#ifndef UDPCOMM__H
#define UDPCOMM__H
#include "ccuUdpMsg.h"
#include <string>
#include <vector>
#include <queue>
#include <string.h>
#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
#include <iostream>
using namespace std;
#define QUENUE_SIZE 100
typedef struct {
  double timeStamp;
  void* data;
} msgWithTime;

class udpComm {
private:
  /* data */
public:
  udpComm();
  ~udpComm();

  bool pushMsgToQueue(unsigned char *m);
  int getCcuStateMsgFromQueue(double &time,msg_CcuStateFbMsg &m);
  int getCcuSetParmMsgFromQueue(double &time,msg_CcuSetParmFbMsg &m);
  int getDisSysHVBusFbMsgFromQueue(double &time,msg_disHighVolBusFbMsg &m);
  int getDisSysHVABusFbMsgFromQueue(double &time,msg_disHighAVolBusFbMsg &m);
  int getDisSysHVBBusFbMsgFromQueue(double &time,msg_disHighBVolBusFbMsg &m);
  int getDisSysLVBusFbMsgFromQueue(double &time,msg_disLowBusFbMsg &m);

  bool clearMsgQueue();

  bool getMsgId(char *m,unsigned short &id);

  bool getCcuState(char *m, msg_CcuStateFbMsg &s);
  bool getCcuSetParmFb(char *m, msg_CcuSetParmFbMsg &s);

  bool getDisSysHVBusFb(char *m, msg_disHighVolBusFbMsg &s);
  bool getDisSysHVABusFb(char *m, msg_disHighAVolBusFbMsg &s);
  bool getDisSysHVBBusFb(char *m, msg_disHighBVolBusFbMsg &s);
  bool getDisSysLVBusFb(char *m, msg_disLowBusFbMsg &s);

  bool sendCcuColCmd(const msg_CcuColCmdMsg m);
  bool sendCcuSetParmCmd(const msg_CcuSetParmMsg m);

  msgWithTime* stampTimeStamp(void* msg); 
  Checksum calculateChecksum(const unsigned char* data, int size);
  int getMsgFormQueue(queue<msgWithTime> &q,double &time,void* m);

  std::vector<std::string> sError;
  std::queue<msgWithTime> m_qReceiveCcuStateBuffer;
  std::queue<msgWithTime> m_qReceiveCcuSetParmBuffer;
  std::queue<msgWithTime> m_qReceiveDisHighVolBusBuffer;
  std::queue<msgWithTime> m_qReceiveDisHighAVolBusBuffer;
  std::queue<msgWithTime> m_qReceiveDisHighBVolBusBuffer;
  std::queue<msgWithTime> m_qReceiveDisLowBusBuffer;

private:
  msg_CcuColCmdMsg m_ccuColCmd;
  msg_CcuSetParmMsg m_ccuSetParmCmd;
};

#endif