#pragma once
#include <array>
#include <string>
namespace cms {
struct CanSnapshot {
    std::array<int,4> positions{{-1,-1,-1,-1}}; // LF, RF, LR, RR
    double age_ms{-1};
    bool valid{false};
    std::string source{"hardware"},side{"left"};
};
class CanInput {
public:
    explicit CanInput(bool enabled);
    ~CanInput();
    CanInput(CanInput const&)=delete;
    CanInput& operator=(CanInput const&)=delete;
    CanSnapshot snapshot(std::string const& side,double timeoutMs) const;
private:
    bool opened_{};
};
std::string activeDoor(CanSnapshot const& state);
}