#include "freertos/FreeRTOS.h"

typedef struct {
    uint8_t     type;                       // Broadcast or unicast ESPNOW data.s
    uint16_t    seq_num;                     // Sequence number of ESPNOW data.
    uint16_t    crc;                         // CRC16 value of ESPNOW data.
    uint8_t     x_axis;
    uint8_t     y_axis;
    bool        nav_bttn;
    uint8_t     motor1_rpm_pcm;
    uint8_t     motor2_rpm_pcm;
    uint8_t     motor3_rpm_pcm;
    uint8_t     motor4_rpm_pcm;
} __attribute__((packed)) data_t;

typedef struct {
    int len;                                    // Length of ESPNOW data to be sent, unit: byte.
    uint8_t     *buffer;                        // Buffer; pointer to the data struct.
    uint8_t     dest_mac[ESP_NOW_ETH_ALEN];     // MAC address of destination device.
} espnow_data_encapsulation_t;

/* WiFi should start before using ESPNOW */
static void wifi_init(void)
{
    ESP_ERROR_CHECK(esp_netif_init());
    ESP_ERROR_CHECK(esp_event_loop_create_default());
    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
    ESP_ERROR_CHECK( esp_wifi_init(&cfg) );
    ESP_ERROR_CHECK( esp_wifi_set_storage(WIFI_STORAGE_RAM) );
    ESP_ERROR_CHECK( esp_wifi_set_mode(ESPNOW_WIFI_MODE) );
    ESP_ERROR_CHECK( esp_wifi_start());
    ESP_ERROR_CHECK( esp_wifi_set_channel(CONFIG_ESPNOW_CHANNEL, WIFI_SECOND_CHAN_NONE));

#if CONFIG_ESPNOW_ENABLE_LONG_RANGE
    ESP_ERROR_CHECK( esp_wifi_set_protocol(ESPNOW_WIFI_IF, WIFI_PROTOCOL_11B|WIFI_PROTOCOL_11G|WIFI_PROTOCOL_11N|WIFI_PROTOCOL_LR) );
#endif
}