//
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// Created by YY on 2019/10/21.
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//
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#ifndef RTKDRIVERTEST_DRIVER_TEST_H
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#define RTKDRIVERTEST_DRIVER_TEST_H
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#include "Geometry.h"
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struct rtk_info {
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int YY;
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int MM;
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int DD;
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int hh;
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int mm;
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int ss;
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int dss;
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int qf;
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double heading;
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double x;
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double y;
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};
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#define TIRE_OUTSIDE 0
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#define TIRE_INSIDE 1
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// 总数
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// 中轴线前点,id 0，中轴线后点id
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// 左包围， 右包围
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// 左前轮，外内
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typedef struct {
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int body_num;
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int body[64];
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int front_left_tire[2];
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int front_right_tire[2];
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int rear_left_tire[2];
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int rear_right_tire[2];
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} carModelDesc_t;
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typedef struct {
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uint32_t uptime;
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int point_num;
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PointF *points;
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carModelDesc_t *desc;
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} car_model_cache_t;
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void DriverTestInit(void);
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void ReadDriverExamPrimer(void);
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void ClearMap(void);
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void AddMap(int id, int type, const double (*map)[2], int pointNum, const double (*map2)[2], int pointNum2);
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void SetCarMeasurePoint(double *basePoint, int *axial, int *left_front_tire,
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int *right_front_tire, int *left_rear_tire, int *right_rear_tire,
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double (*point)[2], int pointNum);
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void SetSensorCfg(int (*sensor)[2], int sensorNum);
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void UpdateRTKInfo(struct rtk_info *s);
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void UpdateCarCoord(void);
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car_model_cache_t *GetCarModelCache(int node);
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#endif //RTKDRIVERTEST_DRIVER_TEST_H
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