#pragma once

#include <linux/can.h>

#include <atomic>
#include <functional>
#include <mutex>
#include <set>
#include <string>
#include <thread>

#include "logger.h"

class CanBus
{
   public:
    using ReceiveCallback = std::function<void(const can_frame &)>;

    CanBus(const std::string &id, const std::string &interface_name, Logger &logger);
    ~CanBus();

    bool start();  // 启动 CAN 接收线程并尝试初始化，失败会自动重试
    void stop();

    bool send_frame(const can_frame &frame);
    void set_receive_callback(ReceiveCallback cb) { receive_callback_ = cb; }

    bool is_running() const { return running_; }

    // 黑名单管理
    void add_blacklist_id(uint32_t can_id);
    void remove_blacklist_id(uint32_t can_id);
    void clear_blacklist();

   private:
    void receive_loop();
    bool init_socket();

   private:
    std::string id_;
    std::string interface_name_;
    Logger &logger_;

    int sockfd_ = -1;
    std::atomic<bool> running_{false};
    std::thread worker_;
    std::mutex send_mutex_;
    ReceiveCallback receive_callback_;

    std::set<uint32_t> blacklist_;
    std::mutex blacklist_mutex_;

    // 自动重试策略
    int retry_first_ = 2;  // 初次失败间隔秒
    int retry_max_ = 30;   // 最大间隔秒
};