#pragma once

#include "CEXVirtualListCtrl.h"
#include "ControlCAN.h"
// CCanDeviceDlg 对话框



typedef  struct ST_DRIVER_CONTROL {
	int Drive_Speed;         //行走速度
	int Diversion_Position;  //转向角度
	int Zero_Angle;          //转向零度角（根据机械结构自定义的归零角度）
	int MIX_Angle_R;		 //手动状态下最大转向角度
	int MAN_Angle_L;		 //手动状态下最小转向角度
	int AutoMAX_Angle;		 //自动状态下最大转向角度	
	int AutoMIN_Angle;       //自动状态下最大转向角度
	float SPEEDPAR;          //行走速度系数

	ST_DRIVER_CONTROL() 
	{
		Drive_Speed        = 0;
		Zero_Angle         = 1320000;  //零点  左极限2108000  504000
		MIX_Angle_R        = 504000;  // Zero_Angle + 850000;
		MAN_Angle_L        = 2108000; // Zero_Angle - 850000;
		AutoMIN_Angle      = Zero_Angle - 700000;
		AutoMAX_Angle      = Zero_Angle + 700000;
		Diversion_Position = Zero_Angle;
		SPEEDPAR		   = 1;
	}

} ST_DRIVER_CONTROL;

typedef struct ST_SENSOR_DATA {
	short   FMagnetism_Offset;    //前磁条偏移量（左负右正）
	uint8_t FMagnetism_Valid;     //前磁条1有效 0无效出轨
	uint8_t FMagnetism_ALLTrue;   //16个霍尔开关都检测到输出1 ，用于装车点停车（加装横向磁条，16个霍尔开关可以全部检测到）
	short   BMagnetism_Offset;    //后磁条偏移量（左负右正）
	uint8_t BMagnetism_Valid;     //后磁条1有效 0无效出轨
	uint8_t BMagnetism_ALLTrue;   //16个霍尔开关都检测到输出1 ，用于卸车点停车（加装横向磁条）
	uint8_t RFID_Point;           //RFID标签位置
	uint8_t Battery_SOC;          //电池电量

	ST_SENSOR_DATA()              //默认构造函数
	{
		FMagnetism_Offset  = 0; 
		FMagnetism_Valid   = 0; 
		FMagnetism_ALLTrue = 0;
		BMagnetism_Offset  = 0;
		BMagnetism_Valid   = 0;
		BMagnetism_ALLTrue = 0;
		RFID_Point		   = 0;
		Battery_SOC        = 0;
	}

} ST_SENSOR_DATA;


class CDriverMainDlg : public CDialogEx
{
	DECLARE_DYNAMIC(CDriverMainDlg)

public:
	CDriverMainDlg(CWnd* pParent = NULL);   // 标准构造函数
	virtual ~CDriverMainDlg();

// 对话框数据
#ifdef AFX_DESIGN_TIME
	enum { IDD = IDD_DEV_CAN_DLG };
#endif

protected:
	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV 支持
	afx_msg void OnCheckCanrxEn();

	DECLARE_MESSAGE_MAP()
public:
	int     m_nSendFrameFormatIdx0;
	int		m_nSendFrameTypeIdx0;
	int     m_nSendFrameFormatIdx1;
	int		m_nSendFrameTypeIdx1;
	int		m_nSendCanIndex;
	int		m_nRecvCanIndex;
	int		m_nDevType;
public:
	CString m_iniPath;
	int     m_DevType;
	int     m_DevIndex;
	BOOL    m_bOpenCan;
	BOOL    m_bCanRxEn;
	BOOL    m_bAutoRefresh;
	BOOL    m_bAutoSend;
	BOOL    m_bAutoSend2;
	CString	m_strSendID;
	CStatic m_txFMagneticOffset;
	CStatic m_txBMagneticOffset;
	CStatic m_txRFIDID;
	
	CString m_strSendData;
	BOOL    m_StopSendFlag;
	BOOL    m_StopSendFlag2;

	void	Drive_enable();  //驱动电机使能
	void    Drive_disable(); //失能
	
	int    Auto_Stop();
	int    Auto_Forward(float speedpar);
	int    Auto_Backward(float speedpar);
	int    Auto_EStop();
	void   Control_Mode_Reset();

	void    ReadConfigFromIni();
	void    InitVirtualList();
	BOOL    OpenCanDevice();
	void    UpdateCanStatue(BOOL  bStatue);
	void    ProcessPipeMsg(int lMsgId, char* pData, int lLen);
	void    SendCanData(int nDevIdx, int nCanIdx, int nFrameType, int nFrameFormat, UINT32 acFrameId, char acFrameData[8]);
	int     Str2Hex(CString str);
	int     HexChar(char c);
	//CPluginMainDialog  *m_pMainWnd;
	virtual BOOL OnInitDialog();
	static  UINT ReceiveCanThread(LPVOID v);
	static  UINT SendCanThread(LPVOID v);
	static  UINT SendCanThread2(LPVOID v);
	void    WriteVirtualList(CString strFrameId, CString strFrameData, int nTxRx = 0, int nCanIdx = 0, int nFrameType = 0, int nFrameFormat = 0);

public:
	CEXVirtualListCtrl	*m_pstVirtualList;
	afx_msg void OnBnClickedBtnSendMan();
	afx_msg void OnBnClickedAutoSend();

	CEXMemFileQueue* m_pQueue;
	CString          m_strDataDir;

	volatile int     m_nAgvAction;        
	int              m_nAgvReturnState;

	afx_msg void OnBnClickedCheckAutoRefreshShow();
	afx_msg void OnBnClickedBtnSendMan2();
	afx_msg void OnBnClickedAutoSend2();

	ST_DRIVER_CONTROL   m_stDrvierControl;
	ST_SENSOR_DATA      m_stSensorData;

	void AnalysiseCanData(int nCanIndex, VCI_CAN_OBJ objCan);
	void CalculateAutoCanParam();
	void CalculateManualCanParam();
	void SendCanData();
	
	afx_msg void OnBnClickedButtonAgvstop();
	afx_msg void OnBnClickedButtonAgvestop();
	afx_msg void OnBnClickedButtonAgvforward();
	afx_msg void OnBnClickedButtonAgvbackward();
};