#ifndef UPPER_COMM_MANAGER_H
#define UPPER_COMM_MANAGER_H

#include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h"
#include "pmSysvariable.h"
#include "driver.h"
#include "json/json.h"
#include <string>
#include <vector>
#include <map>
#include "upmsg/uPower_equInsState.h"
#include "upmsg/uDevice_secdistState.h"
#include "upmsg/uPower_equState.h"
#include "upmsg/uPower_disSysState.h"
#include "upmsg/uPower_currentState_st.h"
#include "upmsg/uPower_pmState.h"
#include "upmsg/uPower_fcsState.h"
#include "upmsg/uPower_liBatState.h"
#include "upmsg/uDevice_depth.h"
#include "upmsg/uExternComm_setOpCondition.h"
#include "upmsg/uExternComm_setOpMode.h"
#include "upmsg/uPlan_taskStart.h"
#include "upmsg/uPlan_planStop.h"
#include "upmsg/uExternComm_setDeviceSwitch.h"
#include "upmsg/uExternComm_setPowerSystem.h"
#include "upmsg/uPower_equState.h"
#include "upmsg/uPower_sysState.h"
#include "upmsg/uDetect_zdpVoltage_cmd.h"
#include "upmsg/uDetect_xcVoltage_cmd.h"
#include "upmsg/uDevice_thruster_st.h"

#define _DEBUG

using namespace std;
#define VAR_TO_STR(var) #var
//控制消息
#define DB_TO_PM_MSCMD "uPower_sysState_cmd"
#define DB_TO_PM_EQUIPMENTCMD "uPower_equState_cmd"

//决策消息
#define DB_TO_PM_DEEPTH "uDevice_depth_st"
// #define DB_TO_PM_MISSION "uPlan_taskStart_cmd"
#define DB_TO_PM_TASKSTOP "uPlan_planStop_st"

//外部通信消息
#define DB_TO_PM_SETOPCONDITION "uExternComm_setOpCondition_cmd"
#define DB_TO_PM_SETOPMODE "uExternComm_setOpMode_cmd"
#define DB_TO_PM_SETPMSYS "uExternComm_setPowerSystem_cmd"
#define DB_TO_PM_SETDEVSWITCH "uExternComm_setDeviceSwitch_cmd"

class PowerManger; // 前向声明

class UpperCommManager {
public:
    UpperCommManager(PowerManger* powerManager);
    ~UpperCommManager(){};

    // 周期调用
    void processPeriodicTasks();

    // 处理上位机消息
    bool processUpperMsg(const std::string& key, const std::string& msg);
    
    // 生成系统报告
    void buildSystemReport();

public:
    //定义上位机消息
    uPower_equInsStateMsg m_equInsStateMsg;
    uDevice_secdistStateMsg m_secdistStateMsg;
    uPower_equStateMsg m_equStateMsg;
    uPower_disSysStateMsg m_disSysStateMsg;
    uPower_currentStateMsg m_currentStateMsg;
    uPower_pmStateMsg m_pmStateMsg;
    uPower_fcsStateMsg m_fcsStateMsg;
    uPower_liBatStateMsg m_liBatStateMsg;

    //上位机订阅消息
    uDevice_depthMsg m_depthMsg;
    uExternComm_setOpConditionMsg m_setOpConditionMsg;
    uExternComm_setOpModeMsg m_setOpModeMsg;
    uPlan_taskStartMsg m_taskStartMsg;
    uPlan_planStopMsg m_taskStopMsg;
    uExternComm_setDeviceSwitchMsg m_setDevSwitchMsg;
    uExternComm_setPowerSystemMsg m_setPMSysMsg;
    uPower_sysStateMsg m_sysStateMsg;
private:
    PowerManger* m_pm;
    MSControlCmd m_msCmd;
    Driver m_driver;

#ifdef _DEBUG
public:
    std::pair<string, string> m_equInsStateMsg_fb_degub;
    std::pair<string, string> m_secdistStateMsg_cmd_debug;
    std::pair<string, string> m_secdistStateMsg_fb_debug;

    std::pair<string, string> m_equStateMsg_cmd_debug;
    std::pair<string, string> m_equStateMsg_fb_debug;
    std::pair<string, string> m_disSysStateMsg_st_debug;
    std::pair<string, string> m_currentStateMsg_st_debug;
    std::pair<string, string> m_pmStateMsg_fb_debug;
    std::pair<string, string> m_fcsStateMsg_st_debug;
    std::pair<string, string> m_liBatStateMsg_st_debug;

    std::pair<string, string> m_depthMsg_st_debug;
    std::pair<string, string> m_setOpConditionMsg_st_debug;
    std::pair<string, string> m_setOpModeMsg_st_debug;
    std::pair<string, string> m_taskStartMsg_st_debug;
    std::pair<string, string> m_taskStopMsg_st_debug;
    std::pair<string, string> m_setDevSwitchMsg_st_debug;
    std::pair<string, string> m_setPMSysMsg_st_debug;
    std::pair<string, string> m_sysStateMsg_st_debug;
#endif
    // bool parseControlCmdFromJson(MSControlCmd &cmd, const std::string &strJson);
};

#endif // UPPER_COMM_MANAGER_H