#ifndef __SOFT_CAN_YY_H_
#define __SOFT_CAN_YY_H_


#include <stdint.h>
#include "hpm_can_drv.h"
enum Rotate_State
{
    ROTATE_DEFAULT = 0x00,
    ROTATE_START = 0x01,
    ROTATE_FINISH = 0x02,
};

enum yy_CAN_node_id
{
    NODE_TXGL = 0X01,  // 通信管理
    NODE_MEMS = 0X02,  // mems
    NODE_WRJ = 0X04,   // 无人机
    NODE_HDWMK = 0X08, // 互定位模块
    NODE_RADAR = 0X10, // 雷达
};

enum yy_CAN_msg_id
{
    MSG_XLTB = 0X01, // 系留同步帧
    MSG_RADAR_STATUS = 0X02,
    MSG_DRONE_STATUS = 0X03,
    MSG_IMU_SOLV = 0X04,
    MSG_IMU_A = 0x05,
    MSG_IMU_B = 0x06,
    MSG_IMU_C = 0x07,
    MSG_GLOBAL_POS = 0X08,
    MSG_GLOBAL_VEL = 0X09,
    MSG_POS_BIAS = 0X0A,
    MSG_HDW = 0X0B,
    MSG_HDW_DRIFT = 0X0C,
    MSG_RADAR_TAR1 = 0X0D,
    MSG_RADAR_TAR2 = 0X0E,
    MSG_RADAR_TAR3 = 0X0F,
    MSG_RADAR_TAR4 = 0X10,
    MSG_RADAR_TAR5 = 0X11,
    MSG_RADAR_TAR_MOVE1 = 0X12,
    MSG_RADAR_TAR_MOVE2 = 0X13,
    MSG_RADAR_TAR_MOVE3 = 0X14,
    MSG_RADAR_TAR_MOVE4 = 0X15,
    MSG_RADAR_TAR_MOVE5 = 0X16,
    MSG_DRONE_SELF_CHECK = 0x17,
};

enum yy_CAN_cmd_id
{
    CTL_RTO_ACTION = 0x01,
    CTL_CW_ROTATION = 0x02,
    CTL_CCW_ROTATION = 0x04,
    CTL_ALT_ACTION = 0x08,
    CTL_YAW_ACTION = 0x10,
    CTL_TO_ACTION = 0x20,
    CTL_FIND_ACTION = 0x40,
    CTL_STOP_ACTION = 0x80,
};

enum yy_CAN_cmd_mask_id
{
    CTL_RTO_CMD_MASK = 0x01,            /*预备弹射指令*/
    CTL_ROTATE_CMD_MASK = 0x06,         /*搜索指令：顺时针旋转/逆时针旋转*/
    CTL_ALT_CMD_MASK = 0x08,            /*执行设定高度有效性*/
    CTL_YAW_CMD_MASK = 0x10,            /*执行设定航向有效性*/
    CTL_TO_CMD_MASK = 0x20,             /*执行弹射指令*/
    CTL_FIND_CMD_MASK = 0x40,           /*范围搜索(±30度)*/
    CTL_STOP_CMD_MASK = 0x80,           /*任务结束指令*/
};

#define CLEAR_STATUS_BIT(x, y) ((x) &= ~(1 << y))
#define SET_STATUS_BIT(x, y) ((x) |= (1 << y))

enum yy_CAN_cmd_execute_bit
{
    TAX_READY = 0,
    ALT_SETTING = 1,
    ALT_EXECUTE = 2,
    YAW_SETTING = 3,
    YAW_EXECUTE = 4,
    CW_EXECUTE_COMPLETE = 5,
    CCW_EXECUTE_COMPLETE = 6,
    TAX_EXECUTE = 7,
};

struct yy_can_rx_msg_data
{
    // 通讯管理模块相关数据
    int32_t txgl_lon; // 1e-7deg
    int32_t txgl_lat;
    float txgl_enu_vel[3]; // m/s
    uint8_t txgl_pos_fix_status;
    uint8_t txgl_gps_num;
    uint8_t temp_count; /*CAN帧ID类接收标志位: 按bit对应：b0:互定位帧 b1:卫导定位帧 b2:卫导速度帧
                                                        b3:卫导经度是否丢失0丢失1未丢失 b4:卫导纬度是否丢失0丢失1未丢失*/
    // int16_t txgl_pos_fix_status;
    float txgl_msl_alt; // m

    uint8_t txgl_wk_stage;
    uint8_t txgl_drone_cmd; // b0 1-弹射准备  b1~2 00-无效 01-顺时针旋转 10-逆时针旋转
    uint8_t txgl_radar_cmd;
    uint8_t txgl_selfcheck; // 00-自检无效 11-自检有效
    float txgl_alt_sp;      // m
    float txgl_yaw_sp;      // deg

    // 互定位模块相关数据
    float hdw_enu_rpos[3];  // m 右前下
    float hdw_drift_vel[3]; // m/s
    uint16_t hdw_status;

    // mems imu 模块相关数据
    float imu_yaw; // in deg
    float imu_roll;
    float imu_pitch;
    uint8_t imu_status; /*bit0: 0--正欧拉角   1--反欧拉角  默认0*/

    float imu_xyz_rate[3]; // in deg/s
    float imu_xyz_acc[3];  // in m/s^2
    uint8_t temp;          // 温度 °C
    uint16_t nav_status;   /* 01-对准中 02-转导航 */
    uint16_t mems_status;  /* 按 bit 对应 b0~b2 自检,*/
};

extern uint16_t hdw_can_delay;
extern bool debug_mode, alt_reached, yaw_reached;
extern uint32_t recv_alt_time;
extern uint8_t status_broadcast;

void updata_cmd_status(enum yy_CAN_cmd_execute_bit bit, bool status);

const struct yy_can_rx_msg_data *yy_can_rx_data_get(void);

int YY_can_rx_decode(const can_receive_buf_t *rxmsg);

void YY_tx_loop(void);

#endif