void *f) { ((TaskSend *)f)->ModifyTask1Callback(w);}
  static void st_FeedbackTaskCallback(Fl_Widget *w, void *f) { ((TaskSend *)f)->FeedbackTaskCallback(w);}  

  int SecurityZoneEdit();

  // static void st_taskTypeCallback(Fl_Widget *w, void *f) { ((TaskSend *)f)->sendTaskCallback(w);}
  // int SecurityZoneEdit();

protected:
  typedef struct task
  {
    std::string type;
    std::string duration;//时间设置 no-time-limit / 10/20/300...
    std::string pwt;
  } task;

  typedef struct waypointTask
  {
    task taskParam;
    std::string capture_radius;//捕获半径
    std::string capture_line;//捕获线
    std::string slip_radius; //滑移半径
    std::string lead;        //number 引导点距离
    std::string lead_damper; //与轨迹的距离
    std::string lead_to_start="true";
    std::string speed="12";
    std::string repeat;
    std::string polygon;
  } waypointTask;
  
private:
  CMOOSMsg current_msg;
  bool error=false;
  bool editView=false;
  Fl_Output* disp1=nullptr;
  Fl_Window* view=nullptr;

  Fl_Input* capture_radius = new Fl_Input(280,175+30,100,30,"capture radius");
  Fl_Input* capture_line   = new Fl_Input(80,175+30,100,30,"capture line");
  Fl_Input* slip_radius    = new Fl_Input(280,175+30*2,100,30,"slip radius");
  Fl_Input* lead           = new Fl_Input(80,175+30*2,100,30,"lead");
  Fl_Input* lead_damper    = new Fl_Input(280,175+30*3,100,30,"lead damper");
  Fl_Input* speed          = new Fl_Input(80,175+30*3,100,30,"speed");
  Fl_Input* repeat         = new Fl_Input(80,175+30*4,100,30,"repeat");
  Fl_Multiline_Input* polygon = new Fl_Multiline_Input(80,175+30*5,300,100,"polygon");
  
  std::string SetPlan1(std::string sourceName, double stamp);
  std::string SetPlan2(std::string sourceName, double stamp);
  std::string ModifyPlan1(std::string sourceName, double stamp);

  DUNE::Network::TCPSocket sock_tcp_send;
  DUNE::Network::UDPSocket sock_udp_receive;
  bool tcpSendToServer(DUNE::IMC::Message * msg, std::string addr, int port);
  double getTimeStamp();
};

#endif