// Copyright (c) 2022 ChenJun
// Licensed under the MIT License.

#ifndef RM_SERIAL_DRIVER__PACKET_HPP_
#define RM_SERIAL_DRIVER__PACKET_HPP_

#include <algorithm>
#include <cstdint>
#include <vector>

namespace rm_serial
{
struct ReceivePacket
{
  uint8_t header;
  uint8_t robot_color:1;
  uint8_t task_mode:2;
 	uint8_t game_progress:3; //����״̬  3 �����Լ� 4 ������ʼ 5 ��������
  uint8_t reserved : 2;
  
  float body_joint_state;//lidar_link to base_link
  uint16_t outpost_hp;
  float target_x,target_y;
  uint16_t checksum = 0;
} __attribute__((packed));

struct SendPacket
{
  // uint8_t header = 0xA5;
  // bool findEnemy : 1;
  // bool target_color : 1;
  // uint8_t task_mode : 2;
  // bool suggest_fire : 1;
  // uint8_t reserve : 3;
  // float pitch_cmd = 0;
  // float yaw_cmd = 0;
  // float cmd_vx= 0,cmd_vy= 0,cmd_wz= 0;

  uint8_t header = 0xA5;
  // bool tracking : 1;
  // bool target_color : 1;
  // uint8_t task_mode : 2;
  // bool suggest_fire : 1;
  uint8_t reserve ;

  float cmd_vx= 0,cmd_vy= 0,cmd_wz= 0;

  uint16_t checksum = 0;
} __attribute__((packed));

inline ReceivePacket fromVector(const std::vector<uint8_t> & data)
{
  ReceivePacket packet;
  std::copy(data.begin(), data.end(), reinterpret_cast<uint8_t *>(&packet));
  return packet;
}

inline std::vector<uint8_t> toVector(const SendPacket & data)
{
  std::vector<uint8_t> packet(sizeof(SendPacket));
  std::copy(
    reinterpret_cast<const uint8_t *>(&data),
    reinterpret_cast<const uint8_t *>(&data) + sizeof(SendPacket), packet.begin());
  return packet;
}

}  // namespace rm_serial_driver

#endif  // RM_SERIAL_DRIVER__PACKET_HPP_