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/*
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* msp_DH_Roughening.h
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*
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* Created on: Nov 22, 2024
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* Author: akeguo
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*/
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#ifndef INC_MSP_MSP_DH_ROUGHENING_H_
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#define INC_MSP_MSP_DH_ROUGHENING_H_
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#include "../../BASE/Inc/BSP/bsp_include.h"
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//typedef struct _DHRoughening
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//{
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//
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// uint16_t Forward_Backward_Speed;
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// uint16_t Left_Right_Turn_Speed;
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// uint16_t Left_Compensation;
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// uint16_t Right_Compensation;
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// uint16_t Vehicle_Speed3 :1;
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// uint16_t Vehicle_Speed4 :1;
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// uint16_t Vehicle_Speed5 :1;
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// uint16_t Vehicle_Speed6 :1;
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// uint16_t Vehicle_Speed7 :1;
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// uint16_t Vehicle_Speed8 :1;
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// uint16_t Vehicle_Speed9 :1;
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// uint16_t Vehicle_Speed10 :1;
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// uint16_t Emergency_Stop :1;
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// uint16_t Wireless_State :1;
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// uint16_t Forwards :1;
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// uint16_t Backwards :1;
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// uint16_t Left_Turn :1;
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// uint16_t Right_Turn :1;
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// uint16_t Vehicle_Speed1 :1;
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// uint16_t Vehicle_Speed2 :1;
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// uint16_t Roughening_Start :1;//拉毛开启
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// uint16_t Roughening_Stop :1;//拉毛关闭
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// uint16_t LaneChangeDistance_0 :1;//换道距离0 -5
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// uint16_t LaneChangeDistance_1 :1;//
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// uint16_t LaneChangeDistance_2 :1;//
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// uint16_t LaneChangeDistance_3 :1;//
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// uint16_t LaneChangeDistance_4 :1;//
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// uint16_t LaneChangeDistance_5 :1;//
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// uint16_t Horizontal_Task :1;//水平作业
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// uint16_t Vertical_Task :1;//竖直作业
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// uint16_t LaneChange_Up_Left :1;//左上换道
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// uint16_t LaneChange_Right_Down :1;//右下换道
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// uint16_t NULL0 :1;//
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// uint16_t NULL1 :1;//
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// uint16_t End_Up :1;//前端上升
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// uint16_t End_Down :1;//前端下降
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//}DHRoughening;
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//typedef struct _DHRoughening
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//{
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//
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// uint16_t Forward_Backward_Speed;
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// uint16_t Left_Right_Turn_Speed;
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// uint16_t Left_Compensation;
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// uint16_t Right_Compensation;
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//
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// uint16_t Vehicle_Speed3 :1;
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// uint16_t Vehicle_Speed4 :1;
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// uint16_t Vehicle_Speed5 :1;
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// uint16_t Vehicle_Speed6 :1;
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// uint16_t Vehicle_Speed7 :1;
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// uint16_t Vehicle_Speed8 :1;
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// uint16_t Vehicle_Speed9 :1;
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// uint16_t Vehicle_Speed10 :1;
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//
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// uint16_t Emergency_Stop :1;
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// uint16_t Wireless_State :1;
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// uint16_t Forwards :1;
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// uint16_t Backwards :1;
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// uint16_t Left_Turn :1;
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// uint16_t Right_Turn :1;
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// uint16_t Vehicle_Speed1 :1;
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// uint16_t Vehicle_Speed2 :1;
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//
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// uint16_t Roughening_Start :1;//拉毛开启
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// uint16_t Roughening_Stop :1;//拉毛关闭
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// uint16_t NULLValue :6;//换道距离0 -5
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//
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// uint16_t Horizontal_Task :1;//水平作业
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// uint16_t Vertical_Task :1;//竖直作业
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// uint16_t LaneChange_Vertical_Up :1;//竖直上换道
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// uint16_t LaneChange_Vertical_Down :1;//竖直下换道
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// uint16_t LaneChange_Horizontal_Left :1;//水平左换道
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// uint16_t LaneChange_Horizontal_Right:1;//水平右左换道
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// uint16_t End_Up :1;//前端上升
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// uint16_t End_Down :1;//前端下降
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//
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//
