HVAC_M7_MONO/MODULES/HVAC_M7_CAN_SPAM/CanSpamReceiver.c

//
// Created by cfif on 05.04.2024.
//
#include <SystemDelayInterface.h>
#include "CanSpamReceiver.h"
#include "CmsisRtosThreadUtils.h"
#include "CanPorts.h"
#include "string.h"
#include "HVAC_model.h"
#include "MainStack.h"

#define LOG_SIGN "CAN_RECEIVED"
#define LOGGER env->logger

// Структура для таблицы мониторов
typedef struct {
    uint32_t can_id;
    FrameMonitor_t *monitor;
    uint8_t *error_flag;
} CAN_MonitorEntry_t;

// Таблица всех мониторов
static const CAN_MonitorEntry_t g_can_monitors[] = {
        {ESC_04_CANID,             &ccu_candb_rx.ESC_04.mon1,             &ccu_candb_error_rx.ESC_04},
        {EMS_Veh_CANID,            &ccu_candb_rx.EMS_Veh.mon1,            &ccu_candb_error_rx.EMS_Veh},
        {BCM_Powertrain_CANID,     &ccu_candb_rx.BCM_Powertrain.mon1,     &ccu_candb_error_rx.BCM_Powertrain},
        {EMS_Veh_02_CANID,         &ccu_candb_rx.EMS_Veh_02.mon1,         &ccu_candb_error_rx.EMS_Veh_02},
        {BCM_EEM_CANID,            &ccu_candb_rx.BCM_EEM.mon1,            &ccu_candb_error_rx.BCM_EEM},
        {DMFR_Msg1_CANID,          &ccu_candb_rx.DMFR_Msg1.mon1,          &ccu_candb_error_rx.DMFR_Msg1},
        {DMFL_Msg1_CANID,          &ccu_candb_rx.DMFL_Msg1.mon1,          &ccu_candb_error_rx.DMFL_Msg1},
        {TM_Stat_CANID,            &ccu_candb_rx.TM_Stat.mon1,            &ccu_candb_error_rx.TM_Stat},
        {TM_CP_CANID,              &ccu_candb_rx.TM_CP.mon1,              &ccu_candb_error_rx.TM_CP},
        {HVC_CCU_Status_Msg_CANID, &ccu_candb_rx.HVC_CCU_Status_Msg.mon1, &ccu_candb_error_rx.HVC_CCU_Status_Msg},
        {BCM_VEH_STATE_CANID,      &ccu_candb_rx.BCM_VEH_STATE.mon1,      &ccu_candb_error_rx.BCM_VEH_STATE},
        {EMS_HVC_Req_Msg_CANID,    &ccu_candb_rx.EMS_HVC_Req_Msg.mon1,    &ccu_candb_error_rx.EMS_HVC_Req_Msg},
        {HVC_Err_Status_Msg_CANID, &ccu_candb_rx.HVC_Err_Status_Msg.mon1, &ccu_candb_error_rx.HVC_Err_Status_Msg},
        {BCM_CLIMATIC_DATA_CANID,  &ccu_candb_rx.BCM_CLIMATIC_DATA.mon1,  &ccu_candb_error_rx.BCM_CLIMATIC_DATA},
        {VCU_CCU_Req_CANID,        &ccu_candb_rx.VCU_CCU_Req.mon1,        &ccu_candb_error_rx.VCU_CCU_Req},
        {ESC_08_CANID,             &ccu_candb_rx.ESC_08.mon1,             &ccu_candb_error_rx.ESC_08},
        {SMFL_status_CANID,        &ccu_candb_rx.SMFL_status.mon1,        &ccu_candb_error_rx.SMFL_status},
        {SMFR_status_CANID,        &ccu_candb_rx.SMFR_status.mon1,        &ccu_candb_error_rx.SMFR_status},
        {SMRL_status_CANID,        &ccu_candb_rx.SMRL_status.mon1,        &ccu_candb_error_rx.SMRL_status},
        {SMRR_status_CANID,        &ccu_candb_rx.SMRR_status.mon1,        &ccu_candb_error_rx.SMRR_status},
        {SDM_Cmd_CANID,            &ccu_candb_rx.SDM_Cmd.mon1,            &ccu_candb_error_rx.SDM_Cmd},
        {VEH_VIN_CANID,            &ccu_candb_rx.VEH_VIN.mon1,            &ccu_candb_error_rx.VEH_VIN},
        {OCUFL_MSG_CANID,          &ccu_candb_rx.OCUFL_MSG.mon1,          &ccu_candb_error_rx.OCUFL_MSG},
        {OCUFR_MSG_CANID,          &ccu_candb_rx.OCUFR_MSG.mon1,          &ccu_candb_error_rx.OCUFR_MSG},
        {OCURL_MSG_CANID,          &ccu_candb_rx.OCURL_MSG.mon1,          &ccu_candb_error_rx.OCURL_MSG},
        {OCURR_MSG_CANID,          &ccu_candb_rx.OCURR_MSG.mon1,          &ccu_candb_error_rx.OCURR_MSG},
        {DW_STATE_CANID,           &ccu_candb_rx.DW_STATE.mon1,           &ccu_candb_error_rx.DW_STATE},
        {FIU_CCU1_CANID,           &ccu_candb_rx.FIU_CCU1.mon1,           &ccu_candb_error_rx.FIU_CCU1},
        {FIU_CCU2_CANID,           &ccu_candb_rx.FIU_CCU2.mon1,           &ccu_candb_error_rx.FIU_CCU2},
        {FIU_CCU3_CANID,           &ccu_candb_rx.FIU_CCU3.mon1,           &ccu_candb_error_rx.FIU_CCU3},
};

