#pragma once

#include <QThread>

#include "../XNCore/XNIDL/XNSimStatusPubSubTypes.hpp"
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <QMutex>

class MonitorThread : public QThread
{
	Q_OBJECT
public:
	MonitorThread(QObject *parent = nullptr);
	~MonitorThread();
signals:
	void runStatusChanged(int status);
	void abortProcess();

public slots:
	void OnPause();
	void OnContinue();
	void OnAbort();

public:
	void OnReceiveSimStatus(const XNSim::XNSimStatus::XNEngineStatus &status);

private:
	void run() override;

private:
	QMutex m_Mutex;
	int m_RunStatus;
	bool m_RunStatusUpdate;
	eprosima::fastdds::dds::DomainParticipant *m_Participant;
	eprosima::fastdds::dds::Topic *m_EngineStatusTopic;
	eprosima::fastdds::dds::DataWriter *m_ControlDataWriter;
	eprosima::fastdds::dds::Subscriber *m_EngineStatusSubscriber;
	eprosima::fastdds::dds::DataReaderListener *listener;
	eprosima::fastdds::dds::DataReader *m_EngineStatusDataReader;
	eprosima::fastdds::dds::Topic *m_ControlTopic;
	eprosima::fastdds::dds::Publisher *m_ControlPublisher;
	bool isAbort;
};