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//}DHRoughening;
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//typedef struct _DHRoughening
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//{
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//
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// uint16_t Forward_Backward_Speed;
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// uint16_t Left_Right_Turn_Speed;
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// uint16_t Left_Compensation;
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// uint16_t Right_Compensation;
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//
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// uint16_t Vehicle_Speed3 :1;
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// uint16_t Vehicle_Speed4 :1;
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// uint16_t Vehicle_Speed5 :1;
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// uint16_t Vehicle_Speed6 :1;
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// uint16_t Vehicle_Speed7 :1;
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// uint16_t Vehicle_Speed8 :1;
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// uint16_t Vehicle_Speed9 :1;
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// uint16_t Vehicle_Speed10 :1;
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//
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// uint16_t Emergency_Stop :1;
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// uint16_t Wireless_State :1;
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// uint16_t Forwards :1;
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// uint16_t Backwards :1;
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// uint16_t Left_Turn :1;
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// uint16_t Right_Turn :1;
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// uint16_t Vehicle_Speed1 :1;
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// uint16_t Vehicle_Speed2 :1;
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//
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// uint16_t Roughening_Start :1;//拉毛开启
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// uint16_t Roughening_Stop :1;//拉毛关闭
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// uint16_t NULLValue :6;//换道距离0 -5
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//
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// uint16_t Horizontal_Task :1;//水平作业
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// uint16_t Vertical_Task :1;//竖直作业
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// uint16_t LaneChange_Horizontal_Left :1;//水平左换道
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// uint16_t LaneChange_Horizontal_Right :1;//水平右换道
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// uint16_t End_Up :1;//前端上升
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// uint16_t End_Down:1;//前端下降
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// uint16_t LaneChange_Vertical_Up :1;//竖直上换道
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// uint16_t LaneChange_Vertical_Down :1;//竖直下换道
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//
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//
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//}DHRoughening;
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typedef struct _DHRoughening
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{
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uint16_t Forward_Backward_Speed;
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uint16_t Left_Right_Turn_Speed;
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uint16_t Left_Compensation;
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uint16_t Right_Compensation;
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uint16_t Vehicle_Speed3 :1;
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uint16_t Vehicle_Speed4 :1;
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uint16_t Vehicle_Speed5 :1;
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uint16_t Vehicle_Speed6 :1;
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uint16_t Vehicle_Speed7 :1;
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uint16_t Vehicle_Speed8 :1;
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uint16_t Vehicle_Speed9 :1;
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uint16_t Vehicle_Speed10 :1;
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uint16_t Emergency_Stop :1;
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uint16_t Wireless_State :1;
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uint16_t Forwards :1;
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uint16_t Backwards :1;
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uint16_t Left_Turn :1;
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uint16_t Right_Turn :1;
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uint16_t Vehicle_Speed1 :1;
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uint16_t Vehicle_Speed2 :1;
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uint16_t Roughening_Start :1;//拉毛开启
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uint16_t Roughening_Stop :1;//拉毛关闭
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uint16_t NULLValue :6;//换道距离0 -5
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uint16_t Horizontal_Task :1;//水平作业
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uint16_t Vertical_Task :1;//竖直作业
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uint16_t LaneChange_Horizontal_Left :1;//水平左换道
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uint16_t LaneChange_Horizontal_Right :1;//水平右换道
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uint16_t End_Down:1;//前端下降
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uint16_t End_Up :1;//前端上升
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uint16_t LaneChange_Vertical_Up :1;//竖直上换道
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uint16_t LaneChange_Vertical_Down :1;//竖直下换道
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uint16_t Wireless_FirstFlag;
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}DHRoughening;
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extern DHRoughening DHRougheningContrller;
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void read_DHRoughening_Data(void);
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void decode_DHRoughening(uint8_t *buffer, uint16_t length);
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void set_DHRoughening_Display(uint16_t LeftCompensation, uint16_t RightCompensation,
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uint16_t Angle, uint16_t Speed);
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void send_to_DHRoughening();
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int32_t DHRougheningGetSpeed(DHRoughening DHRougheningContrller);
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int32_t DHRougheningGetLaneChangeDistance(DHRoughening DHRougheningContrller);
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#endif /* INC_MSP_MSP_DH_ROUGHENING_H_ */
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