//
// Created by YY on 2019/10/21.
//

#ifndef RTKDRIVERTEST_DRIVER_TEST_H
#define RTKDRIVERTEST_DRIVER_TEST_H

#include "Geometry.h"
#include "rtk_module/rtk.h"

#define TIRE_OUTSIDE    0
#define TIRE_INSIDE     1

// 总数
// 中轴线前点,id 0，中轴线后点id
// 左包围， 右包围
// 左前轮，外内
typedef struct {
    int body_num;
    int body[64];
    int front_left_tire[2];
    int front_right_tire[2];
    int rear_left_tire[2];
    int rear_right_tire[2];
} carModelDesc_t;

typedef struct {
    uint32_t uptime;
    int point_num;
    PointF *points;
    carModelDesc_t *desc;
} car_model_cache_t;

void DriverTestInit(void);
void ReadDriverExamPrimer(void);
void ClearMap(void);
void AddMap(int id, int type, const double (*map)[2], int pointNum, const double (*map2)[2], int pointNum2);
void SetCarMeasurePoint(double *basePoint, int *axial, int *left_front_tire,
                        int *right_front_tire, int *left_rear_tire, int *right_rear_tire,
                        double (*point)[2], int pointNum);
void SetSensorCfg(int (*sensor)[2], int sensorNum);
void StartDriverExam(int start);

void UpdateRTKInfo(rtk_info *s);
void UpdateCarCoord(void);
car_model_cache_t *GetCarModelCache(int node);

#endif //RTKDRIVERTEST_DRIVER_TEST_H