/*
 * @Author: zjk 1553836110@qq.com
 * @Date: 2023-10-12 15:57:27
 * @LastEditors: zjk 1553836110@qq.com
 * @LastEditTime: 2023-11-10 08:34:14
 * @FilePath: /moos-ivp-pi/src/pEmulator/Emulator.hpp
 * @Description: 
 * 
 * Copyright (c) 2023 by ${git_name_email}, All Rights Reserved. 
 */
#ifndef __EMULATOR_H
#define __EMULATOR_H
#define UNIX
#include"MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
#include"MOOS/libMOOS/Comms/MulticastNode.h"
#include <iostream>
#include<vector>
#include "VarDataPair.h"
#include "MBUtils.h"
#include "AngleUtils.h"
#include <list>
#include"MOOS/libMOOS/Comms/XPCUdpSocket.h"
#include "NodeRecord.h"
#include "MOOS/libMOOS/Utils/MOOSThread.h"
#include "_150server.hpp"

using namespace std;
typedef struct uuv
{
  double u;
  double v;
  double w;
  double p;
  double q;
  double r;
  double x;
  double y;
  double z;
  double roll;
  double pitch;
  double yaw;
  double thrust;
  double rudder;
  double elevator;
  double lon;
  double lat;
  double alt;
};

class Emulator : public AppCastingMOOSApp
{
  public:
  Emulator(){};
  ~Emulator(){delete receiveBuf;delete sendBuf;};
  bool OnNewMail(MOOSMSG_LIST &NewMail);
  bool Iterate();
  bool OnConnectToServer();
  bool OnStartUp();
  void registerVariables();
  bool buildReport();
  void postNodeRecordUpdate(std::string, const NodeRecord&);
  bool receiveUdpDate();
  void set150Info();
  bool _150Connect();

  private:
  long int local_port = 8080;
  long int matalb_port = 8085;
  string matlab_host = "127.0.0.1";
  XPCUdpSocket* udp;
  unsigned int receiveDateSize = 15;
  unsigned int sendDataSize = 6;
  unsigned int receiveBufSize;
  unsigned int sendBufSize;
  char *receiveBuf;
  double *sendBuf;
  NodeRecord record;
  string prefix="NAV";
  bool geoOk = false;
  
  
  //UUV init state
  double start_x = 0;
  double start_y = 0;
  double start_z = 0;
  double start_heading = 0;
  uuv remus100;
  string isConnect = "";
  //
  CMOOSThread receiveThread;
  CMOOSThread _150ServerThread;
  CMOOSThread _150ConnectThread;
  //150 Server
  _150server p_150server_1;
};

#endif