#ifndef _MSGHANDLER_HPP_
#define _MSGHANDLER_HPP_

#include <queue>
#include <mutex>
#include <vector>
#include <map>

class MsgHandler {
public:
    int fd;
    std::string device;
    std::vector<uint8_t> m_WeightData;

    MsgHandler();
    ~MsgHandler() = default;

    void HandleDdsMsg(const std::map<std::string, std::string>& msg);
    template<typename T>
    bool HandleDeviceMsg(T& msg);
    bool SetDevice(const std::string& device);

    virtual bool OpenPort(const std::string& port, const std::string& baudrate);
    virtual int SendDeviceMsg(const std::vector<uint8_t>& data);
    virtual int RecvDeviceMsg(std::vector<uint8_t>& data, int timeoutMs);
    int SendMsg(const std::vector<uint8_t>& data);
    int RecvMsg(std::vector<uint8_t>& data, int timeoutMs);
    bool isOpen() const {
        return fd != -1;
    }
    void ClosePort();

private:
    bool get_frame(std::vector<uint8_t>& frame, uint8_t frame_size, uint8_t start, uint8_t end);
    bool get_weight_1(std::string& weight, std::vector<uint8_t>& frame);
    bool get_weight_1(float& weight, std::vector<uint8_t>& frame);
    bool get_weight_2(std::string& weight, std::vector<uint8_t>& frame);
    bool get_weight_2(float& weight, std::vector<uint8_t>& frame);
};

#endif