#ifndef RC_RECEIVER_H
#define RC_RECEIVER_H

#include <ros/ros.h>
#include <serial/serial.h>
#include <rc_receiver/rc.h>
#include <vector>
#include "sensor_msgs/BatteryState.h"

class RCReceiver {
public:
    RCReceiver();
    void run();

    
private:
    ros::Subscriber battery_state_sub_;
    std::string input_battery_state_topic_;
    void readSerialData();
    void parseFrameData();
    bool parseModbusProtocol(const std::vector<uint8_t> &frame);
    void battery_status_callback(const sensor_msgs::BatteryState::ConstPtr &msg);
    void checkTimeout(const ros::TimerEvent& event);

    ros::NodeHandle nh_;
    ros::NodeHandle private_nh_;
    serial::Serial ser_;
    ros::Publisher control_pub_;
    ros::Timer timeoutTimer_;

    std::vector<uint8_t> serial_buffer_;
    ros::Time lastReceivedTime_;

    ros::Time lastReconnectAttempt_;  // 记录上一次尝试重连的时间

    const uint8_t AUTO_DRIVING;
    const uint8_t REMOTE_CONTROL;
    
    size_t frames_received_;
    size_t frames_discarded_;
    bool debug_;

    // 新增：串口配置参数（用于重连）
    std::string port_;          // 串口设备路径
    int baudrate_;              // 波特率
};

#endif // RC_RECEIVER_H