text: /**
   * @file ProtocolBasic.hpp
   * @author LauZanMo (LauZanMo@whu.edu.cn)
   * @brief 
   * @version 1.0
   * @date 2021-01-03
   * 
   * MIT License
   * 
   * @copyright Copyright (c) 2021 WHU-Drones
   * 
   * Permission is hereby granted, free of charge, to any person obtaining a copy
   * of this software and associated documentation files (the "Software"), to deal
   * in the Software without restriction, including without limitation the rights
   * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
   * copies of the Software, and to permit persons to whom the Software is
   * furnished to do so, subject to the following conditions:
   * 
   * The above copyright notice and this permission notice shall be included in all
   * copies or substantial portions of the Software.
   * 
   * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
   * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
   * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
   * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
   * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
   * SOFTWARE.
   * 
   */
  #pragma once
  
  #include <iostream>
  
  #pragma pack(1)
  
  /**
   * @brief header of frame
   * 
   */
  static const uint8_t packet_ID[2] = {0xAA, 0xAA};
  
  /**
   * @brief frame struct in protocol
   * 
   * @note 
   * first character:
   * p means data protocol
   */
  struct pFrame
  {
      uint8_t func;
      uint8_t length;
  };
  
  /**
   * @brief vector2d struct in protocol
   * 
   * @tparam T 
   * 
   * @note 
   * first character:
   * p means data protocol
   */
  template <typename T>
  struct pVector2
  {
      T x;
      T y;
  };
  
  /**
   * @brief vector3d struct in protocol
   * 
   * @tparam T 
   * 
   * @note 
   * first character:
   * p means data protocol
   */
  template <typename T>
  struct pVector3
  {
      T x;
      T y;
      T z;
  };
  
  #pragma pack(0)