//
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// Created by YY on 2020/1/7.
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//
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#ifndef MYAPPLICATION2_COMM_IF_H
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#define MYAPPLICATION2_COMM_IF_H
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#include <cstdint>
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#include <vector>
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#include "../driver_test.h"
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struct mcuBrief {
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char version[70];
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int selftest;
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// int gpio;
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// int speed;
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// int engine;
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char sn[20];
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};
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struct canBrief {
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int gpio;
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int rpm;
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double speed;
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double voltage;
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};
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struct carSensorBrief {
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int odo;
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int trip;
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int tripTime;
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double cellVolt;
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double speed;
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int engine;
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int sas;
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int key;
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int gear;
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int aps;
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int door;
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int seatBelt;
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int clutch;
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int horn;
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int wiper;
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int handBreak;
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int mainBreak;
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int leftTurnLamp;
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int rightTurnLamp;
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int clearanceLamp;
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int dippedBeamLamp;
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int mainBeamLamp;
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int fogLamp;
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int assBreak;
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int surround1;
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int surround2;
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int surround3;
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int surround4;
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};
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struct cardBrief {
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int result;
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char card[32];
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};
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struct gpsBrief {
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char utc[32];
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int sat_num;
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int qf;
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double latitude;
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double longitude;
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double altitude;
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double speed;
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double trackTure;
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};
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struct rtkBrief {
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char utc[32];
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int qf;
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double coord_x;
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char coord_x_dir;
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double coord_y;
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char coord_y_dir;
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double heading;
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double pitch;
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double roll;
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int sat_num;
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double latitude;
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double longitude;
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double altitude;
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double speed;
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double trackTure;
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int rtcm_length;
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};
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struct carBrief {
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char utc[32];
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int qf;
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int map_id;
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int move;
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double speed;
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double heading;
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double pitch;
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double roll;
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double main_ant[2];
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int axial[2];
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int left_front_tire[2];
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int right_front_tire[2];
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int left_rear_tire[2];
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int right_rear_tire[2];
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std::vector<int> body;
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std::vector<std::vector<double>> point;
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};
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struct roadStatusBrief {
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int road_id;
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int status;
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};
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struct crossingStatusBrief {
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int road_id;
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int crossing_index;
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int status;
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};
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void MA_MainProcMsgEntry(int cmd, const char *value);
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void MA_MainProcBinMsgEntry(int cmd, const uint8_t *value, int length);
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void MA_Init(void);
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void MA_NdkStart(void);
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void MA_ReqRtkPlatformConfig(void);
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void MA_RtkPlatformConnect(int conn, const char *ip, int port);
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void MA_RtkPlatformRegister(int reg, const uint8_t *pwd, int length);
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void MA_RtkPlatformLogin(int login);
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void MA_ReadMap(void);
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void MA_ReadCar(void);
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void MA_ReadSensor(void);
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void MA_SendExamStatus(int start, int errorCode);
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void MA_SendCardBrief(const struct cardBrief *brief);
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void MA_SendMcuBrief(const struct mcuBrief *brief);
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void MA_SendCarSensorBrief(const struct carSensorBrief *brief);
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void MA_SendGpsBrief(const struct gpsBrief *brief);
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void MA_SendRtkBrief(const struct rtkBrief *brief);
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void MA_SendCarPosition(const struct carBrief *brief);
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void MA_SendExamWrong(vector<ExamFault> &ExamFaultList);
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void MA_SendRtcmInd(int length);
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void MA_SendDebugInfo(const char *str, ...);
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void MA_EnterMap(int map_id, int type, int enter);
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void MA_ExamLight(void);
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void MA_SendDistance(double l, double r);
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void MA_SendRoadStatus(const struct roadStatusBrief *brief);
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void MA_SendCrossingStatus(const struct crossingStatusBrief *brief);
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void MA_SendCanStatus(const struct canBrief *brief);
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void MA_SendBlueStatus(const char *name, const char *addr, int status);
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void MA_SendRtkStatus(const char *type, int status);
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#endif //MYAPPLICATION2_COMM_IF_H
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