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/*
* Copyright (c) 2018 Samsung Electronics Co., Ltd.
*
* Licensed under the Flora License, Version 1.1 (the License);
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://floralicense.org/license/
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef COMMAND_H_
#define COMMAND_H_
/**
* @brief Types of commands used in communication.
*/
typedef enum command_type {
COMMAND_TYPE_NONE, /** Command doesn't carry any information */
COMMAND_TYPE_DRIVE, /** Command carries information about steering included in data.steering. */
COMMAND_TYPE_CAMERA, /** Command carries information about camera position in data.camera_position. */
COMMAND_TYPE_DRIVE_AND_CAMERA /** Command carries information about both camera position and steering in data.steering_and_camera. */
} command_type_e;
/**
* @brief Structure with info about speed and direction that should be set.
*/
typedef struct __command {
command_type_e type; /** Type of command. */
union {
struct {
int speed; /** Speed to be set from range [-10000, 10000]. */
int direction; /** Direction to be set from range [-10000, 10000]. */
} steering;
struct {
int camera_elevation; /** Elevation of camera to be set from range [-10000, 10000]. */
int camera_azimuth; /** Azimuth of camera to be set from range [-10000, 10000]. */
} camera_position;
struct {
int speed; /** Speed to be set from range [-10000, 10000]. */
int direction; /** Direction to be set from range [-10000, 10000]. */
int camera_elevation; /** Elevation of camera to be set from range [-10000, 10000]. */
int camera_azimuth; /** Azimuth of camera to be set from range [-10000, 10000]. */
} steering_and_camera;
} data;
} command_s;
#endif //COMMAND_H_
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