#define CAN_MONITOR_COUNT (sizeof(g_can_monitors) / sizeof(g_can_monitors[0]))

// Функция поиска монитора по CAN ID
static FrameMonitor_t* FindMonitorByCanId(uint32_t can_id) {
    for (uint32_t i = 0; i < CAN_MONITOR_COUNT; i++) {
        if (g_can_monitors[i].can_id == can_id) {
            return g_can_monitors[i].monitor;
        }
    }
    return NULL;  // Не найден
}

void CanSpamReceiver_Init(tCanSpamReceiver *env,
                          tSerialPortFrameIO *ioCanFrame,
                          tLoggerInterface *logger) {

    env->ioCanFrame = ioCanFrame;
    env->logger = logger;
    env->access = osMutexNew(NULL);

    for (uint32_t i = 0; i < CAN_MONITOR_COUNT; i++) {
        FrameMonitor_t *mon = g_can_monitors[i].monitor;
        mon->timeout_cycle = 3000;
    }

    // VIN
    FrameMonitor_t *vin_mon = FindMonitorByCanId(VEH_VIN_CANID);
    if (vin_mon != NULL) {
        vin_mon->timeout_cycle = 45000;  // 45 секунд
    }

/*
    env->ccu_candb_rx_LOCAL_HVAC_VIN = osMessageQueueNew(1, 17, NULL);
    env->ccu_candb_rx_LOCAL_HVAC_UDS_VIN = osMessageQueueNew(1, 17, NULL);
    env->ccu_candb_rx_TM_CP = osMessageQueueNew(1, sizeof(ccu_candb_rx.TM_CP), NULL);
    env->ccu_candb_rx_FIU_CCU1 = osMessageQueueNew(1, sizeof(ccu_candb_rx.FIU_CCU1), NULL);
    env->ccu_candb_rx_FIU_CCU2 = osMessageQueueNew(1, sizeof(ccu_candb_rx.FIU_CCU2), NULL);
    env->ccu_candb_rx_BCM_Powertrain = osMessageQueueNew(1, sizeof(ccu_candb_rx.BCM_Powertrain), NULL);
    env->ccu_candb_rx_BCM_CLIMATIC_DATA = osMessageQueueNew(1, sizeof(ccu_candb_rx.BCM_CLIMATIC_DATA), NULL);
    env->ccu_candb_rx_EMS_Veh = osMessageQueueNew(1, sizeof(ccu_candb_rx.EMS_Veh), NULL);
    env->ccu_candb_rx_ESC_04 = osMessageQueueNew(1, sizeof(ccu_candb_rx.ESC_04), NULL);
    env->ccu_candb_rx_BCM_VEH_STATE = osMessageQueueNew(1, sizeof(ccu_candb_rx.BCM_VEH_STATE), NULL);
    env->ccu_candb_rx_EMS_HVC_Req_Msg = osMessageQueueNew(1, sizeof(ccu_candb_rx.EMS_HVC_Req_Msg), NULL);
    env->ccu_candb_rx_HVC_Err_Status_Msg = osMessageQueueNew(1, sizeof(ccu_candb_rx.HVC_Err_Status_Msg), NULL);
*/
