#include <stdint.h>

#include "main.h"
#include "can.h"
#include "scs_sdc.h"
#include "can-halal.h"

extern int can_ams_last_tick;

HAL_StatusTypeDef can_init(FDCAN_HandleTypeDef* handle) {
  TRY(ftcan_init(handle));
  TRY(ftcan_add_filter(CAN_ID_AMS_STATUS, 0xFFF));
  TRY(ftcan_add_filter(CAN_ID_AMS_ERROR, 0xFFF));

  return HAL_OK;
}

HAL_StatusTypeDef can_change_ts_state(TSState state) {
  uint8_t data[2];
  if (state == TS_ACTIVE) {
    data[0] = state;
    return ftcan_transmit(CAN_ID_AMS_IN, data, sizeof(data));
  } else if (state == TS_INACTIVE){
    data[0] = state;
    return ftcan_transmit(CAN_ID_AMS_IN, data, sizeof(data));
  } else {
    return HAL_ERROR;
  }
}

void ftcan_msg_received_cb(uint16_t id, size_t len, const uint8_t* data) {
  switch (id) {
    case CAN_ID_AMS_STATUS:
      can_ams_last_tick = HAL_GetTick();
      ts_handle_ams_status(data);
      break;
    case CAN_ID_AMS_SIGNALS:
      break;
    case CAN_ID_AMS_ERROR:
      break;
    default:
      break;
  }
}