/*******************************************************************************
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* File Name : MsgPack.h
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* Description :
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* Created on : 2019��11��5��
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* Author : www.hido-studio.com
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*******************************************************************************/
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#ifndef APL_MSGPACK_H_
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#define APL_MSGPACK_H_
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/*******************************************************************************
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* Include Files *
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*******************************************************************************/
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#include "HIDO_Typedef.h"
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#include "Module.h"
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/*******************************************************************************
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* Macro *
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*******************************************************************************/
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#define MSG_FLAG(n) (1 << (n))
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/*******************************************************************************
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* Type Definition *
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*******************************************************************************/
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typedef struct
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{
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HIDO_UINT8 m_au8Data[1024];
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HIDO_UINT32 m_u32Len;
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} ST_MsgPackage;
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typedef enum
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{
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MSG_TYPE_ACK,
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MSG_TYPE_PARAM_CONFIG,
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MSG_TYPE_MODBUS_CONFIG,
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MSG_TYPE_POWER_CTRL,
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MSG_TYPE_CLEAN_DEVICE,
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MSG_TYPE_SWITCH,
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MSG_TYPE_UPDATE,
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} E_MsgType;
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typedef struct
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{
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#define FENCE_FLAG_1 MSG_FLAG(0)
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#define FENCE_FLAG_2 MSG_FLAG(1)
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#define FENCE_FLAG_3 MSG_FLAG(2)
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#define FENCE_FLAG_4 MSG_FLAG(3)
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#define FENCE_FLAG_5 MSG_FLAG(4)
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HIDO_UINT32 m_u32Flag;
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HIDO_DOUBLE m_dLat;
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HIDO_DOUBLE m_dLon;
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HIDO_FLOAT m_fSpeed;
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HIDO_FLOAT m_fDir;
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} ST_LocationData;
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typedef struct{
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HIDO_FLOAT accel_x;
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HIDO_FLOAT accel_y;
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HIDO_FLOAT accel_z;
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HIDO_FLOAT gyro_x;
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HIDO_FLOAT gyro_y;
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HIDO_FLOAT gyro_z;
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HIDO_FLOAT roll;
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HIDO_FLOAT pitch;
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HIDO_FLOAT yaw;
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} ST_IMUData;
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typedef struct
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{
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HIDO_UINT8 battery_level; // 电池电量百分比
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HIDO_FLOAT battery_voltage; // 电池电压
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HIDO_CHAR operation_mode[16]; // 操作模式：manual, auto, emergency_stop
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HIDO_CHAR motor_status[16]; // 电机状态：stopped, running, error
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HIDO_CHAR blade_status[16]; // 刀片状态：stopped, rotating
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HIDO_UINT8 blade_height; // 刀盘高度（厘米）
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HIDO_UINT8 self_check_status; // 自检状态：1-完成，0-未完成
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HIDO_UINT32 error_code; // 错误代码
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HIDO_CHAR error_message[128]; // 错误信息
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} ST_StatusData;
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typedef struct
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{
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HIDO_CHAR msg_id[64];
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HIDO_UINT64 timestamp;
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HIDO_CHAR device_id[64];
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HIDO_CHAR data_type[16];
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HIDO_CHAR gps_raw[256];
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ST_IMUData imu_data;
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ST_StatusData status;
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} ST_ReportGps;
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typedef struct
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{
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#define FLAG_LOCATION MSG_FLAG(0)
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#define FLAG_STATUS MSG_FLAG(1)
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#define FLAG_TEMP MSG_FLAG(2)
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#define FLAG_CHARGE_STATE MSG_FLAG(3)
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#define FLAG_BATTERY_LEVEL MSG_FLAG(4)
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#define FLAG_CHARGE_VOLTAGE MSG_FLAG(5)
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#define FLAG_SAFE_CODE MSG_FLAG(6)
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#define FLAG_FAULT_CODE MSG_FLAG(7)
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HIDO_UINT32 m_u32Flag;
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ST_LocationData m_stLocation;
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HIDO_UINT32 m_u32Status;
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HIDO_FLOAT m_fTemp;
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HIDO_UINT8 m_u8ChargeState;
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HIDO_UINT8 m_u8BatteryLevel;
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HIDO_FLOAT m_fChargeVoltage;
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HIDO_UINT32 m_u32SafeCode;
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HIDO_UINT32 m_u32FaultCode;
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} ST_ReportData;
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typedef struct
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{
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#define F_CNT 5
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#define FLAG_B MSG_FLAG(0)
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#define FLAG_DUF MSG_FLAG(1)
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#define FLAG_FxE(n) MSG_FLAG(2 + (n))
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#define FLAG_FxB(n) MSG_FLAG(7 + (n))
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#define FLAG_L MSG_FLAG(12)
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#define FLAG_V MSG_FLAG(13)
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#define FLAG_URL MSG_FLAG(14)
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#define FLAG_MD5 MSG_FLAG(15)
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#define FLAG_VSU MSG_FLAG(16)
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#define FLAG_IP MSG_FLAG(17)
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#define FLAG_VT MSG_FLAG(18)
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#define FLAG_FCT MSG_FLAG(19)
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#define FLAG_ATX MSG_FLAG(20)
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#define FLAG_ATY MSG_FLAG(21)
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#define FLAG_ATZ MSG_FLAG(22)
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#define FLAG_AZMT MSG_FLAG(23)
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HIDO_UINT32 m_u32Flag;
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HIDO_UINT32 m_u32B;
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HIDO_UINT32 m_u32DUF; /* ���ڣ���λ���� */
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HIDO_UINT32 m_au32FxE[5]; /* ����xʹ�� */
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HIDO_UINT32 m_au32FxBCnt[5]; /* ����x����� */
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HIDO_UINT32 m_u32L; /* �豸��ʧ��λ */
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HIDO_CHAR m_acV[16]; /* Ӳ���豸Զ������ */
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HIDO_CHAR m_acURL[128];
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HIDO_CHAR m_acMD5[36];
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HIDO_UINT32 m_u32VSU; /**/
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HIDO_CHAR m_acIP[32];
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HIDO_FLOAT m_fVT; /* �ٶ���ֵ */
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HIDO_UINT32 m_u32FCT; /* Ƶ�ʱ仯��ֵ */
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HIDO_UINT32 m_u32ATX; /* X����ٶ���ֵ */
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HIDO_UINT32 m_u32ATY; /* Y����ٶ���ֵ */
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HIDO_UINT32 m_u32ATZ; /* Z����ٶ���ֵ */
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HIDO_UINT32 m_u32AZMT; /* Z���������ֵ */
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} ST_CtrlData;
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/*******************************************************************************
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* Global Function *
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*******************************************************************************/
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HIDO_INT32 MsgPack_ReportGps(ST_MsgPackage *_pstPackage, ST_ReportGps *_pstReportGps);
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HIDO_INT32 MsgPack_Parse(HIDO_CHAR *_pcJson, ST_CtrlData *_pstCtrl);
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#endif /* APL_MSGPACK_H_ */
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