    env->ccu_candb_rx_LOCAL_HVAC_VIN = osMessageQueueNew(1, 17, NULL);
    env->ccu_candb_rx_LOCAL_HVAC_UDS_VIN = osMessageQueueNew(1, 17, NULL);
    env->ccu_candb_rx_TM_CP = osMessageQueueNew(1, sizeof(rtDW.TM_CP_model), NULL);
    env->ccu_candb_rx_FIU_CCU1 = osMessageQueueNew(1, sizeof(rtDW.FIU_CCU1_MODEL), NULL);
    env->ccu_candb_rx_FIU_CCU2 = osMessageQueueNew(1, sizeof(rtDW.FIU_CCU2_MODEL), NULL);
    env->ccu_candb_rx_BCM_Powertrain = osMessageQueueNew(1, sizeof(rtDW.CCUCAN_BCM_Powertrain_model), NULL);
    env->ccu_candb_rx_BCM_CLIMATIC_DATA = osMessageQueueNew(1, sizeof(rtDW.CCUCAN_BCM_Climatic_model), NULL);
    env->ccu_candb_rx_EMS_Veh = osMessageQueueNew(1, sizeof(rtDW.CCUCAN_EMS_Veh_model), NULL);
    env->ccu_candb_rx_ESC_04 = osMessageQueueNew(1, sizeof(rtDW.CCUCAN_ESC_04_model), NULL);
    env->ccu_candb_rx_BCM_VEH_STATE = osMessageQueueNew(1, sizeof(rtDW.CCUCAN_BCM_VEH_STATE_model), NULL);
    env->ccu_candb_rx_EMS_HVC_Req_Msg = osMessageQueueNew(1, sizeof(rtDW.CCUCAN_EMS_HVC_REQ_MSG_MODEL), NULL);
    env->ccu_candb_rx_HVC_Err_Status_Msg = osMessageQueueNew(1, sizeof(rtDW.HVC_ERR_STATUS_MSG_MODEL), NULL);

    env->thread.stack = tCanSpamReceiver_stack;
    InitThreadAtr(&env->thread.attr, "CanSpamRec", &env->thread.controlBlock, sizeof(env->thread.controlBlock),
                  env->thread.stack, tCanSpamReceiver_stack_size, osPriorityNormal);
    env->thread.id = 0;

//    InitThreadAtrStatic(&env->thread.attr, "CanSpamRec", env->thread.controlBlock, env->thread.stack,
//                        osPriorityNormal);
}


static void CheckAllCANMonitors(void) {
    uint32_t current_time = SystemGetMs();

    for (uint32_t i = 0; i < CAN_MONITOR_COUNT; i++) {
        FrameMonitor_t *mon = g_can_monitors[i].monitor;

        // Проверяем таймаут
        uint32_t diff = current_time - mon->last_cycle;
        uint8_t error = (diff > mon->timeout_cycle) ? 1 : 0;

        // Сохраняем ошибку
        *(g_can_monitors[i].error_flag) = error;
    }
}

static void set_CanSpamReceiver(tCanSpamReceiver *env, uint32_t recid) {
    osStatus_t status = osOK;

