dronecan_application_internal.h

/*
 * Copyright (C) 2023 Dmitry Ponomarev <ponomarevda96@gmail.com>
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at https://mozilla.org/MPL/2.0/.
 */

#ifndef APPLICATION_DRONECAN_APPLICATION_INTERNAL_H_
#define APPLICATION_DRONECAN_APPLICATION_INTERNAL_H_

#include <stdint.h>
#include "libcanard_v0/canard.h"

#define UAVCAN_EXPAND(data_type) data_type##_SIGNATURE, data_type##_ID

#ifndef STATUS_ERROR
    #define STATUS_ERROR -1
#endif

/**
  * @brief Encapsulate everything related to a date type
  */
typedef struct {
    uint64_t sig;
    uint16_t id;
} UavcanDataType_t;

#ifdef __cplusplus
extern "C" {
#endif

/**
  * @return the time in milliseconds since the application started.
  * @note This function must be provided by a user!
  */
uint32_t platformSpecificGetTimeMs();

/**
  * @return whether the request will be processed
  * True  - the application will be restarted soon.
  * False - the restarted is not supported or can't be handled at the moment.
  * @note Implementation is recommended, but optional.
  */
bool platformSpecificRequestRestart();

/**
  * @param[out] out_id - hardware Unique ID
  * @note Implementation is recommended, but optional.
  */
void platformSpecificReadUniqueID(uint8_t out_uid[16]);

#ifdef __cplusplus
}
#endif

#endif  // APPLICATION_DRONECAN_APPLICATION_INTERNAL_H_