import sys
import getopt
import os
import time
import can

"""
can.message(timestamp=0.0,                   //时间戳
            arbitration_id=0,                //报文id
            is_extended_id=True,             //是否为扩展帧
            is_remote_frame=False,           //是否为远程帧
            is_error_frame=False,            //是否为错误帧
            channel=None,                    //通道
            dlc=None,                        //dlc大小
            data=None,                       //数据
            is_fd=False,                     //是否为canfd
            is_rx=True,                      //是否为接收帧
            bitrate_switch=False,            //比特率开关
            error_state_indicator=False,       
            check=False)   
"""
"""
recv(timeout=None) 
            Block waiting for a message from the Bus.
            None to wait indefinitely.
"""

def udsidscan (canbus):
    idstart = 0x700
    idend = 0x7FF
    datareq = [0x02, 0x10, 0x01, 0x55, 0x55, 0x55, 0x55, 0x55]
    dataresp = [0x06, 0x50, 0x01]

    print("\r\nMessage sent on {}".format(canbus.channel_info))
    for id in range(idstart, idend):
        msgreq = can.Message(timestamp=time.time(), arbitration_id=id, data=datareq, is_extended_id=False)
        canbus.send(msgreq)
        t_end = time.time() + 1  # 超过100ms未收到uds响应报文则认为该id不支持诊断
        while time.time() < t_end:
            msgresp = canbus.recv(0.03)   # 阻塞接收报文的时间，超过100ms未收到任何报文则函数执行结束，100ms内收到任一报文则函数执行结束
            if msgresp is not None and list(msgresp.data)[0:3] == dataresp:
                print("----------------------------------------------------------------------")
                print(msgreq)
                print(msgresp)
    print("----------------------------------------------------------------------")

helpinfo = "udscan caninterface [options]\n" \
            "-h,--help      \n" \
            "-f             0:can 1:canfd\n" \
            "--bitrate      default 500000\n" \
            "--dbitrate     default 2000000\n" \
            "--bustype      can bus type\n" \
            "--channel      can channel"

def main (argv):

    print()
    if len(sys.argv) < 2:
        print("arguments number [%d] is invalid." %(len(sys.argv)))
        exit(0)
    if len(sys.argv) == 2:
        opts, args = getopt.getopt(sys.argv[1:], "h", ["help"])
        for opt, arg in opts:
            if opt in ("-h", "--help"):
                print(helpinfo)
                exit(0)
    canintf = sys.argv[1]
    # default configurations
    canfd = 0
    bitrate = 500000
    dbitrate = 2000000
    channel = "can0"
    bustype = "socketcan"
    # arguments parser
    opts, args = getopt.getopt(sys.argv[2:], "f", ["bitrate=", "dbitrate=", "channel=", "bustype="])
    for opt, arg in opts:
        if opt in ("-f"):
            canfd = 1
        elif opt in ("--bitrate"):
            bitrate = arg
        elif opt in ("--dbitrate"):
            dbitrate = arg
        elif opt in ("--channel"):
            channel = arg
        elif opt in ("--bustype"):
            bustype = arg

    print("caninterface [%s] canfd[%d] bitrate[%d] dbitrate[%d] bustype[%s] channel[%s]"
          %(canintf, canfd, bitrate, dbitrate, bustype, channel))
    # can interface up
    if canfd:
        os.system("sudo ip link set %s up type can bitrate %d dbitrate %d fd on" %(canintf, bitrate, dbitrate))
        #cmd = "sudo ip link set " + canintf + " up type can bitrate " + bitrate + " dbitrate " + dbitrate + " fd on";
    else:
        os.system("sudo ip link set %s up type can bitrate %d fd on" %(canintf, bitrate))
        #cmd = "sudo ip link set " + canintf + " up type can bitrate " + bitrate + " on";

    # bus = can.interface.Bus(bustype='bmcan', channel=0, bitrate=500000, data_bitrate=2000000, tres=True)
    # bus = can.interface.Bus(bustype='socketcan', channel='vcan0', bitrate=250000)
    # bus = can.interface.Bus(bustype='pcan', channel='PCAN_USBBUS1', bitrate=250000)
    # bus = can.interface.Bus(bustype='ixxat', channel=0, bitrate=250000)
    # bus = can.interface.Bus(bustype='vector', app_name='CANalyzer', channel=0, bitrate=250000)

    canbus = can.interface.Bus(bustype=bustype, channel=channel)

    udsidscan(canbus)

    canbus.shutdown()

if __name__ == "__main__":
    main(sys.argv)