#pragma once
//由于控制器指令共享同一个ID 0x20，建立此类维护控制指令的最新状态

#include <common/boost.h>
#include <cstdint>
#include <boost/serialization/singleton.hpp>
#include <control/vv7.h>

namespace iv {
    namespace control {
        class ControlStatus : public boost::noncopyable
        {
        public:
            /*****************
             * ****测试标志位*****
             * ***************/
            int normal_speed  = 0;//常规速度
            int swerve_speed  = 0;//转弯速度
            int high_speed = 0;//快速
            int mid_speed = 0;//中速
            int low_speed = 0;//慢速
            int change_line  = -1;//换道标志
            int stop_obstacle = -1;//停障标志
            int elude_obstacle = -1;//避障标志
            int special_signle = -1;//特殊信号标志
            int car_pullover = -1;//靠边停车标志位

            Command command;

            int command_ID = 0x12;

            void set_accelerate(float percent);

            void set_wheel_angle(float angle);

            void set_engine(char enable);
            void set_door(char enable);
            void set_speaker(bool enable);
            void set_flicker(bool enable);
            void set_light(bool enable);
            void set_turnsignals_control(bool left, bool right);

        };
        typedef boost::serialization::singleton<iv::control::ControlStatus> ControlStatusSingleton;
    }
}
#define ServiceControlStatus iv::control::ControlStatusSingleton::get_mutable_instance()