#ifndef __MESSAGEDECODER_H_
#define __MESSAGEDECODER_H_

#include "communication/message/include/message.h"
#include "communication/message/include/canmessage.h"
#include "communication/include/network.h"
#include <queue>
#include <vector>
#include <memory>

namespace icsneo {

class MessageDecoder {
public:
	bool input(const std::vector<uint8_t>& bytes);
	std::vector<std::shared_ptr<Message>> output();
	
private:
	enum class ReadState {
		SearchForHeader,
		ParseHeader,
		ParseLongStylePacketHeader,
		GetData
	};
	ReadState state = ReadState::SearchForHeader;

	int currentIndex = 0;
	int messageLength = 0;
	int headerSize = 0;
	bool checksum = false;
	bool gotGoodMessages = false; // Tracks whether we've ever gotten a good message
	Message message;
	std::deque<uint8_t> bytes;

	void processMessage(const Message& message);

	std::vector<std::shared_ptr<Message>> processedMessages;

	typedef uint16_t icscm_bitfield;
	struct CoreMiniMsg {
		CANMessage toCANMessage(Network netid);
		union {
			uint16_t CxTRB0SID16;
			struct
			{
				icscm_bitfield IDE : 1;
				icscm_bitfield SRR : 1;
				icscm_bitfield SID : 11;
				icscm_bitfield NETWORKINDEX : 3;//DO NOT CLOBBER THIS
			} CxTRB0SID;
			struct
			{
				icscm_bitfield : 13;
				icscm_bitfield EDL : 1;
				icscm_bitfield BRS : 1;
				icscm_bitfield ESI : 1;
			} CxTRB0FD;
			struct
			{
				icscm_bitfield ErrRxOnlyBreak : 1;
				icscm_bitfield ErrRxOnlyBreakSync : 1;
				icscm_bitfield ID : 11;
				icscm_bitfield NETWORKINDEX : 3;//DO NOT CLOBBER THIS
			} CxLIN3;
			struct
			{
				uint8_t D8;
				uint8_t options : 4;
				uint8_t TXMSG : 1;
				uint8_t NETWORKINDEX : 3;//DO NOT CLOBBER THIS
			} C1xJ1850;
			struct
			{
				uint8_t D8;
				uint8_t options : 4;
				uint8_t TXMSG : 1;
				uint8_t NETWORKINDEX : 3;//DO NOT CLOBBER THIS
			} C1xISO;
			struct
			{
				uint8_t D8;
				uint8_t options : 4;
				uint8_t TXMSG : 1;
				uint8_t NETWORKINDEX : 3;//DO NOT CLOBBER THIS
			} C1xJ1708;
			struct
			{
				icscm_bitfield FCS_AVAIL : 1;
				icscm_bitfield RUNT_FRAME : 1;
				icscm_bitfield DISABLE_PADDING : 1;
				icscm_bitfield PREEMPTION_ENABLED : 1;
				icscm_bitfield MPACKET_TYPE : 4;
				icscm_bitfield MPACKET_FRAG_CNT : 2;
				icscm_bitfield : 6;
			} C1xETH;
			struct
			{
				uint16_t ID : 11;
				uint16_t STARTUP : 1;
				uint16_t SYNC : 1;
				uint16_t NULL_FRAME : 1;
				uint16_t PAYLOAD_PREAMBLE : 1;
				uint16_t RESERVED_0 : 1;
			} C1xFlex;
			struct
			{
				uint8_t daqType;
				uint8_t ethDaqRes1;
			} C1xETHDAQ;
		};
		union {
			uint16_t CxTRB0EID16;
			struct
			{
				icscm_bitfield EID : 12;
				icscm_bitfield TXMSG : 1;
				icscm_bitfield TXAborted : 1;
				icscm_bitfield TXLostArb : 1;
				icscm_bitfield TXError : 1;
			} CxTRB0EID;
			struct
			{
				uint8_t LINByte9;
				uint8_t ErrTxRxMismatch : 1;
				uint8_t TxChkSumEnhanced : 1;
				uint8_t TXMaster : 1;
				uint8_t TXSlave : 1;
				uint8_t ErrRxBreakNot0 : 1;
				uint8_t ErrRxBreakTooShort : 1;
				uint8_t ErrRxSyncNot55 : 1;
				uint8_t ErrRxDataGreater8 : 1;
			} CxLIN;
