import ctypes
import os
import time

dll_path = os.path.abspath("ControlCANFD.dll")
canfd = ctypes.cdll.LoadLibrary(dll_path)

DEVICE_TYPE = 41
DEVICE_INDEX = 0
CAN_CHANNEL_INDEX = 0
BAUD_RATE = 500000
TARGET_ID = 0x11

class ZCAN_CHANNEL_INIT_CONFIG(ctypes.Structure):
    _fields_ = [
        ("acc_code", ctypes.c_uint),
        ("acc_mask", ctypes.c_uint),
        ("reserved", ctypes.c_uint),
        ("filter", ctypes.c_ubyte),
        ("mode", ctypes.c_ubyte),
        ("padding1", ctypes.c_ubyte),
        ("padding2", ctypes.c_ubyte),
        ("baud_rate", ctypes.c_uint),
    ]

class ZCAN_CAN_FRAME(ctypes.Structure):
    _fields_ = [
        ("can_id", ctypes.c_uint),
        ("data_len", ctypes.c_ubyte),
        ("flags", ctypes.c_ubyte),        # Deve ser zero para CAN clássico
        ("__res0", ctypes.c_ubyte),
        ("__res1", ctypes.c_ubyte),
        ("data", ctypes.c_ubyte * 8),
    ]

class ZCAN_Transmit_Data(ctypes.Structure):
    _fields_ = [
        ("frame", ZCAN_CAN_FRAME),
        ("transmit_type", ctypes.c_uint),
    ]

ZCAN_OpenDevice = canfd.ZCAN_OpenDevice
ZCAN_OpenDevice.argtypes = [ctypes.c_uint, ctypes.c_uint, ctypes.c_uint]
ZCAN_OpenDevice.restype = ctypes.c_void_p

ZCAN_InitCAN = canfd.ZCAN_InitCAN
ZCAN_InitCAN.argtypes = [ctypes.c_void_p, ctypes.c_uint, ctypes.POINTER(ZCAN_CHANNEL_INIT_CONFIG)]
ZCAN_InitCAN.restype = ctypes.c_void_p

ZCAN_StartCAN = canfd.ZCAN_StartCAN
ZCAN_StartCAN.argtypes = [ctypes.c_void_p]
ZCAN_StartCAN.restype = ctypes.c_uint

ZCAN_Transmit = canfd.ZCAN_Transmit
ZCAN_Transmit.argtypes = [ctypes.c_void_p, ctypes.POINTER(ZCAN_Transmit_Data), ctypes.c_uint]
ZCAN_Transmit.restype = ctypes.c_uint

dev = ZCAN_OpenDevice(DEVICE_TYPE, DEVICE_INDEX, 0)

print(f"Device Handle: {dev}, type: {type(dev)}")

if not dev:
    print("❌ Erro ao abrir dispositivo")
    exit()

config = ZCAN_CHANNEL_INIT_CONFIG(
    acc_code=0,
    acc_mask=0xFFFFFFFF,
    reserved=0,
    filter=0,
    mode=0,
    padding1=0,
    padding2=0,
    baud_rate=BAUD_RATE
)

chn = ZCAN_InitCAN(dev, CAN_CHANNEL_INDEX, ctypes.byref(config))
if not chn:
    print("❌ Erro ao iniciar canal")
    exit()

if ZCAN_StartCAN(chn) != 1:
    print("❌ Falha ao iniciar CAN")
    exit()

frame = ZCAN_CAN_FRAME()
frame.can_id = TARGET_ID & 0x7FF
frame.data_len = 2
frame.flags = 1  # ⚠️ CAN clássico!
frame.__res0 = 0
frame.__res1 = 0
frame.data = (ctypes.c_ubyte * 8)(0x00, 0x00, 0, 0, 0, 0, 0, 0)

tx = ZCAN_Transmit_Data()
tx.frame = frame
tx.transmit_type = 0

print(f"🟢 Enviando para ID 0x{TARGET_ID:X}...")

result = ZCAN_Transmit(chn, ctypes.byref(tx), 1)

if result > 0:
    print("✅ Enviado com sucesso.")
else:
    print("❌ Falha no envio.")