    //  ВСЕГДА проверяем все мониторы на таймаут
    CheckAllCANMonitors();

    uint32_t countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_TM_CP);
    if ((countQueue_ccu_candb_rx) && (recid == TM_CP_CANID)) {
        status = osMessageQueuePut(env->ccu_candb_rx_TM_CP, &ccu_candb_rx.TM_CP, 0, 0U);
        return;
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_FIU_CCU1);
    if ((countQueue_ccu_candb_rx) && (recid == FIU_CCU1_CANID)) {
        status = osMessageQueuePut(env->ccu_candb_rx_FIU_CCU1, &ccu_candb_rx.FIU_CCU1, 0, 0U);
        return;
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_FIU_CCU2);
    if ((countQueue_ccu_candb_rx) && (recid == FIU_CCU2_CANID)) {
        status = osMessageQueuePut(env->ccu_candb_rx_FIU_CCU2, &ccu_candb_rx.FIU_CCU2, 0, 0U);
        return;
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_BCM_Powertrain);
    if ((countQueue_ccu_candb_rx) && (recid == BCM_Powertrain_CANID)) {
        status = osMessageQueuePut(env->ccu_candb_rx_BCM_Powertrain, &ccu_candb_rx.BCM_Powertrain, 0, 0U);
        return;
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_BCM_CLIMATIC_DATA);
    if ((countQueue_ccu_candb_rx) && (recid == BCM_CLIMATIC_DATA_CANID)) {
        status = osMessageQueuePut(env->ccu_candb_rx_BCM_CLIMATIC_DATA, &ccu_candb_rx.BCM_CLIMATIC_DATA, 0, 0U);
        return;
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_EMS_Veh);
    if ((countQueue_ccu_candb_rx) && (recid == EMS_Veh_CANID)) {
        status = osMessageQueuePut(env->ccu_candb_rx_EMS_Veh, &ccu_candb_rx.EMS_Veh, 0, 0U);
        return;
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_ESC_04);
    if ((countQueue_ccu_candb_rx) && (recid == ESC_04_CANID)) {
        status = osMessageQueuePut(env->ccu_candb_rx_ESC_04, &ccu_candb_rx.ESC_04, 0, 0U);
        return;
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_BCM_VEH_STATE);
    if ((countQueue_ccu_candb_rx) && (recid == BCM_VEH_STATE_CANID)) {
        status = osMessageQueuePut(env->ccu_candb_rx_BCM_VEH_STATE, &ccu_candb_rx.BCM_VEH_STATE, 0, 0U);
        return;
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_EMS_HVC_Req_Msg);
    if ((countQueue_ccu_candb_rx) && (recid == EMS_HVC_Req_Msg_CANID)) {
        status = osMessageQueuePut(env->ccu_candb_rx_EMS_HVC_Req_Msg, &ccu_candb_rx.EMS_HVC_Req_Msg, 0, 0U);
        return;
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_HVC_Err_Status_Msg);
    if ((countQueue_ccu_candb_rx) && (recid == HVC_Err_Status_Msg_CANID)) {
        status = osMessageQueuePut(env->ccu_candb_rx_HVC_Err_Status_Msg, &ccu_candb_rx.HVC_Err_Status_Msg, 0, 0U);
        return;
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_LOCAL_HVAC_VIN);
    if ((countQueue_ccu_candb_rx) && (recid == VEH_VIN_CANID)) {

        if (ccu_candb_rx.VEH_VIN.VIN_Addressing == 0) {
            env->SET_HVAC_VIN[0] = ccu_candb_rx.VEH_VIN.VIN_Char1;
            env->SET_HVAC_VIN[1] = ccu_candb_rx.VEH_VIN.VIN_Char2;
            env->SET_HVAC_VIN[2] = ccu_candb_rx.VEH_VIN.VIN_Char3;
            env->SET_HVAC_VIN[3] = ccu_candb_rx.VEH_VIN.VIN_Char4;
            env->SET_HVAC_VIN[4] = ccu_candb_rx.VEH_VIN.VIN_Char5;
            env->SET_HVAC_VIN[5] = ccu_candb_rx.VEH_VIN.VIN_Char6;
            env->SET_HVAC_VIN[6] = ccu_candb_rx.VEH_VIN.VIN_Char7;
            env->getVIN0 = true;
        }

