#pragma once

#ifdef __cplusplus
extern "C" {
#endif

#include <stdbool.h>
#include <stdint.h>
#include "device/lightbridge2.h"

#define LIGHTBRIDGE2_CMD_REFEREE_MAX_NUM (3) 

/* ??????? */
typedef enum {
  MODE_CMD_BREAKING_CONTROL = 0,
  MODE_CMD_ONLT_GIMBAL = 1,
  MODE_CMD_FOLLOW = 2,
  MODE_CMD_SPIN = 3,
} COMP_CMD_MODE_t;

typedef struct
{
	bool online;
	
	int8_t mode;
	
	bool ai;
	
    float ch_l_x;   
    float ch_l_y;   
    float ch_r_x;   
    float ch_r_y;   
	
/*	struct{
	    float x;
		float y;
	}chassis_ctrl_vec;
*/	
	struct{
		float w;
	}gimbal_yaw_ctrl_vec;
	
  struct{
		float w;
	}gimbal_pit_ctrl_vec;

//struct
//{
//	float yaw;
//	float pitch;
//	float roll;
//}drone_ctrl_vec;//无人机姿态控制量，预留，好像只需要云台与发射？？

	
	struct{
		bool ready;
		bool firecmd;
	}shoot;
} COMP_LIGHTBRIDGE2_CMD_t;

int8_t COMP_LIGHTBRIDGE2_CMD_ParseRc(const DEVICE_LIGHTBRIDGE2_t *rc, COMP_LIGHTBRIDGE2_CMD_t *lightbridge2_cmd);


#ifdef __cplusplus
}
#endif