#include "application.hpp"
#include "can/can-decoder.hpp"


// >>>>> handlers.cpp >>>>>
#include "can/canread.h"

using openxc::can::read::publishNumericalMessage;

void handleSteeringWheelMessage(CanMessage* message,
        CanSignal* signals, int signalCount, Pipeline* pipeline) {
    publishNumericalMessage("latitude", 42.0, pipeline);
}

openxc_DynamicField handleInverted(CanSignal* signal, CanSignal* signals,
        int signalCount, float value, bool* send) {
    return openxc::payload::wrapNumber(value * -1);
}

void initializeMyStuff() { }

void initializeOtherStuff() { }

void myLooper() {
    // this function will be called once each time through the main loop, after
    // all CAN message processing has been completed
}

// <<<<< handlers.cpp <<<<<

application_t::application_t()
	: can_message_set_{0, "example", 2, 2, 7, 1, 3}
	, can_message_definition_
	{
		{
			can_message_definition_t(0, "can0", 0x128, can_message_format_t::STANDARD, frequency_clock_t(0.00000f), true),
			can_message_definition_t(0, "can0", 0x813, can_message_format_t::STANDARD, frequency_clock_t(0.00000f), true)
		}
	}
	, can_signals_
	{
		{
			{
				0,
				0,
				"engine_speed",
				12,
				8,
				1.00000, 
				0, 
				0,
				0,
				frequency_clock_t(15.0000f),
				true,
				false,
				{
				},
				false,
				nullptr,
				nullptr,
				false
			},
			{
				0,
				0,
				"GearshiftPosition",
				41,
				3,
				1.00000, 
				0, 
				0,
				0,
				frequency_clock_t(0.00000f),
				true,
				false,
				{
					{1, "FIRST"},
					{4, "FOURTH"},
					{6, "NEUTRAL"},
					{5, "REVERSE"},
					{2, "SECOND"},
					{3, "THIRD"}
				},
				false,
				nullptr,
				nullptr,
				false
			},
			{
				0,
				0,
				"SteeringWheelAngle",
				52,
				12,
				0.153920, 
				0, 
				0,
				0,
				frequency_clock_t(0.00000f),
				true,
				false,
				{
				},
				false,
				handleUnsignedSteeringWheelAngle,
				nullptr,
				false
			},
			{
				0,
				0,
				"steering_wheel_angle_error",
				44,
				12,
				1.00000, 
				0, 
				0,
				0,
				frequency_clock_t(0.00000f),
				true,
				false,
				{
				},
				false,
				ignoreDecoder,
				nullptr,
				false
			},
			{
				0,
				0,
				"steering_angle_sign",
				52,
				12,
				1.00000, 
				0, 
				0,
				0,
				frequency_clock_t(0.00000f),
				true,
				false,
				{
				},
				false,
				ignoreDecoder,
				nullptr,
				false
			}
		},
		{
			{
				0,
				1,
				"abc",
				52,
				12,
				0.153920, 
				0, 
				0,
				0,
				frequency_clock_t(0.00000f),
				true,
				false,
				{
				},
				false,
				handleUnsignedSteeringWheelAngle,
				nullptr,
				false
			},
			{
				0,
				1,
				"def",
				52,
				12,
				1.00000, 
				0, 
				0,
				0,
				frequency_clock_t(0.00000f),
				true,
				false,
				{
				},
				false,
				decoder_t::ignoreDecoder,
				nullptr,
				false
			}
		}
	}
	//, obd2_signals_{/*...*/}
{
}