#ifndef MOCKVEHICLE_H
#define MOCKVEHICLE_H

#include <QObject>
#include <QUdpSocket>
#include <QTimer>
#include <QVector>

// ===================== 内置模拟车载端（离线演示） =====================
// 以独立 UDP 套接字在回环地址上与遥控端通信：向 UI 端口周期发送遥测，
// 接收并响应 UI 下发的控制命令（行驶/机械臂/球阀/泵/洗消/自检/急停等）。
class MockVehicle : public QObject
{
    Q_OBJECT
public:
    explicit MockVehicle(QObject* parent = nullptr);
    bool enabled() const { return m_enabled; }

private slots:
    void onReadyRead();
    void onSendTick();
    void onSelfCheckTick();

private:
    void sendJson(const QJsonObject& obj);
    void sendTelemetry();
    void sendHeartbeat();
    void handleCommand(const QJsonObject& o);

    QUdpSocket* m_socket = nullptr;
    QTimer* m_sendTimer = nullptr;
    QTimer* m_selfCheckTimer = nullptr;

    int m_localPort = 9000;   // 遥控端收包端口（本端发送目标）
    int m_remotePort = 9001;  // 本端绑定端口（遥控端发包目标）
    bool m_enabled = true;
    bool m_plantSelfCheckFault = false;

    // 模拟车辆状态
    bool m_estop = false;
    bool m_gasRunning = false;
    bool m_washRunning = false;
    QString m_washMode = "手动消除";
    bool m_valve1Open = false;   // D1 控制状态（开/关）
    bool m_valve2Open = false;
    bool m_pPlunger = false, m_pAir = false, m_pLeaf = false;
    double m_speed = 3.45;
    int m_airRpm = 300, m_plungerRpm = 200, m_leafRpm = 200;
    QVector<double> m_js{30, 20, 0, 90, 45, 0};
    bool m_armHomed = true;
    QString m_armReturn = "idle";

    // 自检序列
    bool m_selfCheckActive = false;
    int  m_selfCheckIndex = 0;
};

#endif // MOCKVEHICLE_H