#ifndef __SYSTEM_COMM_TD_H__
#define __SYSTEM_COMM_TD_H__

#include "ROCommon.h"
#include "CommBuffers.h"
#include "MsgQueues.h"
#include "SystemComm.h"

/**
 *  @defgroup SystemCommRO SystemCommRO
 *  @brief System communication unit.  Manages incoming and outgoing CAN frames.
 *
 *  @addtogroup SystemCommRO
 *  @{
 */

// ********** public definitions **********

#define MAX_MSG_SEQ_NO              0x7FFF                              ///< Maximum sequence number for Denali message (then wraps to 1).
#define MIN_MSG_SEQ_NO              0x0001                              ///< Minimum sequence number for Denali message.

#define NUM_OF_CAN_OUT_BUFFERS      4                                   ///< Number of CAN buffers for transmit
#define NUM_OF_CAN_IN_BUFFERS       8                                   ///< Number of CAN buffers for receiving

// ********** public function prototypes **********

void initSystemCommRO( void );
void processReceivedMessage( MESSAGE_T *message );

COMM_BUFFER_T getInBufferID( U32 idx );
COMM_BUFFER_T getOutBufferID( U32 idx );

void checkForCommTimeouts( void );
void checkTooManyBadMsgCRCs( void );
void checkInFromDD( void );
void checkInFromUI( void );

BOOL isDDCommunicating( void );
BOOL isOnlyCANNode( void );
void setOnlyCANNode( BOOL only );
void clearCANXmitBuffers( void );

/**@}*/

#endif /* APP_SERVICES_SYSTEMCOMMRO_H_ */