        if (ccu_candb_rx.VEH_VIN.VIN_Addressing == 1) {
            env->SET_HVAC_VIN[7] = ccu_candb_rx.VEH_VIN.VIN_Char8;
            env->SET_HVAC_VIN[8] = ccu_candb_rx.VEH_VIN.VIN_Char9;
            env->SET_HVAC_VIN[9] = ccu_candb_rx.VEH_VIN.VIN_Char10;
            env->SET_HVAC_VIN[10] = ccu_candb_rx.VEH_VIN.VIN_Char11;
            env->SET_HVAC_VIN[11] = ccu_candb_rx.VEH_VIN.VIN_Char12;
            env->SET_HVAC_VIN[12] = ccu_candb_rx.VEH_VIN.VIN_Char13;
            env->SET_HVAC_VIN[13] = ccu_candb_rx.VEH_VIN.VIN_Char14;
            env->getVIN1 = true;
        }

        if (ccu_candb_rx.VEH_VIN.VIN_Addressing == 2) {
            env->SET_HVAC_VIN[14] = ccu_candb_rx.VEH_VIN.VIN_Char15;
            env->SET_HVAC_VIN[15] = ccu_candb_rx.VEH_VIN.VIN_Char16;
            env->SET_HVAC_VIN[16] = ccu_candb_rx.VEH_VIN.VIN_Char17;
            env->getVIN2 = true;
        }

        if ((env->getVIN0) && (env->getVIN1) && (env->getVIN2)) {
            status = osMessageQueuePut(env->ccu_candb_rx_LOCAL_HVAC_VIN, env->SET_HVAC_VIN, 0, 0U);

            countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_LOCAL_HVAC_UDS_VIN);

            if (countQueue_ccu_candb_rx) {
                status = osMessageQueuePut(env->ccu_candb_rx_LOCAL_HVAC_UDS_VIN, env->SET_HVAC_VIN, 0, 0U);
            }

            env->getVIN0 = false;
            env->getVIN1 = false;
            env->getVIN2 = false;
        }


        return;
    }

}


static void ListenCanSpamReceiver(tCanSpamReceiver *env) {

    uint16_t recv = env->ioCanFrame->receive(env->ioCanFrame->env, PROTOCOL_CAN_RAW, (uint8_t *) &env->canFrame, 1,
                                             1000);

    if (recv == 0) {
        return;
    }

    if (osMutexAcquire(env->access, 5000) == osOK) {

        uint32_t id = env->canFrame.standard_id;

        if (env->canFrame.id_type == FLEXCAN_ID_EXT) {
            id = env->canFrame.extended_id;
        }

        env->logger->loggingCan(env->logger->env, 1, 0, env->canFrame.dlc, env->canFrame.standard_id,
                                env->canFrame.data, SystemGetMs());

        uint32_t recid = ccu_candb_Receive(&ccu_candb_rx, env->canFrame.data, id, env->canFrame.dlc);

        set_CanSpamReceiver(env, recid);

        osMutexRelease(env->access);
    } else {
        LoggerErrorStatic(LOGGER, LOG_SIGN, "Access error ListenCanSpamReceiver");
    }

}

bool get_is_NoNull_CanSpam_BCM_PowerTrain_Receiver(tCanSpamReceiver *env) {
    if (osMutexAcquire(env->access, 5000) == osOK) {

        uint8_t *data = (uint8_t *) &ccu_candb_rx.BCM_Powertrain;

        for (uint8_t i = 0; i < (uint8_t) sizeof(BCM_Powertrain_t); ++i) {
            if (data[i] != 0) {
                osMutexRelease(env->access);
                return true;
            }
        }

        osMutexRelease(env->access);
    } else {
        LoggerErrorStatic(LOGGER, LOG_SIGN, "Access error get_CanSpamReceiver");
    }

    return false;
}

void get_CanSpamReceiver(tCanSpamReceiver *env, char *VIN) {

    osStatus_t status = osOK;

    uint32_t countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_TM_CP);
    if (countQueue_ccu_candb_rx == 0) {
        status = osMessageQueueGet(env->ccu_candb_rx_TM_CP, &rtDW.TM_CP_model, 0, 0U);
    }

    memset(&rtDW.FIU_CCU1_MODEL, 0, sizeof(rtDW.FIU_CCU1_MODEL));
    memset(&rtDW.FIU_CCU2_MODEL, 0, sizeof(rtDW.FIU_CCU2_MODEL));

