#ifndef LIVOXPROTO1_PROTOCOL_H
#define LIVOXPROTO1_PROTOCOL_H

#include <vector>
#include <string>
#include <memory>
#include <sstream>
#include <atomic>
#include <user/senseApiDesc.h>

namespace livoxProto1 {
namespace comms {

// Endianness detection
namespace endian {
	inline bool isLittleEndian() {
		union {
			uint32_t i;
			char c[4];
		} test = {0x01020304};
		return test.c[0] == 4;
	}
}

/**		EXPLANATION:
 * Device types as defined in the Livox protocol specification
 */
enum class DeviceType : uint8_t {
	Hub = 0,
	Mid40 = 1,
	Tele15 = 2,
	Horizon = 3,
	Mid70 = 6,
	Avia = 7
};

/**		EXPLANATION:
 * Protocol frame header structure.
 * All multi-byte fields are in little-endian format as per protocol spec.
 */
struct Header
{
	uint8_t sof;           // 0: Start of Frame (0xAA)
	uint8_t version;       // 1: Protocol Version (1)
	uint16_t length;       // 2-3: Frame Length (little-endian)
	uint8_t cmd_type;      // 4: Command Type (0x02 = MSG for broadcast)
	uint16_t seq_num;      // 5-6: Sequence Number (little-endian)
	uint16_t crc_16;       // 7-8: Header Checksum (little-endian)

	void swapToHostEndianness();
	bool sanityCheck() const;
} __attribute__((packed));

/**		EXPLANATION:
 * Protocol frame footer structure.
 * All multi-byte fields are in little-endian format as per protocol spec.
 */
struct Footer
{
	uint32_t crc_32;       // 0-3: Whole Frame Checksum (little-endian)

	void swapToHostEndianness();
	bool sanityCheck() const;
} __attribute__((packed));

/**		EXPLANATION:
 * Complete wire format for Livox broadcast messages.
 * All multi-byte fields are in little-endian format as per protocol spec.
 */
struct BroadcastMessage
{
	Header header;         // 0-8: Protocol frame header
	uint8_t cmd_set;       // 9: Command Set (0x00 = General)
	uint8_t cmd_id;        // 10: Command ID (0x00 = Broadcast)
	uint8_t broadcast_code[16]; // 11-26: Device Broadcast Code (null-terminated string)
	uint8_t dev_type;      // 27: Device Type
	uint16_t reserved;     // 28-29: Reserved (little-endian)
	Footer footer;         // 30-33: Protocol frame footer

	void swapToHostEndianness();
	bool sanityCheck() const;
} __attribute__((packed));

} // namespace comms
} // namespace livoxProto1

#endif // LIVOXPROTO1_PROTOCOL_H