//
// Created by zwsd
//

#pragma once
#include "project_configs.h"
#include "stm32basic/zbasic.h"
#ifndef ENABLE_OLD_CAN_PROTOCOL
#include "transmit_disfection_protocol/transmit_disfection_protocol.hpp"

typedef void (*zcanbus_on_rx_t)(uint8_t from, uint8_t to, uint8_t *packet, size_t len);
typedef void (*zcanbus_on_connected_t)(bool connected);

typedef struct {
 public:
  uint8_t aData[8]; /*8byte table*/
  uint8_t datalen;
} stm32_can_packet_t;

typedef struct {
 public:
  uint16_t            id;
  CAN_RxHeaderTypeDef header;
  uint8_t             from;
  uint8_t             to;
  stm32_can_packet_t  canPacket[20];  // 用于接收can消息
  uint8_t             canPacketNum = 0;
  bool                dataIsReady;
} canrxbuffer_t;

void zcanbus_init(uint8_t deviceId);
void zcanbus_reglistener(zcanbus_on_rx_t rxlistener);
void zcanbus_reg_on_connected_listener(zcanbus_on_connected_t connectedlistener);
void zcanbus_schedule();
bool zcanbus_is_connected();

bool zcanbus_send_packet(uint8_t to, uint8_t *packet, size_t len);
bool zcanbus_send_packet(uint8_t to, uint8_t *packet, size_t len, int overtimems);
bool zcanbus_send_sub_packet(uint8_t to, int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems);

bool zcanbus_send_ack(iflytop::zscanprotocol::zcanbus_packet_t *rxpacket, uint8_t *param, size_t len);
bool zcanbus_send_ack(iflytop::zscanprotocol::zcanbus_packet_t *rxpacket, int32_t val);
bool zcanbus_send_ack(iflytop::zscanprotocol::zcanbus_packet_t *rxpacket, bool _val);
bool zcanbus_send_errorack(iflytop::zscanprotocol::zcanbus_packet_t *rxpacket, int32_t errcode);
bool zcanbus_send_report(uint16_t function_id, uint8_t *param, size_t len, int32_t overtime);
bool zcanbus_send_emergency_report(uint16_t function_id, uint8_t *param, size_t len, int32_t overtime);

#endif