#pragma once

#include <QObject>
#include <QThread>
#include <QList>
#include <QGeoCoordinate>

#include "QNemoProgress.h"
#include "QNemoHeartbeat.h"

#include <boost/units/systems/si.hpp>


using namespace boost::units;
using Length = quantity<si::length>;
using Area = quantity<si::area>;

class SnakeImpl;

enum class NemoStatus{
    NotConnected = 0,
    Connected = 1,
    Timeout = -1,
    InvalidHeartbeat = -2
};

class SnakeDataManager : public QThread{
    Q_OBJECT

public:
    using SnakeImplPtr  = std::unique_ptr<SnakeImpl>;

    SnakeDataManager(QObject *parent = nullptr);
    ~SnakeDataManager() override;


    void setMeasurementArea     (const QList<QGeoCoordinate>  &measurementArea);
    void setServiceArea         (const QList<QGeoCoordinate>  &serviceArea);
    void setCorridor            (const QList<QGeoCoordinate>  &corridor);

    QNemoProgress nemoProgress();
    int nemoStatus();
    bool calcInProgress();

    Length lineDistance() const;
    void setLineDistance(Length lineDistance);

    Length minTransectLength() const;
    void setMinTransectLength(Length minTransectLength);

    Area minTileArea() const;
    void setMinTileArea(Area minTileArea);

    Length tileHeight() const;
    void setTileHeight(Length tileHeight);

    Length tileWidth() const;
    void setTileWidth(Length tileWidth);

    void enableRosBridge();
    void disableRosBride();

signals:
    void nemoProgressChanged();
    void nemoStatusChanged(int status);
    void calcInProgressChanged(bool inProgress);

protected:
    void run() override;
private:
    SnakeImplPtr pImpl;
};