#pragma once

#include "DirectCommunicationClient.hpp"
#include "SimCore/Messages/SensorData.hpp"
#include "SimCore/Messages/SensorTrack.hpp"
#include "SimCore/Messages/SimTrack.hpp"
#include "WHISPER/InternalUDPListener.hpp"
#include <WHISPER/InternalUDPService.hpp>
#include <SimCore/Identifier.hpp>

#include <WHISPER/threadSafeQueue.hpp>
#include <WHISPER/Messages/Message.hpp>
#include <SimCore/SimCore.hpp>
#include <SimCore/Identifier.hpp>
#include <SimCore/Position.hpp>
#include <atomic>
#include <memory>
#include <string>
#include <thread>



namespace Entities {

    /**
    *@brief this class represents a template class example for senor Applications like Radar, Sonar, eg.
    */
    class Sensor {
        public: 
            Sensor(
                SimCore::Identifier OwnID,
                SimCore::Identifier OwnShipID, 
                std::string Name,
                SimCore::SensorKinds SensorKind,
                std::string GroundTruthAddress,
                std::uint32_t GroundTruthPort, 
                std::uint32_t ParentPort,
                std::string ParentIPAddress);

            void start();
            void stop();

        protected:

            SimCore::SensorData OwnData;
            
           
            virtual void specificSensorCalculations(std::unique_ptr<SimCore::SimTrack> track) = 0;

            std::shared_ptr<SimCore::SimTrack> OwnShipTrack_ = nullptr;

            const SimCore::Identifier OwnShipID;



            std::shared_ptr<WHISPER::threadSafeQueue<std::shared_ptr<SimCore::SensorTrack>>> recognisedTracks_ = nullptr;
        private:

            std::uint32_t GroundTruthPort_;
            std::string GroundTruthAddr_;
            std::uint32_t ParentPort_;
            std::string ParentIPAddress_;

            std::unique_ptr<WHISPER::InternalUDPListener> GroundTruthUDPListener_;

            std::unique_ptr<DirectCommunication::DirectCommunicationClient> client_;


            std::thread UpdateOwnShipThread_;

            std::atomic_bool stopOwnShipUpdater_ = false;

            void handleGroundThruthMessage(std::string msg);
    
            void updateOwnShipFunction();


            void handlServerMessages(std::string msg);
    
            void HandleOrders(WHISPER::Message WHmsg);
           
            void setupOwnShip(std::shared_ptr<SimCore::SimTrack> ownShipTracK);


    };
}