#ifndef UDPCOMM__H
#define UDPCOMM__H
#define UNIX

#include "ccuUdpMsg.h"
#include <string>
#include <vector>
#include <queue>
#include <string.h>
#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
#include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
#include <ctime>
#include <chrono>
#include <iostream>
#include <utility> 
#include "../logc/loguru.hpp"
using namespace std;
#define QUENUE_SIZE 100

class udpComm {
public:
  udpComm();
  ~udpComm();
  XPCUdpSocket *udpScoket;
  string ccuHost;
  long int ccuPort;
  
  bool pushMsgToQueue(unsigned char *m);
  bool clearMsgQueue();

  bool getMsgFromBuff(char *m, msg_CcuStateFbMsg &s);
  bool getMsgFromBuff(char *m, msg_CcuSetParmFbMsg &s);
  bool getMsgFromBuff(char *m, msg_disHighVolBusFbMsg &s);
  bool getMsgFromBuff(char *m, msg_disHighAVolBusFbMsg &s);
  bool getMsgFromBuff(char *m, msg_disLowMainBusFbMsg &s);
  bool getMsgFromBuff(char *m, msg_disLowBusFbMsg &s);

  bool popMsgFormQueue(double &time,msg_CcuStateFbMsg &m);
  bool popMsgFormQueue(double &time,msg_CcuSetParmFbMsg &m);
  bool popMsgFormQueue(double &time,msg_disHighVolBusFbMsg &m);
  bool popMsgFormQueue(double &time,msg_disHighAVolBusFbMsg &m);
  bool popMsgFormQueue(double &time,msg_disLowMainBusFbMsg &m);
  bool popMsgFormQueue(double &time,msg_disLowBusFbMsg &m);

  bool sendCcuColCmd(const ccuColCmd cmd);
  bool sendCcuSetParmCmd(const ccuSetParmCmd cmd);

  bool sendDisSysCmd(const disHighVolBusCmd cmd);
  bool sendDisSysCmd(const disHighAVolBusCmd cmd);
  bool sendDisSysCmd(const disHighBVolBusCmd cmd);
  bool sendDisSysCmd(const disLowBusCmd cmd);
  bool sendMsg(const unsigned char* msg,unsigned int size){
    // cout << "sendMsgTo" <<  ccuHost << ":" << ccuPort << endl;
    udpScoket->iSendMessageTo((void*) msg, size, ccuPort, ccuHost);

    return true;
  }

  bool getMsgId(char *m,unsigned short &id);
  Checksum calculateChecksum(const unsigned char* data, int size);
  Checksum calculateChecksum(const unsigned char* data, int dataSize, int checkSize);

  bool getDate(unsigned short &year, unsigned char &month, unsigned char &day, unsigned char &hour, unsigned char &minute, unsigned char &second, unsigned char &milliseconds);

  std::vector<std::string> sError;

  // std::queue<msgWithTime> m_qReceiveCcuStateBuffer;
  std::queue<std::pair<double,msg_CcuStateFbMsg>> m_qReceiveCcuStateBuffer;
  std::queue<std::pair<double,msg_CcuSetParmFbMsg>> m_qReceiveCcuSetParmBuffer;
  std::queue<std::pair<double,msg_disHighVolBusFbMsg>> m_qReceiveDisHighVolBusBuffer;
  std::queue<std::pair<double,msg_disHighAVolBusFbMsg>> m_qReceiveDisHighAVolBusBuffer;
  std::queue<std::pair<double,msg_disLowMainBusFbMsg>> m_qReceiveDisHighBVolBusBuffer;
  std::queue<std::pair<double,msg_disLowBusFbMsg>> m_qReceiveDisLowBusBuffer;

private:
  msg_CcuColCmdMsg m_ccuColCmd;
  msg_CcuSetParmMsg m_ccuSetParmCmd;
};

#endif