#ifndef E_STOP_RELAY_H
#define E_STOP_RELAY_H

#include <ros/ros.h>
#include <serial/serial.h>
#include "e_stop_relay/EStopService.h"

class EStopRelay {
public:
    EStopRelay();
    void e_stop_readSerialData();
    void relay_readSerialData();
    void e_stop_parseModbusFrame(const std::vector<uint8_t> &frame);
    void relay_parseModbusFrame(const std::vector<uint8_t> &frame);
    void run();
    bool handleEStopService(e_stop_relay::EStopService::Request &req, e_stop_relay::EStopService::Response &res);
    bool setLightStatus(bool status);

private:
    ros::NodeHandle nh_;
    ros::NodeHandle private_nh_;
    serial::Serial ser_;
    ros::Publisher e_stop_pub_;
    ros::ServiceServer e_stop_service_;
    std::string port_name_;
    int baudrate_;
    std::string topic_name_;
    std::vector<uint8_t> serial_buffer_;
    ros::Time lastReceivedTime_;
    std::string output_e_stop_topic_;
    bool relay_status;
    
    // 新增：重连控制参数（保留原有注释结构）
    ros::Duration reconnect_interval_;  // 重连间隔时间（秒）
    ros::Time last_reconnect_attempt_;  // 上次重连尝试的时间戳
    
    // Modbus指令定义（原有注释保留）
    const unsigned char e_stop_pressed_data[7] = {0x01, 0x04, 0x02 ,0x00, 0x01, 0x78, 0xF0};
    const unsigned char e_stop_released_data[7] = {0x01 ,0x04 ,0x02 ,0x00 ,0x00 ,0xB9 ,0x30};
    const unsigned char relay_turnon_cmd[13] = {0x01 ,0x10 ,0x00 ,0x01 ,0x00 ,0x02 ,0x04 ,0x00 ,0x01 ,0x00 ,0x01 ,0xA2 ,0x63};
    const unsigned char relay_turnoff_cmd[13] = {0x01 ,0x10 ,0x00 ,0x01 ,0x00 ,0x02 ,0x04 ,0x00 ,0x00 ,0x00 ,0x00 ,0x32 ,0x63};
    
    // 串口初始化函数（原有声明保留）
    bool initSerial();
};

#endif // E_STOP_RELAY_H