#ifndef COCKPIT_CORE_H
#define COCKPIT_CORE_H

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

#define __APP_NAME__ "cockpit_driver"

class CockPit{
    public:
        CockPit();
        ~CockPit();
        void run();
    
    private:
        ros::NodeHandle nh_;
        ros::NodeHandle private_nh_;
    
    private:
        /*串口号 */
        std::string cockpit_com_;
        /* 串口波特率 */
        int baudrate_;
        /* 驾驶模式控制的指令话题 */
        std::string input_ctr_mode_topic_;
        /* 电池状态的指令话题 */
        std::string input_battery_state_topic_;
    
    private:
        uint16_t soc_ = 0;
        uint8_t current_page_ = 0;
        uint8_t drive_mode_ = 0;
    
    private:
        ros::Subscriber ctr_mode_sub_;
        ros::Subscriber battery_state_sub_;
    
    private:
        serial::Serial serial_;
    
    private:
        void ctr_mode_callback(const rc_receiver::rc::ConstPtr &msg);
        void battery_status_callback(const sensor_msgs::BatteryState::ConstPtr& msg);
        void process(const ros::TimerEvent& e);
        void serial_initial();
};

#endif