#pragma once

#ifdef __cplusplus
extern "C" {
#endif

#include <stdbool.h>
#include <stdint.h>
#include "device/at9s_pro.h"

#define DR16_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;   /* ��ҡ�� X */
    float ch_l_y;   /* ��ҡ�� Y�����ţ� */
    float ch_r_x;   /* ��ҡ�� X */
    float ch_r_y;   /* ��ҡ�� Y */
	
	struct{
	    float x;
		float y;
	}chassis_ctrl_vec;
	
	struct{
		float w;
	}gimbal_yaw_ctrl_vec;
	
  struct{
		float w;
	}gimbal_pit_ctrl_vec;


	struct{
		bool ready;
		bool firecmd;
	}shoot;
} COMP_AT9S_CMD_t;

int8_t COMP_AT9S_CMD_ParseRc(const DEVICE_AT9S_t *rc, COMP_AT9S_CMD_t *at9s_cmd);


#ifdef __cplusplus
}
#endif