#ifndef SET_CAN_H
#define SET_CAN_H

#include "set_protocol.h"

#ifdef __cplusplus
extern "C" {
#endif

#define SETP_CAN_ID_PREFIX            0x12U
#define SETP_CAN_ID_PREFIX_MASK       0x1F000000UL
#define SETP_CAN_ID_MASK              0x1FFFFFFFUL

#define SETP_CAN_PCI_FIRST            0x10U
#define SETP_CAN_PCI_CONSECUTIVE      0x20U
#define SETP_CAN_PCI_FLOW_CONTROL     0x30U
#define SETP_CAN_PCI_TYPE_MASK        0xF0U
#define SETP_CAN_PCI_VALUE_MASK       0x0FU

#define SETP_CAN_FC_CONTINUE          0x00U
#define SETP_CAN_FC_WAIT              0x01U
#define SETP_CAN_FC_OVERFLOW          0x02U

#define SETP_CAN_FIRST_DATA           5U
#define SETP_CAN_CONSECUTIVE_DATA     7U

#ifndef SETP_CAN_REASSEMBLY_TIMEOUT_MS
#define SETP_CAN_REASSEMBLY_TIMEOUT_MS 500U
#endif

typedef struct {
    uint32_t id;
    uint8_t length;
    uint8_t data[8];
} setp_can_frame_t;

typedef struct {
    uint8_t source;
    uint8_t destination;
    uint8_t priority;
    uint8_t channel;
} setp_can_id_t;

typedef enum {
    SETP_CAN_RX_NONE = 0,
    SETP_CAN_RX_COMPLETE = 1,
    SETP_CAN_RX_FORMAT_ERROR = 2,
    SETP_CAN_RX_SEQUENCE_ERROR = 3,
    SETP_CAN_RX_TIMEOUT = 4
} setp_can_rx_result_t;

typedef struct {
    uint8_t buffer[SETP_FRAME_MAX];
    uint16_t expected_length;
    uint16_t received_length;
    uint32_t can_id;
    uint32_t deadline_ms;
    uint8_t next_sequence;
    uint8_t active;
} setp_can_rx_t;

typedef struct {
    const uint8_t *data;
    uint16_t length;
    uint32_t can_id;
} setp_can_packet_t;

typedef bool (*setp_can_send_fn)(const setp_can_frame_t *frame, void *user);

uint32_t setp_can_id_pack(const setp_can_id_t *value);
bool setp_can_id_unpack(uint32_t raw, setp_can_id_t *out);

/** Segment one complete SETP frame. Flow-control pacing belongs to the port. */
bool setp_can_segment(const uint8_t *packet, uint16_t length, uint32_t can_id,
                      setp_can_send_fn send, void *user);

void setp_can_rx_init(setp_can_rx_t *state);
setp_can_rx_result_t setp_can_rx_feed(setp_can_rx_t *state,
                                      const setp_can_frame_t *frame,
                                      uint32_t now_ms, setp_can_packet_t *out);

bool setp_can_flow_control(setp_can_frame_t *out, uint32_t can_id,
                           uint8_t status, uint8_t block_size, uint8_t st_min_ms);

#ifdef __cplusplus
}
#endif

#endif /* SET_CAN_H */