/**
  ******************************************************************************
  * @file           : OrdLidar.h
  * @brief          : Header for OrdLidar.c file.
  *                   This file contains the Lidar defines of the application.
  ******************************************************************************
	*/

#ifndef __ORDLIDAR_H__
#define __ORDLIDAR_H__

#define ORDLIDAR_VER	(0x100)
#pragma anon_unions

#include <stdint.h>
#include <stdlib.h>

#define TMPBUFF_SIZE (1024)
#define MAX_BLOCK_POINT_NUM (100)
#define MAX_BLOCK_SIZE (MAX_BLOCK_POINT_NUM * 4)
#define POINT_CIRCLE_MAX_SIZE (4096)
#define POINT_PKG_MAX_SIZE (200)
#define POINT_PER_PACK (12)

#define SET_TIME_OUT    (10) //unit:s
#define HEAD_FLAG   (0xF5A5)        
#define TAIL_FLAG   (0x31F2)
#define HEAD_LEN    (5)

typedef enum
{
    ORADAR_MS200 = 1,
    ORADAR_MS300 = 2,
}oradar_lidar_type_id;

typedef enum {
    ORADAR_TYPE_SERIAL = 0x0,/**< serial type.*/
    ORADAR_TYPC_UDP = 0x1,/**< socket udp type.*/
    ORADAR_TYPE_TCP = 0x1,/**< socket tcp type.*/
} device_type_id;

typedef enum
{
    SET_ROTATION_SPEED = 0xA1,
    SET_RUN_MODE = 0xA2,
}CMD;

typedef enum
{
    WRITE_PARAM = 0xC1,
    WRITE_PARAM_RESPONSE = 0xC2,
    READ_PARAM = 0xC3,
    READ_PARAM_RESPONSE = 0xC4,
}CMD_TYPE;

typedef struct uart_comm_st
{
    uint16_t head_flag;
    uint8_t cmd;
    uint8_t cmd_type;
    uint8_t payload_len;
    uint8_t data[10];
}uart_comm_t;

typedef struct point_data_st
{
    unsigned short distance;
    unsigned short intensity;
    float angle;
} point_data_t;

typedef enum frame_head_flag_et
{
    HEAD_FLAG_NONE,
    HEAD_FLAG_OK,
} frame_head_flag_t;

typedef enum protocol_version_et
{
    VERSION_NONE = 0,
    VERSION_MS200,
} protocol_version_t;

typedef struct __attribute__((packed))
{
    uint16_t distance;
    uint8_t confidence;
} OradarLidarPoint;

typedef struct __attribute__((packed))
{
    uint8_t header;
    uint8_t ver_len;
    uint16_t speed;
    uint16_t start_angle;
    OradarLidarPoint point[POINT_PER_PACK];
    uint16_t end_angle;
    uint16_t timestamp;
    uint8_t crc8;
} OradarLidarFrame;



typedef struct LidarDotData
{
	unsigned char intensity;
	unsigned char s1;
/*	
	struct {
		unsigned char flag:2;
		unsigned char s1:6;
					};
*/	
	unsigned char s2;
}stLidarDotData;

typedef struct tagLidarDotsPkt
{
	unsigned short StSign;
	unsigned char CT;
	unsigned char LSN;
	unsigned short FSA;
	unsigned short LSA;
	unsigned short CS;
	stLidarDotData LidarDotDatas[40];

}stLidarDotsPkt, *pLidarDotsPkt;


typedef struct tagLidarVector
{
	int intensit;
	int angle;
	int value;
}stLidarVector;

typedef struct tagLidarDot
{
	int x;
	int y;
	unsigned int distance;
}stLidarDot;


extern int nPosX;
extern int nPosY;
extern int nPosZ;
extern int nPosZ1, nPosZ2;

extern int pCount1;
extern int pCount2;

extern int eCount1;
extern int eCount2;

extern int dCount1;
extern int dCount2;

extern int vCount1;
extern int vCount2;

extern int results[32];


int OrdLidarStart(int nIdx); /* Start LiDar Running , nIde = 0 , 1 , -1 == ALL */
int OrdLidarStop(int nIdx);  /* stop Lidar Running , nIde = 0 , 1 , -1 == ALL */


int OrdLidarParsePkt(int nLidarIdx, OradarLidarFrame * pLindarPkt, int len1); 

int ProcessPos(int nLidarIdx, stLidarDot * pLindarDots, int nCount);

#endif	/* __ORDLIDAR_H__ */