cframe.h

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#ifndef __CFRAME_H__
#define __CFRAME_H__

#include <stdio.h>

typedef struct cframe {
    long seqno;
    long timestamp;

    double cmd_irad;
    double cur_irad;
    char steer_limit_error[10];

    double cmd_speed;
    double cur_speed;
    double cur_throttle;
    char speed_limit_error[10];

    double gps_lat;
    double gps_lon;
    double gps_speed_east;
    double gps_speed_north;
    double gps_epe;
    char gps_status[10];

    char status[10];
    char cmd_mode[10];
    char cur_mode[10];
    int error_code;

    size_t msg_len;
    unsigned char checksum;
} cframe_t;

int cartcomm_decode_msg(cframe_t *cf, char *inMsg);
int cartcomm_encode_msg(cframe_t *cf, char *outMsg);
void print_cframe(FILE *file, cframe_t *cf);

#endif

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