			struct
			{
				uint8_t D9;
				uint8_t D10;
			} C2xJ1850;
			struct
			{
				uint8_t D9;
				uint8_t D10;
			} C2xISO;
			struct
			{
				uint8_t D9;
				uint8_t D10;
			} C2xJ1708;
			struct
			{
				uint16_t txlen : 12;
				uint16_t TXMSG : 1;
				uint16_t : 3;
			} C2xETH;
			struct
			{
				uint16_t HDR_CRC_10 : 1;
				uint16_t PAYLOAD_LEN : 7;
				uint16_t RESERVED_1 : 4;
				uint16_t TXMSG : 1;
				uint16_t RESERVED_2 : 3;
			} C2xFlex;
		};
		union {
			// For use by CAN
			uint16_t CxTRB0DLC16;
			struct
			{
				icscm_bitfield DLC : 4;
				icscm_bitfield RB0 : 1;
				icscm_bitfield IVRIF : 1;
				icscm_bitfield HVEnable : 1;// must be cleared before passing into CAN driver
				icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
				icscm_bitfield RB1 : 1;
				icscm_bitfield RTR : 1;
				icscm_bitfield EID : 6;
			} CxTRB0DLC;
			struct
			{
				icscm_bitfield len : 4;
				icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
				icscm_bitfield UpdateSlaveOnce : 1;
				icscm_bitfield HasUpdatedSlaveOnce : 1;
				icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
				icscm_bitfield BusRecovered : 1;
				icscm_bitfield SyncFerr : 1;//!< We got framing error in our sync byte.
				icscm_bitfield MidFerr : 1;//!< We got framing error in our message id.
				icscm_bitfield SlaveByteFerr : 1;//!< We got framing error in one of our slave bytes.
				icscm_bitfield TxAborted : 1;//!< This transmit was aborted.
				icscm_bitfield breakOnly : 1;
				icscm_bitfield : 2;
			} CxLIN2;
			// For use by JVPW
			struct
			{
				icscm_bitfield len : 4;
				icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
				icscm_bitfield just_tx_timestamp : 1;
				icscm_bitfield first_seg : 1;
				icscm_bitfield ExtendedNetworkIndexBit : 1;// do not clobber ExtendedNetworkIndexBit
				icscm_bitfield D11 : 8;
			} C3xJ1850;
			// For use by the ISO/KEYWORD
			struct
			{
				icscm_bitfield len : 4;
				icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
				icscm_bitfield FRM : 1;
				icscm_bitfield INIT : 1;
				icscm_bitfield ExtendedNetworkIndexBit : 1;// do not clobber ExtendedNetworkIndexBit
				icscm_bitfield D11 : 8;
			} C3xISO;
			struct
			{
				icscm_bitfield len : 4;
				icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
				icscm_bitfield FRM : 1;
				icscm_bitfield : 1;
				icscm_bitfield ExtendedNetworkIndexBit : 1;// do not clobber ExtendedNetworkIndexBit
				icscm_bitfield pri : 8;
			} C3xJ1708;
			struct
			{
				uint16_t rsvd;
			} C3xETH;
			struct
			{
				uint16_t CYCLE : 6;
				uint16_t HDR_CRC_9_0 : 10;
			} C3xFlex;
		};
		unsigned char CxTRB0Dall[8];
		union {
			uint16_t CxTRB0STAT;
			uint16_t J1850_TX_ID;
		};
		union {
			struct
			{
				uint32_t uiTimeStamp10uS;
				union {
					uint32_t uiTimeStamp10uSMSB;
					struct
					{
						unsigned : 28;
						unsigned res_0s : 3;// must be 0!!!
						unsigned bIsExtended : 1;// always 1 for CoreMiniMsgExtended.
					};
				};
			};
			int64_t uiTimeStampLarge;
			uint8_t uiTimeStampBytes[8];
		};
	};
};

}

#endif