// Find the following information in the digital annex, and adapt code accordingly
// MsgName
// PGN
// resolution & offset for each field
// offset

#pragma once

#include "tcan_can_j1939/J1939PgnParser.hpp"

namespace tcan_can_j1939 {
namespace messages {
struct ExampleMsg : public J1939PgnParser {
    ExampleMsg : J1939PgnParser(PGN) {}

    bool parse(const tcan_can::CanMsg& msg) {       
        field0_ = scaledMessageFromRaw(msg.readuint16(0), resolution, offset);      // Adapt according to message definition
        // Provide other fields as necessary
        return true;
    }

    double field0_{}; // some crazy unit, as specified in the Digital Annex
};
}  // namespace messages
}  // namespace tcan_can_j1939

// ... other conversions

inline double normalFromCrazy(double crazy) {
    return crazy * x + y;
}

// ...other conversions

#pragma once

#include "tcan_can_j1939/DeviceJ1939.hpp"
#include "tcan_can/unit_conversions.hpp"        // if needed
#include "tcan_can_j1939/messages/ExampleMsg.hpp"
#include "tcan_can_j1939/messages/OtherMessage.hpp"

namespace tcan_can_j1939 {
namespace devices {

class ExampleDevice : public DeviceJ1939 {
   public:
    template <typename... Args>
    Imu(Args&&... args) : DeviceJ1939(std::forward<Args>(args)...) {
        addParser(exampleMsg_);
        addParser(otherMsg_);

    }
    ~Imu() override = default;

    double getField0() const { return normalFromCrazy(exampleMsg_.field0_); } // normal unit
    // Add other msgs as required

   private:
    messages::ExampleMsg exampleMsg_;
    messages::OtherMsg otherMsg_;

};

}  // namespace devices
}  // namespace tcan_can_j1939