/**
 * @file
 * @brief Public interface for CAN driver thread.
 */
#ifndef STA_RTOS_SYSTEM_CAN_BUS_HPP
#define STA_RTOS_SYSTEM_CAN_BUS_HPP


/**
 * @defgroup STA_RTOS_CanBus CAN driver
 * @ingroup STA_RTOS_API
 * @brief CAN bus system task.
 *
 * Check @ref STA_RTOS_BuildConfig for configuration options.
 */

#ifdef DOXYGEN
/**
 * @brief Enable module.
 *
 * @ingroup STA_RTOS_BuildConfig
 */
#  define STA_RTOS_CAN_BUS_ENABLE
#endif // DOXYGEN


#include <sta/config.hpp>
#ifdef STA_RTOS_CAN_BUS_ENABLE


#include <sta/can/controller.hpp>
#include <sta/rtos/c_api/can_msg.h>

#include <cstdint>


/**
 * @def STA_RTOS_CAN_BUS_MAX_FILTER
 * @brief Set maximum number of usable filters.
 *
 * @ingroup STA_RTOS_BuildConfig
 */
#ifndef STA_RTOS_CAN_BUS_MAX_FILTER
#  error "Must set STA_RTOS_CAN_BUS_MAX_FILTER in <sta/config.hpp>"
#endif // STA_RTOS_CAN_BUS_MAX_FILTER

/**
 * @def STA_RTOS_CAN_BUS_MAX_PAYLOAD_SIZE
 * @brief Set maximum payload size.
 *
 * @ingroup STA_RTOS_BuildConfig
 */
#ifndef STA_RTOS_CAN_BUS_MAX_PAYLOAD_SIZE
#  error "Must set STA_RTOS_CAN_BUS_MAX_PAYLOAD_SIZE in <sta/config.hpp>"
#endif // STA_RTOS_CAN_BUS_MAX_PAYLOAD_SIZE


/**
 * @ingroup STA_RTOS_CanBus
 * @{
 */


/**
 * @brief CAN frame available.
 */
#define STA_RTOS_CAN_FLAG_MSG_AVAIL     0x000010U
/**
 * @brief Send CAN message.
 */
#define STA_RTOS_CAN_FLAG_MSG_SEND      0x000020U
/**
 * @brief CAN data message in queue.
 */
#define STA_RTOS_CAN_FLAG_DATA_QUEUED   0x000040U
/**
 * @brief CAN system message in queue.
 */
#define STA_RTOS_CAN_FLAG_SYS_QUEUED    0x000080U
/**
 * @brief Show ISOTP statistics.
 */
#define STA_RTOS_CAN_FLAG_SHOW_STATS    0x000100U


/**
 * @brief CAN SID bits used for system messages.
 */
#define STA_CAN_SID_SYS_BITS            UINT32_C(0x3)


/** @} */


namespace sta
{
	namespace rtos
	{
		/**
		 * @ingroup STA_RTOS_CanBus
		 * @{
		 */

		/**
		 * @brief Initialize CAN bus.
		 */
		void initCanBus();


		/**
		 * @brief Return CanController for use in CAN system task.
		 *
		 * Implementation must be provided by application.
		 */
		extern CanController * getCanController();



		/**
		 * @brief Send notification to CAN driver.
		 *
		 * @param flags Event flags
		 */
		void notifyCanBus(uint32_t flags);


		/**
		 * @brief Place data message in CAN driver TX queue.
		 *
		 * @param msg       Message to transmit
		 * @param timeout   Timeout for placing message (0 = no wait, osWaitForever = blocking)
		 * @return          True if message was queued successfully
		 */
		bool queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout);
		/**
		 * @brief Place system message in CAN driver TX queue.
		 *
		 * @param msg       Message to transmit
		 * @param timeout   Timeout for placing message (0 = no wait, osWaitForever = blocking)
		 * @return          True if message was queued successfully
		 */
		bool queueCanBusMsg(const CanSysMsg & msg, uint32_t timeout);

		/**
		 * @brief Retrieve data message from CAN driver TX queue.
		 *
		 * @param[out] msg	    Output address for retrieved message
		 * @param      timeout  Timeout for retrieving message (0 = no wait, osWaitForever = blocking)
		 * @return              True if message was retrieved successfully
		 */
		bool getCanBusMsg(CanDataMsg * msg, uint32_t timeout);
		/**
		 * @brief Retrieve system message from CAN driver TX queue.
		 *
		 * @param[out] msg      Destination for retrieved message
		 * @param      timeout  Timeout for retrieving message (0 = no wait, osWaitForever = blocking)
		 * @return              True if message was retrieved successfully
		 */
		bool getCanBusMsg(CanSysMsg * msg, uint32_t timeout);


		/** @} */
	} // namespace rtos
} // namespace sta


#endif // STA_RTOS_CAN_BUS_ENABLE

#endif // STA_RTOS_SYSTEM_CAN_BUS_HPP