#if !defined(__CAN_CLIENT_H__)
#define __CAN_CLIENT_H__

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>

#include <fcntl.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>

#include <linux/can.h>
#include <linux/can/raw.h>

#define MOTOR_COUNT 2

// motor gear: 0x7C=reverse, 0x7D=neutral, 0x7E=forward
#define MOTOR_GEAR_REVERSE 0x7C
#define MOTOR_GEAR_NEUTRAL 0x7D
#define MOTOR_GEAR_FORWARD 0x7E

#define MOTOR_PWR_MIN_PCT 15
#define MOTOR_PWR_MAX_PCT 100
#define MOTOR_PWR_STEP 12

struct MOTOR_CONTROL_DATA
{
    int iMotorGear;
    int iMotorPower;
    int iMotorPowerPct;
    unsigned char nSwitchState;
    int iActualMotorPowerW;
};
extern struct MOTOR_CONTROL_DATA motctrl[MOTOR_COUNT];

struct CAN_INTERFACE_DATA
{
    int socket;
    char iface_name[20];
    struct ifreq ifr;
    struct sockaddr_can addr;
};

int Can_OpenInterface(int iMotorIndex, const char * ifacename);
void Can_CloseInterface(int iMotorIndex);

void Can_SetMotorGear(int iMotorIndex, int iGear);
void Can_SetMotorPower(int iMotorIndex, int iPower);

void Can_TransmitMotorGear(int iMotorIndex);
void Can_TransmitMotorPower(int iMotorIndex);

void Can_ReadData(int iMotorIndex);
void Can_Read_Manu_PGN(int iMotorIndex, struct can_frame *frame);
void Can_Read_Manu_PGN2(int iMotorIndex, struct can_frame *frame);

#endif