#ifndef _JM_CAN_H_
#define _JM_CAN_H_

#include <linux/can.h>
#include <linux/can/raw.h>
#include "pxTools.h"
#include "JMros.h"
#include "JMPlc.h"

#define CANPACKCOUNT 4
#define CANRECVPACKCOUNT 22
#define CANBUFSIZE CANPACKCOUNT*CAN_MAX_DLEN

#define MANUALCONTROL 0
#define REMOTECONTROL 1
#define AUTOCONTROL 2
#define CLEARCANSENDBUF 3

#define DATALOGPATH "/var/log/canTransmit/"

typedef struct STATE
{
    u8 system : 2;
    u8 mqtt : 1;
    u8 can : 1;
    u8 ros : 1;
    u8 udp : 1;
    u8 canTimeout : 1;
    u8 plc : 1;
    u8 rtkmqtt:1;
    u8 rtkconn:1;
    u8 reserve:6;
    u8 reserve1[2];
}STATE_S;

#pragma pack(push, 1)
typedef struct POSTDATABUF
{
    STATE_S status;
    u64 timeSpent;
    u64 wheelSet;
    u64 wheelGet;
    u8 data[CANRECVPACKCOUNT*8];
    u8 rosdata[sizeof(ROSRECVDATA_S)-sizeof(u16)-sizeof(u8)];
    u8 plcdata[sizeof(PLCRECVDATA_S)];
    // s32 LeftLeg;
    // s32 RightLeg;
}POSTDATABUF_S;
#pragma pack(pop)

void CAN_Run(void *p);
void CAN_setSendBuf(int sender,u8 *data);
void CAN_setCan306(u8 *data);
int CanSettoCanCantrol();

#endif