/*
 * can_task.cpp
 *
 *  Created on: 10 Dec 2023
 *      Author: Carl
 */

#include <sta/tacos.hpp>
#include <tasks/can_receiver.hpp>

namespace demo
{
	CanReceiver::CanReceiver(uint32_t canID)
		: TacosThread("CAN Receiver", osPriorityNormal)
	{
		setCanID(canID);
	}

	void CanReceiver::init()
	{
	}

	void CanReceiver::func()
	{
		CanSysMsg msg;

		if (CAN_queue_.get(&msg, osWaitForever))
		{
			STA_DEBUG_PRINTF("Received Message!\n"
							 "Payload Byte 0: %d\n"
							 "Payload Byte 1: %d\n"
							 "Payload Byte 2: %d\n"
							 "Payload Byte 3: %d\n"
							 "Payload Byte 4: %d\n"
							 "Payload Byte 5: %d\n"
							 "Payload Byte 6: %d\n"
							 "Payload Byte 7: %d\n",
							 msg.payload[0], msg.payload[1],
							 msg.payload[2], msg.payload[3],
							 msg.payload[4], msg.payload[5],
							 msg.payload[6], msg.payload[7]);
		}
	}
} // namespace demo