text: #pragma once
  
  #include <ctime>
  #include <cstdint>
  #include <pthread.h>
  
  #include <libusb-1.0/libusb.h>
  
  #include "cereal/gen/cpp/car.capnp.h"
  #include "cereal/gen/cpp/log.capnp.h"
  
  // double the FIFO size
  #define RECV_SIZE (0x1000)
  #define TIMEOUT 0
  
  // copied from panda/board/main.c
  struct __attribute__((packed)) health_t {
    uint32_t uptime;
    uint32_t voltage;
    uint32_t current;
    uint32_t can_rx_errs;
    uint32_t can_send_errs;
    uint32_t can_fwd_errs;
    uint32_t gmlan_send_errs;
    uint32_t faults;
    uint8_t ignition_line;
    uint8_t ignition_can;
    uint8_t controls_allowed;
    uint8_t gas_interceptor_detected;
    uint8_t car_harness_status;
    uint8_t usb_power_mode;
    uint8_t safety_model;
    uint8_t fault_status;
    uint8_t power_save_enabled;
  };
  
  class Panda {
   private:
    libusb_context *ctx = NULL;
    libusb_device_handle *dev_handle = NULL;
    pthread_mutex_t usb_lock;
    void handle_usb_issue(int err, const char func[]);
    void cleanup();
  
   public:
    Panda();
    ~Panda();
  
    bool connected = true;
    cereal::HealthData::HwType hw_type = cereal::HealthData::HwType::UNKNOWN;
    bool is_pigeon = false;
    bool has_rtc = false;
  
    // HW communication
    int usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout=TIMEOUT);
    int usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout=TIMEOUT);
    int usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
    int usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
  
    // Panda functionality
    cereal::HealthData::HwType get_hw_type();
    void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0);
    void set_rtc(struct tm sys_time);
    struct tm get_rtc();
    void set_fan_speed(uint16_t fan_speed);
    uint16_t get_fan_speed();
    void set_ir_pwr(uint16_t ir_pwr);
    health_t get_health();
    void set_loopback(bool loopback);
    const char* get_firmware_version();
    const char* get_serial();
    void set_power_saving(bool power_saving);
    void set_usb_power_mode(cereal::HealthData::UsbPowerMode power_mode);
    void send_heartbeat();
    void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
    int can_receive(cereal::Event::Builder &event);
  
  };
  