#pragma once

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ----------------------------------------------------------------- */
#include <cmsis_os2.h>
#include <stdbool.h>

#include "bsp\can.h"
#include "device\device.h"

/* Exported constants ------------------------------------------------------- */

#define CAN_TX_SICK_BUF_SIZE (8)
#define CAN_RX_SICK_BUF_SIZE (8)

#define CAN_TX_BUF_SIZE_MAX  (8)
#define CAN_RX_BUF_SIZE_MAX  (8)
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */

// /* 型号 */
typedef enum {
  CAN_SICK1 = 0,
    CAN_SICK2,
    CAN_SICK3,
    CAN_SICK4,
} CAN_Sick_t;

// /* 电机反馈信息 */
// typedef struct {
//   float distance;
//   float save0;
//   float save1;
//   float save2;
// } CAN_Sick_Feedback_t;
typedef struct {
  float as_array[4];
  struct {
    float s1;
    float s2;
    float s3;
    float s4
  } named;
} CAN_Sick_Output_t;

typedef struct {
  CAN_Sick_Output_t sick;
} CAN_Output_t;

typedef struct {
    BSP_CAN_t sick;
    BSP_CAN_t c_board;
  } CAN_Params_t;

typedef struct {
    uint32_t recive_flag;
    CAN_Sick_t sick;
    const CAN_Params_t *param;
    struct {
      uint32_t sick;
    } mailbox;
    osMessageQueueId_t msgq_raw;
  } CAN_t;

typedef struct {
    CAN_RxHeaderTypeDef rx_header;
    uint8_t rx_data[CAN_RX_BUF_SIZE_MAX];
  } CAN_RawRx_t;
  
  typedef struct {
    CAN_TxHeaderTypeDef tx_header;
    uint8_t tx_data[CAN_TX_BUF_SIZE_MAX];
  } CAN_RawTx_t;

// /* Exported functions prototypes -------------------------------------------- */
int8_t CAN_Init(CAN_t *can, const CAN_Params_t *param);


#ifdef __cplusplus
}
#endif