#include <stdio.h>
#include "ntcan.h"
/*
* This example demonstrates how the NTCAN-API can be used to open a handle,
* set a baudrate and wait for reception of a CAN frame with an
* identifier that has been previously enabled for this handle.
* Finally all proper cleanup operations are performed
*/
/*int example_rx(void)*/
int main()
{
  int net=0; /* logical net number (here: 0) */
  uint32_t mode=0; /* mode bits for canOpen */
  int32_t txqueuesize=8; /* maximum number of messages to transmit */
  int32_t rxqueuesize=8; /* maximum number of messages to receive */
  int32_t txtimeout=100; /* timeout for transmit in ms */
  int32_t rxtimeout=10000; /* timeout for receiving data in ms */
  NTCAN_HANDLE rxhandle; /* can handle returned by canOpen() */
  NTCAN_RESULT retvalue; /* return values of NTCAN API calls */
  uint32_t baud=2; /* configured CAN baudrate (here: 500 kBit/s.) */
  CMSG cmsg[1]; /* buffer for can messages */
  int32_t len; /* Buffer size in # of messages for canRead() */
  int i; /*loop counter*/
/* ############################################################### */
  retvalue = canOpen(net,
                     mode,
                     txqueuesize,
                     rxqueuesize,
                     txtimeout,
                     rxtimeout,
                     &rxhandle);
  if (retvalue != NTCAN_SUCCESS)
  {
    printf("canOpen() failed with error %d!\n", retvalue);
    return(-1);
  }
  printf("function canOpen() returned OK !\n");
/* ############################### ################################ */
  retvalue = canSetBaudrate(rxhandle, baud);
  if (retvalue != 0)
  {
    printf("canSetBaudrate() failed with error %d!\n", retvalue);
    canClose(rxhandle);
    return(-1);
  }
  printf("function canSetBaudrate() returned OK !\n");
/* ############################################################### */
  int32_t count = 0x10;
  int32_t idStart = 0x1f000600 | NTCAN_20B_BASE;
  retvalue = canIdRegionAdd(rxhandle, idStart, &count); 
  if (retvalue != NTCAN_SUCCESS) 
  {
    printf("canIdRegionAdd() failed with error %d!\n", retvalue);
    canClose(rxhandle);
    return(-1);
  } 
  printf("function canIdRegionAdd() returned OK !\n");
/* ############################################################### */
  do {
/*
* Set max numbers of messages that can be returned with
* one canRead() call according to buffer size
*/
    len = 1;
    retvalue = canRead(rxhandle, &cmsg[0], &len, NULL);
    if (retvalue == NTCAN_RX_TIMEOUT)
    {
      printf("canRead() returned timeout\n");
      continue;
    }
    else if(retvalue != NTCAN_SUCCESS)
    {
      printf("canRead() failed with error %d!\n", retvalue);
    }
    else
    {
      printf("function canRead() returned OK !\n");      
      printf("Id of received message :0x%x!\n", cmsg[0].id & (NTCAN_20B_BASE -1));  
      printf("Len of received message :%x!\n", (cmsg[0].len & 0x0f));
      printf("Rtr of received message :%x!\n", ((cmsg[0].len & 0x10)>>4));
      for (i=0;i<(cmsg[0].len & 0x0f);i++)
        printf("Byte %d of received message :0x%x!\n", i, cmsg[0].data[i]);
    }
    //break;
  } while(1);
/* ############################################################### */
  retvalue = canIdDelete( rxhandle, 0);
  if (retvalue != NTCAN_SUCCESS)
    printf("canIdDelete() failed with error %d!\n", retvalue);
  printf("function canIdDelete() returned OK !\n");
/* ############################################################### */
  retvalue = canClose (rxhandle);
  if (retvalue != NTCAN_SUCCESS)
    printf("canClose() failed with error %d!\n", retvalue);
  else
    printf("canClose() returned OK !\n");
/* ############################################################### */
  return(0);
}