import ctypes
import time
import os

# Carrega a DLL
dll = ctypes.cdll.LoadLibrary(os.path.abspath("ControlCANFD.dll"))

DEVICE_TYPE = 41  # Confirmado: Waveshare USB-CAN-FD
DEVICE_INDEX = 0
CHANNEL_INDEX = 0

# === Estruturas ===
class VCI_INIT_CONFIG(ctypes.Structure):
    _fields_ = [
        ("AccCode", ctypes.c_uint),
        ("AccMask", ctypes.c_uint),
        ("Reserved", ctypes.c_uint),
        ("Filter", ctypes.c_ubyte),
        ("Timing0", ctypes.c_ubyte),
        ("Timing1", ctypes.c_ubyte),
        ("Mode", ctypes.c_ubyte)
    ]

class VCI_CAN_OBJ(ctypes.Structure):
    _fields_ = [
        ("ID", ctypes.c_uint),
        ("TimeStamp", ctypes.c_uint),
        ("TimeFlag", ctypes.c_ubyte),
        ("SendType", ctypes.c_ubyte),
        ("RemoteFlag", ctypes.c_ubyte),
        ("ExternFlag", ctypes.c_ubyte),
        ("DataLen", ctypes.c_ubyte),
        ("Data", ctypes.c_ubyte * 8),
        ("Reserved", ctypes.c_ubyte * 3)
    ]

# === Abrir dispositivo ===
ret = dll.VCI_OpenDevice(DEVICE_TYPE, DEVICE_INDEX, 0)
if ret != 1:
    print("❌ Falha ao abrir dispositivo.")
    exit()
print("✅ Dispositivo aberto.")

# === Configurar canal ===
config = VCI_INIT_CONFIG()
config.AccCode = 0x00000000
config.AccMask = 0xFFFFFFFF
config.Reserved = 0
config.Filter = 0
config.Timing0 = 0x00  # para 500 kbps
config.Timing1 = 0x1C
config.Mode = 0  # normal

ret = dll.VCI_InitCAN(DEVICE_TYPE, DEVICE_INDEX, CHANNEL_INDEX, ctypes.byref(config))
if ret != 1:
    print("❌ Falha ao inicializar CAN.")
    exit()
dll.VCI_StartCAN(DEVICE_TYPE, DEVICE_INDEX, CHANNEL_INDEX)
print("🚀 Canal iniciado.")

# === Montar frame ===
send_data = VCI_CAN_OBJ()
send_data.ID = 0x011
send_data.SendType = 0  # Normal send
send_data.RemoteFlag = 0
send_data.ExternFlag = 0
send_data.DataLen = 2
send_data.Data[0] = 0x00
send_data.Data[1] = 0x00

ret = dll.VCI_Transmit(DEVICE_TYPE, DEVICE_INDEX, CHANNEL_INDEX, ctypes.byref(send_data), 1)
print(f"📤 Enviado para ID 0x011: 00 00 - Resultado: {ret}")

# === Escutar resposta ===
recv_buffer = (VCI_CAN_OBJ * 100)()
print("🔎 Aguardando resposta por até 3 segundos...")
start = time.time()
while time.time() - start < 3:
    recv_count = dll.VCI_Receive(DEVICE_TYPE, DEVICE_INDEX, CHANNEL_INDEX, ctypes.byref(recv_buffer), 100, 100)
    if recv_count > 0:
        for i in range(recv_count):
            can_obj = recv_buffer[i]
            data = " ".join(f"{can_obj.Data[j]:02X}" for j in range(can_obj.DataLen))
            print(f"🔁 ID: {can_obj.ID:03X}, DLC: {can_obj.DataLen}, Data: {data}")
        break
    time.sleep(0.1)
else:
    print("⌛ Nenhuma resposta recebida.")