#ifndef SYNC_MSG_DEF
#define SYNC_MSG_DEF

#define LENGTH_MSG_1K 1024
#define LENGTH_MSG_2K 2048 // 数据包最大长度
#define LENGTH_MSG_4K 4096
#define LENGTH_MSG_8K 8192 //
#define LENGTH_MSG_1M 1048476 // 1024 * 1024
#define LENGTH_MSG_4M 4194304 // 4096 * 1024
#define LENGTH_SEND_BUF 256 //
#define LENGTH_SQL 2000

#define MSG_LENGTH_MAX    LENGTH_MSG_2K

#pragma pack(1)

typedef   unsigned char                  BYTE;            // 8-bit byte
typedef   unsigned int                   UINT;             // 32-bit word, change to "long" for 16-bit machines

typedef   unsigned long long             UINT64;
typedef   unsigned int                   UINT32;
typedef   unsigned short                 UINT16;
typedef   unsigned char                  UINT8;
typedef   signed long long               INT64;
typedef   signed int                     INT32;
typedef   signed short                   INT16;
typedef   signed char                    INT8;

typedef struct
{
    INT16       MsgLen;
    UINT16      MsgCode;
}MsgHeader;

typedef struct
{
    MsgHeader   Header;
    UINT8       MsgBody[MSG_LENGTH_MAX];
}SyncAndLocateMsg;

typedef struct
{
	UINT32      LocalAnchorNum;
	UINT8       LocalAntNum;
	UINT32      UpperAnchorNum;
	UINT8       UpperAntNum;
	UINT16      SyncNum;
	UINT16      SyncLevel;
	UINT8       SendTimeStamp[5];
	UINT8       ReceiveTimeStamp[5];
}SyncMsgData;

typedef struct
{
	MsgHeader   Header;
	SyncMsgData MsgData;
	UINT16      CRCInfo;
}SyncMsgSingleRoot;

typedef struct
{
	UINT32      LocalAnchorNum;
	UINT8       LocalAntNum;
	UINT32      UpperAnchorNum;
	UINT8       UpperAntNum;
	UINT16      SyncNum;
	UINT16      SyncLevel;
	UINT8       SendTimeStamp[5];
	UINT8       ReceiveTimeStamp[5];
	UINT32      RootAnchorNum;
	UINT8       RootAntNum;
}SyncMsgMultiRootData;

typedef struct
{
	MsgHeader            Header;
	SyncMsgMultiRootData MsgData;
	UINT16               CRCInfo;
}SyncMsgMultiRoot;

typedef struct
{
    UINT32      AnchorNum;
	UINT16      MsgSerialNum;
	UINT8       AnchorTime[7];
	INT8        Temperature;
	UINT16      State;
}LocateAnchorInfo;

typedef struct
{
    UINT8           CardType;
	UINT32          CardId;
	UINT16          MsgSerialNum;
	//struct{
    //    unsigned    msg_type:4;
    //    unsigned    batter_info:4;
    //}MsgTypeAndBatterInfo;
    UINT8           MsgType_BatterInfo;
	UINT8           Reserved;
	INT8            AccelerateSpeed;
	UINT8           LocateTimeStamp[5];
	UINT8           AntNum;
	UINT16          SyncNum;
	UINT16          SingleStrength;
}CardInfo;

typedef struct
{
    UINT8           CardType;
	UINT32          CardId;
	UINT16          MsgSerialNum;
    //struct 
    //{
    //    int  MsgType:4;
    //    int  BatterInfo:4;
    //}MsgType_BatterInfo;
    UINT8           MsgType_BatterInfo;
	UINT8           Reserved;
	INT8            AccelerateSpeed;
	UINT8           LocateTimeStamp[5];
	UINT8           AntNum;
}TofCardInfo;

typedef struct
{
    UINT8           CardType;
    UINT32          CardId;
    UINT16          INAVPeriod;
    INT16           MagneticData_X;
    INT16           MagneticData_Y;
    INT16           MagneticData_Z;
	INT16           AccerateData_X;
    INT16           AccerateData_Y;
    INT16           AccerateData_Z;
    INT16           Gyroscope_X;
    INT16           Gyroscope_Y;
    INT16           Gyroscope_Z;
    INT16           Displacement_X;
    INT16           Displacement_Y;
    INT16           Displacement_Z;
   	 INT16          AngleChange_X;
    INT16           AngleChange_Y;
    INT16           AngleChange_Z;
}INAVLocateData;

typedef struct
{
    MsgHeader             Header;
    LocateAnchorInfo      AnchorInfo;
	CardInfo              CardData[50];
	
}CardLocateMsg;

typedef struct
{
    MsgHeader             Header;
    LocateAnchorInfo      AnchorInfo;
    TofCardInfo           TofCardInfo[50];
    UINT16                CRCInfo;
}TofLocateMsg;

#define INAV_TAG_NUM    40

typedef struct
{
    MsgHeader             Header;
    LocateAnchorInfo      AnchorInfo;
    INAVLocateData        INAVLocateInfo[INAV_TAG_NUM];
    UINT16                CRCInfo;
}INAVLocateMsg;

enum INAV_MOVING_STATUS
{
    INAV_STATIC = 0,
	INAV_MOVING
};

enum INAV_DIRECTORY
{
    INAV_NO_DIRECTORY = 10,
	INAV_FORWARD,
	INAV_BACKWARD,
	INAV_LEFTWARD,
	INAV_RIGHTWARD
};

enum INAV_ACCERATE_STATUS
{
    INAV_NO_ACCERATE = 100,
    INAV_ACCERATE,
	INAV_SLOW_DOWN
};

typedef struct
{
    INAV_MOVING_STATUS     Status;
	INAV_DIRECTORY         Directory;
	INAV_ACCERATE_STATUS   AccerateStatus;
}INAV_STATUS;

#define GRAVITY_ACCERATION    9.8
#define INAV_READING_MAX      32768

const double DISPLACEMENT_THRESHOLD = 100;
const double JOIN_ACCERATE_THRESHOLD = 0.3;
const double MOVING_THRESHOLD = 1.2;
const int DISPLACE_MENT_MOVING_THRESHOLD = 45;
#endif