"""
   Copyright 2023 Suchinton Chakravarty

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

       http://www.apache.org/licenses/LICENSE-2.0

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.
"""

import can

def send_can_signal(frame):
    """
    Sends a CAN signal to the CAN bus using the given frame.
    Args:
        frame (str): The frame to be sent to the CAN bus.
    Returns:
        None
    """
    msg = separate_can_frame(frame)
    bus = can.interface.Bus(channel='can0', bustype='socketcan')
    #msg = can.Message(arbitration_id=can_id, data=data, is_extended_id=False)
    try:
        bus.send(msg)
        print("CAN signal sent successfully:")
        print("CAN ID:", hex(msg.arbitration_id))
        print("Data:", msg.data)
        if frame!="021#FFFFFFFF00000000":
            # Turn off signal
            send_can_signal("021#FFFFFFFF00000000")

    except can.CanError:
        print("Failed to send CAN signal")
    finally:
        bus.shutdown()

def separate_can_frame(frame):
    """
    Separates a CAN frame into its arbitration ID and data parts.
    
    Args:
    frame (str): A string representing the CAN frame in the format "ARBID#DATA".
    
    Returns:
    can.Message: A can.Message object with the arbitration ID and data extracted from the input frame.
    """
    arb_id, data = frame.split("#")
    arb_id = int(arb_id, 16)
    data = bytes.fromhex(data)
    message = can.Message(arbitration_id=arb_id, data=data)
    return message


def main():
    frame = "021#FFFFFFFF10000000"
    send_can_signal(frame)

if __name__ == "__main__":
    main()