#ifndef USERCAN_H_
#define USERCAN_H_

#include <AP_Common/AP_Common.h>


#include <AP_HAL/CAN.h>
#include <AP_HAL/Semaphores.h>

#define OUSHENCAN_MAX_NUM_ESCS 6
class UserCAN : public AP_HAL::CANProtocol {
public:
    UserCAN();
    ~UserCAN();
	UserCAN(const UserCAN &other) = delete;
    UserCAN &operator=(const UserCAN&) = delete;
	void init(uint8_t driver_index, bool enable_filters) override;
	void loop();
	bool write_frame(uavcan::CanFrame &out_frame, uavcan::MonotonicTime timeout);
	bool read_frame(uavcan::CanFrame &recv_frame, uavcan::MonotonicTime timeout);

	uint16_t update_count;          // counter increments each time main thread updates outputs
	uint16_t update_count2;  
    /*struct telemetry_info_t {
        int16_t rpm;// 速度
        float current;
        float voltage;
        int16_t temperature;
        uint16_t EF;
    } _telemetry[OUSHENCAN_MAX_NUM_ESCS];*/


private:
		uint8_t send_ID;   

	//uint8_t driver_index;
	bool _enable_filters;


	bool _initialized;
    char _thread_name[9];
    uint8_t _driver_index;
	uavcan::ICanDriver* _can_driver;

	
    uint16_t update_count_buffered; // counter when outputs copied to buffer before before sending to ESCs
    uint16_t update_count_sent; 

	 struct motor_rotation_cmd_t {
       
        uint8_t data[8];
    };
	struct sent_command {
		uint8_t data[4];
	};
   /* union motor_reply_data1_t {
        struct PACKED {
            uint16_t command_code;
            uint8_t reserve;
            uint8_t datatype;
            uint32_t data_reply;
            
        }packed_data;
        uint8_t data[8];
    };*/

   struct motor_reply_data1_t {
		   uint8_t data[8];
	   };


	
	 uavcan::CanFrame mot_rot_frame1;
	 const uavcan::CanFrame* _select_frames[uavcan::MaxCanIfaces] { };
	
};

#endif