CAN.h

#pragma once
 
#include "../utils/scheduler.h"
#include "../world_interface/data.h"
#include "CANUtils.h"
 
#include <functional>
#include <optional>
 
extern "C" {
#include <HindsightCAN/CANPacket.h>
}

namespace can {

using callbackid_t = std::tuple<deviceid_t, telemtype_t, uint32_t>;

void initCAN();

void sendCANPacket(const CANPacket& packet);

robot::types::DataPoint<telemetry_t> getDeviceTelemetry(deviceid_t id, telemtype_t telemType);

void pullDeviceTelemetry(deviceid_t id, telemtype_t telemType);

void scheduleTelemetryPull(deviceid_t id, telemtype_t telemType,
                           std::chrono::milliseconds period);

void unscheduleTelemetryPull(deviceid_t id, telemtype_t telemType);

void unscheduleAllTelemetryPulls();

callbackid_t addDeviceTelemetryCallback(
    deviceid_t id, telemtype_t telemType,
    const std::function<void(deviceid_t, telemtype_t, robot::types::DataPoint<telemetry_t>)>&
        callback);

void removeDeviceTelemetryCallback(callbackid_t id);
 
} // namespace can