/*
 * msp_DH_Roughening.h
 *
 *  Created on: Nov 22, 2024
 *      Author: akeguo
 */

#ifndef INC_MSP_MSP_DH_ROUGHENING_H_
#define INC_MSP_MSP_DH_ROUGHENING_H_
#include "../../BASE/Inc/BSP/bsp_include.h"

//typedef struct _DHRoughening
//{
//
//	uint16_t Forward_Backward_Speed;
//	uint16_t Left_Right_Turn_Speed;
//	uint16_t Left_Compensation;
//	uint16_t Right_Compensation;



//	uint16_t Vehicle_Speed3 :1;
//	uint16_t Vehicle_Speed4 :1;
//	uint16_t Vehicle_Speed5 :1;
//	uint16_t Vehicle_Speed6 :1;
//	uint16_t Vehicle_Speed7 :1;
//	uint16_t Vehicle_Speed8 :1;
//	uint16_t Vehicle_Speed9 :1;
//	uint16_t Vehicle_Speed10 :1;

//	uint16_t Emergency_Stop :1;
//	uint16_t Wireless_State :1;
//	uint16_t Forwards :1;
//	uint16_t Backwards :1;
//	uint16_t Left_Turn :1;
//	uint16_t Right_Turn :1;
//	uint16_t Vehicle_Speed1 :1;
//	uint16_t Vehicle_Speed2 :1;



//	uint16_t Roughening_Start :1;//拉毛开启
//	uint16_t Roughening_Stop :1;//拉毛关闭
//	uint16_t LaneChangeDistance_0 :1;//换道距离0 -5
//	uint16_t LaneChangeDistance_1 :1;//
//	uint16_t LaneChangeDistance_2 :1;//
//	uint16_t LaneChangeDistance_3 :1;//
//	uint16_t LaneChangeDistance_4 :1;//
//	uint16_t LaneChangeDistance_5 :1;//

//	uint16_t Horizontal_Task :1;//水平作业
//	uint16_t Vertical_Task :1;//竖直作业
//	uint16_t LaneChange_Up_Left :1;//左上换道
//	uint16_t LaneChange_Right_Down :1;//右下换道
//	uint16_t NULL0 :1;//
//	uint16_t NULL1 :1;//
//	uint16_t End_Up :1;//前端上升
//	uint16_t End_Down :1;//前端下降

//}DHRoughening;




//typedef struct _DHRoughening
//{
//
//	uint16_t Forward_Backward_Speed;
//	uint16_t Left_Right_Turn_Speed;
//	uint16_t Left_Compensation;
//	uint16_t Right_Compensation;
//
//	uint16_t Vehicle_Speed3 :1;
//	uint16_t Vehicle_Speed4 :1;
//	uint16_t Vehicle_Speed5 :1;
//	uint16_t Vehicle_Speed6 :1;
//	uint16_t Vehicle_Speed7 :1;
//	uint16_t Vehicle_Speed8 :1;
//	uint16_t Vehicle_Speed9 :1;
//	uint16_t Vehicle_Speed10 :1;
//
//	uint16_t Emergency_Stop :1;
//	uint16_t Wireless_State :1;
//	uint16_t Forwards :1;
//	uint16_t Backwards :1;
//	uint16_t Left_Turn :1;
//	uint16_t Right_Turn :1;
//	uint16_t Vehicle_Speed1 :1;
//	uint16_t Vehicle_Speed2 :1;
//
//	uint16_t Roughening_Start :1;//拉毛开启
//	uint16_t Roughening_Stop :1;//拉毛关闭
//	uint16_t NULLValue :6;//换道距离0 -5
//
//	uint16_t Horizontal_Task :1;//水平作业
//	uint16_t Vertical_Task :1;//竖直作业
//	uint16_t LaneChange_Vertical_Up :1;//竖直上换道
//	uint16_t LaneChange_Vertical_Down :1;//竖直下换道
//	uint16_t LaneChange_Horizontal_Left :1;//水平左换道
//	uint16_t LaneChange_Horizontal_Right:1;//水平右左换道
//	uint16_t End_Up :1;//前端上升
//	uint16_t End_Down :1;//前端下降
//
//
//}DHRoughening;

