#ifndef CANHS_H
#define CANHS_H

#include <stdint.h>
#include <stdbool.h>
#include <pthread.h>
#include <string>
#include <vector>

#ifdef __cplusplus
extern "C" {
#endif

/* 简化后的服务类型定义 */
#define O2_NORMAL_TELEMETRY     0x2       /* 常规遥测 */
#define O2_TELEMETRY_CONTROL    0x4       /* 遥控 */

/* 帧序列定义 */
#define O2_MID_FRAME    0x0
#define O2_START_FRAME  0x1
#define O2_END_FRAME    0x2
#define O2_SINGLE_FRAME 0x3

/* CAN帧结构体 */
typedef struct {
    uint32_t CAN_uiId;
    uint8_t  CAN_bRtr;
    uint8_t  CAN_bExtId;
    uint8_t  CAN_ucLen;
    uint8_t  CAN_ucData[8];
} CAN_FRAME;

/* 多帧重组状态 */
typedef struct {
    uint8_t buffer[1024];
    uint16_t length;
    uint8_t serve_type;
    uint8_t expected_frame_index;
    uint8_t active;
    struct timeval start_time;
} MultiFrameState;

/* 统计计数器 */
typedef struct {
    uint8_t rec_normal_telemetry;    /* 接收遥测请求次数 */
    uint8_t rec_telemetry_control;   /* 接收遥控指令次数 */
    uint8_t send_single_frame;       /* 发送单帧次数 */
    uint8_t send_multi_frame;        /* 发送多帧次数 */
    uint8_t can_reset;               /* CAN重置次数 */
} CanStats;

/* CAN服务上下文 */
typedef struct {
    int fd_can;
    bool running;
    uint8_t send_id_on_o2;           /* CAN发送ID */
    
    CanStats stats;
    
    /* 遥测数据缓冲区 */
    uint8_t telemetry_buffer[1024];
    size_t telemetry_len;
    pthread_mutex_t telemetry_mutex;
    bool telemetry_request_pending;
    
    /* 多帧重组状态 */
    MultiFrameState multi_frame_state;
    pthread_mutex_t multi_frame_mutex;
    
    /* 线程相关 */
    pthread_t listener_thread;
} CanServiceContext;

/* 函数声明 */

/* 初始化与销毁 */
bool can_service_init(const char* can_device);
void can_service_destroy(void);

/* 运行控制 */
void can_service_start(void);
void can_service_stop(void);

/* 统计数据获取 */
const CanStats* can_service_get_stats(void);

/* CAN发送函数 */
int can_send_single(uint8_t serve_type, uint8_t *data, uint8_t data_len);
int can_send_multi(uint8_t serve_type, uint8_t *data, uint16_t data_len);

/* 遥测数据处理 */
void can_set_telemetry_data(const uint8_t *data, size_t data_len);
bool can_get_telemetry_data(uint8_t *buffer, size_t buffer_size, size_t *data_len);
void send_telemetry_response(const uint8_t *data, size_t data_len);

/* 快速查询接口 */
static inline uint8_t can_get_normal_telemetry_count(void) {
    const CanStats* stats = can_service_get_stats();
    return stats ? stats->rec_normal_telemetry : 0;
}

static inline uint8_t can_get_telemetry_control_count(void) {
    const CanStats* stats = can_service_get_stats();
    return stats ? stats->rec_telemetry_control : 0;
}

#ifdef __cplusplus
}
#endif

/* C++接口声明（与ComS保持一致） */
#ifdef __cplusplus
extern "C" {
#endif

/* FastDDS相关函数 */
void CanHSWriteLog(const std::string &msg);
void CanHS_init(uint8_t domainid, std::string appname);
void CanHS_command_Pub(uint8_t* data, std::string dest, uint16_t len);
void CanHS_telemetry_Pub(uint8_t* data, std::string dest, uint16_t len);

void telemetry_callback(std::string src, std::string dest, std::string type,
                      std::string reserve1, std::string reserve2,
                      std::vector<uint8_t>& data);

#ifdef __cplusplus
}
#endif

#endif /* CANHS_H */