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

#ifndef RTKDRIVERTEST_DRIVER_TEST_H
#define RTKDRIVERTEST_DRIVER_TEST_H

#include "Geometry.h"

struct rtk_info {
    int YY;
    int MM;
    int DD;
    int hh;
    int mm;
    int ss;
    int dss;
    int qf;
    double heading;
    double x;
    double y;
};

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

#endif //RTKDRIVERTEST_DRIVER_TEST_H