#ifndef MAP_H
#define MAP_H
#include "struct_typedef.h"
#include "Action.h"
#include "cmd.h"

//点坐标
typedef struct{
	float x;
	float y;
	float angle;	
	float v;
}point_t;

//sick坐标
typedef struct{	
	uint16_t sick_flag;//是否启用sick标志位
	
	uint16_t sick_qian;
	uint16_t sick_you;
	uint16_t sick_hou;
	uint16_t sick_zuo;
}sick_t;

//路径
typedef struct{

	point_t *target;//目标点（x,y,angle,v)
	sick_t *sick;//目标点sick卡位数据
	uint8_t points_num;//第x个目标点，全场定位标志位
	uint8_t points_flag;//判断点位完成
	fp32 pos_mistake;
	fp32 sick_mistake;
}Path_t;

void block_select(Action_POS_t*pos,CMD_t*cmd);
void  path_select(CMD_t*cmd);
Path_t *get_map_pointer(void);

#endif