//typedef struct _DHRoughening
//{
//
//	uint16_t Forward_Backward_Speed;
//	uint16_t Left_Right_Turn_Speed;
//	uint16_t Left_Compensation;
//	uint16_t Right_Compensation;
//
//	uint16_t Vehicle_Speed3 :1;
//	uint16_t Vehicle_Speed4 :1;
//	uint16_t Vehicle_Speed5 :1;
//	uint16_t Vehicle_Speed6 :1;
//	uint16_t Vehicle_Speed7 :1;
//	uint16_t Vehicle_Speed8 :1;
//	uint16_t Vehicle_Speed9 :1;
//	uint16_t Vehicle_Speed10 :1;
//
//	uint16_t Emergency_Stop :1;
//	uint16_t Wireless_State :1;
//	uint16_t Forwards :1;
//	uint16_t Backwards :1;
//	uint16_t Left_Turn :1;
//	uint16_t Right_Turn :1;
//	uint16_t Vehicle_Speed1 :1;
//	uint16_t Vehicle_Speed2 :1;
//
//	uint16_t Roughening_Start :1;//拉毛开启
//	uint16_t Roughening_Stop :1;//拉毛关闭
//	uint16_t NULLValue :6;//换道距离0 -5
//
//	uint16_t Horizontal_Task :1;//水平作业
//	uint16_t Vertical_Task :1;//竖直作业
//	uint16_t LaneChange_Horizontal_Left :1;//水平左换道
//	uint16_t LaneChange_Horizontal_Right :1;//水平右换道
//	uint16_t End_Up :1;//前端上升
//	uint16_t End_Down:1;//前端下降
//	uint16_t LaneChange_Vertical_Up :1;//竖直上换道
//	uint16_t LaneChange_Vertical_Down :1;//竖直下换道
//
//
//}DHRoughening;


typedef struct _DHRoughening
{

	uint16_t Forward_Backward_Speed;
	uint16_t Left_Right_Turn_Speed;
	uint16_t Left_Compensation;
	uint16_t Right_Compensation;

	uint16_t Vehicle_Speed3 :1;
	uint16_t Vehicle_Speed4 :1;
	uint16_t Vehicle_Speed5 :1;
	uint16_t Vehicle_Speed6 :1;
	uint16_t Vehicle_Speed7 :1;
	uint16_t Vehicle_Speed8 :1;
	uint16_t Vehicle_Speed9 :1;
	uint16_t Vehicle_Speed10 :1;

	uint16_t Emergency_Stop :1;
	uint16_t Wireless_State :1;
	uint16_t Forwards :1;
	uint16_t Backwards :1;
	uint16_t Left_Turn :1;
	uint16_t Right_Turn :1;
	uint16_t Vehicle_Speed1 :1;
	uint16_t Vehicle_Speed2 :1;

	uint16_t Roughening_Start :1;//拉毛开启
	uint16_t Roughening_Stop :1;//拉毛关闭
	uint16_t NULLValue :6;//换道距离0 -5

	uint16_t Horizontal_Task :1;//水平作业
	uint16_t Vertical_Task :1;//竖直作业
	uint16_t LaneChange_Horizontal_Left :1;//水平左换道
	uint16_t LaneChange_Horizontal_Right :1;//水平右换道
	uint16_t End_Down:1;//前端下降
	uint16_t End_Up :1;//前端上升
	uint16_t LaneChange_Vertical_Up :1;//竖直上换道
	uint16_t LaneChange_Vertical_Down :1;//竖直下换道


}DHRoughening;




extern DHRoughening   DHRougheningContrller;


void read_DHRoughening_Data(void);
void decode_DHRoughening(uint8_t *buffer, uint16_t length);
void set_DHRoughening_Display(uint16_t LeftCompensation, uint16_t RightCompensation,
		uint16_t Angle, uint16_t Speed);
void send_to_DHRoughening();


int32_t DHRougheningGetSpeed(DHRoughening  DHRougheningContrller);
int32_t DHRougheningGetLaneChangeDistance(DHRoughening  DHRougheningContrller);
#endif /* INC_MSP_MSP_DH_ROUGHENING_H_ */