#pragma once

#include <QCanBusFrame>
#include <QDateTime>
#include <QMap>
#include <QObject>
#include <QSettings>
#include <QString>
#include <QThread>

#include "AgentInterface.h"
#include "AgentMessage.h"
#include "CanInterface.h"
#include "CanMessage.h"
#include "MessageBuilder.h"

using namespace Can;

class LeahiRtController : public QObject
{
    Q_OBJECT

public:
    explicit LeahiRtController(const QString &configPath, QObject *parent = nullptr);
    ~LeahiRtController();

    void connectToAgent();

private:
    QSettings _settings;
    Can::CanInterface _canInterface;
    QThread _canThread;
    Can::MessageBuilder _msgBuilder;
    QMap<Can::CanId, Can::Message> _messages;
    AgentInterface _agentInterface;
    QThread _agentThread;
    quint16 _txSequence = 0;

Q_SIGNALS:
    void didCanMessageReceive(const QDateTime timestamp, const Can::Message msg);

private Q_SLOTS:
    void onFrameReceive(const QCanBusFrame frame);
};