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

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

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

	void CanSpam::init()
	{
	}

	void CanSpam::func()
	{

		CanSysMsg msg;

		// Send some random stuff
		msg.payload[0] = 1;
		msg.payload[1] = 2;
		msg.payload[2] = 3;
		msg.header.sid = getCanID();
		msg.header.format = 0;

		sta::tacos::queueCanBusMsg(msg, 0);
		STA_DEBUG_PRINTLN("Can Task sent message");

		this->periodicDelay(1);	// Delay to ensure 1 Hz rate.
	}
} // namespace demo