#pragma once

#include "canard.h"


#ifdef __cplusplus
extern "C" {
#endif // __cplusplus

#define VK_WEIGHER_VLS300_DEV_NAME "weigher"

int vkWeigher_Vls300_OnRecieved(CanardInstance *canardIns,
                                CanardRxTransfer *transfer);

                                struct _weigher_status {
  uint32_t timestamp;  /* [ms] 数据更新时间戳 */
  uint32_t weight;     /* g */
  uint16_t weight_dot; /* g/min */
  uint16_t status;
  float gyro[3]; /* rad/s */
  float acce[3]; /* m/s^2 */
  float Q[4];    /* 姿态四元数 */
};


struct _weigher_version {
  uint32_t timestamp;
  uint8_t fw_ver[16];
  uint32_t SN_num;
};

struct vk_weigher_vls300 {
  // struct weigher_device weigher_dev;
  // rt_device_t can_dev;

  CanardInstance *canard;
  uint8_t iface_mask;

  bool data_got;
  struct _weigher_status status_data;
  struct _weigher_version version;

  // rt_event_t _event;
  uint16_t _fw_update_send_pack_num; // 从1开始
  const char *_fw_file_name;
};


enum {
  VLS300_EVENT_GOT_FW_UPDATE_START_ACK = 1,
  VLS300_EVENT_GOT_FW_UPDATE_INFO_ACK = (1 << 1),
  VLS300_EVENT_GOT_FW_UPDATE_DATA_ACK = (1 << 2),
};

extern struct vk_weigher_vls300 _vk_vls300;

bool vkWeigher_Vls300_shouldAcceptTransfer(const CanardInstance *ins,
                                           uint64_t *out_data_type_signature,
                                           uint16_t data_type_id,
                                           CanardTransferType transfer_type,
                                           uint8_t source_node_id);
uint8_t vklift_weight_calibrate(uint32_t weight);
#ifdef __cplusplus
}
#endif // __cplusplus