//
// Created by YY on 2020/1/7.
//

#ifndef MYAPPLICATION2_COMM_IF_H
#define MYAPPLICATION2_COMM_IF_H

#include <cstdint>
#include <vector>
#include "../driver_test.h"

struct mcuBrief {
    char version[70];
    int selftest;
//    int gpio;
//    int speed;
//    int engine;
    char sn[20];
};

struct canBrief {
    int gpio;
    int rpm;
    double speed;
    double voltage;
};

struct carSensorBrief {
    int odo;
    int trip;
    int tripTime;
    double cellVolt;
    double speed;
    int engine;
    int sas;
    int key;
    int gear;
    int aps;
    int door;
    int seatBelt;
    int clutch;
    int horn;
    int wiper;
    int handBreak;
    int mainBreak;
    int leftTurnLamp;
    int rightTurnLamp;
    int clearanceLamp;
    int dippedBeamLamp;
    int mainBeamLamp;
    int fogLamp;
    int assBreak;
    int surround1;
    int surround2;
    int surround3;
    int surround4;
};

struct cardBrief {
    int result;
    char card[32];
};

struct gpsBrief {
    char utc[32];
    int sat_num;
    int qf;
    double latitude;
    double longitude;
    double altitude;
    double speed;
    double trackTure;
};

struct rtkBrief {
    char utc[32];
    int qf;
    double coord_x;
    char coord_x_dir;
    double coord_y;
    char coord_y_dir;
    double heading;
    double pitch;
    double roll;

    int sat_num;
    double latitude;
    double longitude;
    double altitude;
    double speed;
    double trackTure;
    int rtcm_length;
};

struct carBrief {
    char utc[32];
    int qf;
    int map_id;
    int move;
    double speed;
    double heading;
    double pitch;
    double roll;
    double main_ant[2];
    int axial[2];
    int left_front_tire[2];
    int right_front_tire[2];
    int left_rear_tire[2];
    int right_rear_tire[2];
    std::vector<int> body;
    std::vector<std::vector<double>> point;
};

struct roadStatusBrief {
    int road_id;
    int status;
};

struct crossingStatusBrief {
    int road_id;
    int crossing_index;
    int status;
};

void MA_MainProcMsgEntry(int cmd, const char *value);
void MA_MainProcBinMsgEntry(int cmd, const uint8_t *value, int length);

void MA_Init(void);
void MA_NdkStart(void);
void MA_ReqRtkPlatformConfig(void);
void MA_RtkPlatformConnect(int conn, const char *ip, int port);
void MA_RtkPlatformRegister(int reg, const uint8_t *pwd, int length);
void MA_RtkPlatformLogin(int login);
void MA_ReadMap(void);
void MA_ReadCar(void);
void MA_ReadSensor(void);
void MA_SendExamStatus(int start, int errorCode);
void MA_SendCardBrief(const struct cardBrief *brief);
void MA_SendMcuBrief(const struct mcuBrief *brief);
void MA_SendCarSensorBrief(const struct carSensorBrief *brief);
void MA_SendGpsBrief(const struct gpsBrief *brief);
void MA_SendRtkBrief(const struct rtkBrief *brief);
void MA_SendCarPosition(const struct carBrief *brief);
void MA_SendExamWrong(std::vector<ExamFault> &ExamFaultList);
void MA_SendRtcmInd(int length);
void MA_SendDebugInfo(const char *str, ...);
void MA_EnterMap(int map_id, int type, int enter);
void MA_ExamLight(void);

void MA_SendDistance(double l, double r);

void MA_SendRoadStatus(const struct roadStatusBrief *brief);
void MA_SendCrossingStatus(const struct crossingStatusBrief *brief);
void MA_SendCanStatus(const struct canBrief *brief);

void MA_SendBlueStatus(const char *name, const char *addr, int status);
void MA_SendRtkStatus(const char *type, int status);

#endif //MYAPPLICATION2_COMM_IF_H