#pragma once

#include "AP_RangeFinder_Backend_CAN.h"

#ifndef AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED
#define AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
#endif

#if AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED

class AP_RangeFinder_TOFSenseP_CAN : public AP_RangeFinder_Backend_CAN {
public:
    AP_RangeFinder_TOFSenseP_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);

    // handler for incoming frames
    bool handle_frame(AP_HAL::CANFrame &frame) override;

    static const struct AP_Param::GroupInfo var_info[];

private:
    static RangeFinder_MultiCAN *multican_TOFSenseP;

};

#endif  // AP_RANGEFINDER_USD1_CAN_ENABLED