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_FIU_CCU1);
    if (countQueue_ccu_candb_rx == 0) {
        status = osMessageQueueGet(env->ccu_candb_rx_FIU_CCU1, &rtDW.FIU_CCU1_MODEL, 0, 0U);
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_FIU_CCU2);
    if (countQueue_ccu_candb_rx == 0) {
        status = osMessageQueueGet(env->ccu_candb_rx_FIU_CCU2, &rtDW.FIU_CCU2_MODEL, 0, 0U);
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_BCM_Powertrain);
    if (countQueue_ccu_candb_rx == 0) {
        status = osMessageQueueGet(env->ccu_candb_rx_BCM_Powertrain, &rtDW.CCUCAN_BCM_Powertrain_model, 0, 0U);
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_BCM_CLIMATIC_DATA);
    if (countQueue_ccu_candb_rx == 0) {
        status = osMessageQueueGet(env->ccu_candb_rx_BCM_CLIMATIC_DATA, &rtDW.CCUCAN_BCM_Climatic_model, 0, 0U);
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_EMS_Veh);
    if (countQueue_ccu_candb_rx == 0) {
        status = osMessageQueueGet(env->ccu_candb_rx_EMS_Veh, &rtDW.CCUCAN_EMS_Veh_model, 0, 0U);
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_ESC_04);
    if (countQueue_ccu_candb_rx == 0) {
        status = osMessageQueueGet(env->ccu_candb_rx_ESC_04, &rtDW.CCUCAN_ESC_04_model, 0, 0U);
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_BCM_VEH_STATE);
    if (countQueue_ccu_candb_rx == 0) {
        status = osMessageQueueGet(env->ccu_candb_rx_BCM_VEH_STATE, &rtDW.CCUCAN_BCM_VEH_STATE_model, 0, 0U);
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_EMS_HVC_Req_Msg);
    if (countQueue_ccu_candb_rx == 0) {
        status = osMessageQueueGet(env->ccu_candb_rx_EMS_HVC_Req_Msg, &rtDW.CCUCAN_EMS_HVC_REQ_MSG_MODEL, 0, 0U);
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_HVC_Err_Status_Msg);
    if (countQueue_ccu_candb_rx == 0) {
        status = osMessageQueueGet(env->ccu_candb_rx_HVC_Err_Status_Msg, &rtDW.HVC_ERR_STATUS_MSG_MODEL, 0, 0U);
    }

    countQueue_ccu_candb_rx = osMessageQueueGetSpace(env->ccu_candb_rx_LOCAL_HVAC_VIN);
    if (countQueue_ccu_candb_rx == 0) {
        status = osMessageQueueGet(env->ccu_candb_rx_LOCAL_HVAC_VIN, VIN, 0, 0U);
    }

}

bool get_CanSpamReceiverUDS(tCanSpamReceiver *env, char *VIN, func_update_func update_func, void *update_func_env,
                            uint32_t timeout, uint32_t count) {


    uint32_t u32Time = SystemGetMs() + timeout;


    for (uint32_t i = 0; i < count; ++i) {

        osStatus_t status = osMessageQueueGet(env->ccu_candb_rx_LOCAL_HVAC_UDS_VIN, VIN, 0, timeout);

        if (update_func != NULL) {
            if (SystemGetMs() > u32Time) {
                update_func(update_func_env);
                u32Time = SystemGetMs() + timeout;
            }
        }

        if (status == osOK) {
            return true;
        }
    }


    return false;
}


static _Noreturn void CanSpamReceiver_Thread(tCanSpamReceiver *env) {
    for (;;) {
        ListenCanSpamReceiver(env);
    }
}

void CanSpamReceiver_StartThread(tCanSpamReceiver *env) {
    if (!env->thread.id) {
        env->thread.id = osThreadNew((osThreadFunc_t) (CanSpamReceiver_Thread), (void *) (env), &env->thread.attr);
    }
}