"""
Tan mingyan
2026/3/9

CAN 驱动示例（bus_can.py）—— 补充参考
"""
# midware/drivers/bus_can.py
from .base_driver import BaseBusDriver
from typing import Optional, Dict, Any
from loguru import logger
import time

from midware.config.base_config import get_device_config
from .base_driver import BaseBusDriver
from .renode_agent import renode
from midware.config.base_config import DEVICE_CONFIG_DICT

class BusCANDriver(BaseBusDriver):
    """CAN总线驱动实现（适配CANoe/CANalyzer/USB-CAN）"""
    def _init_config(self):
        self.config.setdefault("channel", 0)  # CAN通道
        self.config.setdefault("baudrate", 500000)  # 500kbps
        self.config.setdefault("frame_format", "standard")  # 标准帧/扩展帧
        logger.info(f"CAN驱动配置初始化完成：{self.config}")
    
    def connect(self) -> bool:
        try:
            # 实际逻辑：打开CAN通道
            time.sleep(0.05)
            self.is_connected = True
            logger.info("CAN总线连接成功")
            return True
        except Exception as e:
            logger.error(f"CAN总线连接失败：{str(e)}")
            return False
    
    def disconnect(self) -> bool:
        try:
            self.is_connected = False
            logger.info("CAN总线断开成功")
            return True
        except Exception as e:
            logger.error(f"CAN总线断开失败：{str(e)}")
            return False
    
    def send(self, data: bytes, **kwargs) -> bool:
        if not self.is_connected:
            logger.error("CAN驱动未连接，发送失败")
            return False
        # ========== 核心步骤1：从kwargs提取设备名称 ==========
        
        dev_name = kwargs.get("dev_name")#2026/4/10
        if not dev_name:
            logger.error("CAN发送失败：kwargs中未传入dev_name（设备名称）")
            return False
        
        device_config = get_device_config().get(dev_name)
        if not device_config:
            logger.error(f"CAN发送失败：设备 {dev_name} 未在DEVICE_CONFIG_DICT中配置")
            return False
        
        try:
            frame_id = kwargs.get("frame_id", 0x123)  # CAN帧ID
            is_extended = kwargs.get("is_extended", False)  # 是否扩展帧
            logger.info(
                f"CAN发送数据｜帧ID：0x{frame_id:X}｜扩展帧：{is_extended}｜"
                f"数据：{data.hex()}｜长度：{len(data)}字节"
            )
            # logger.info(
            #     #f"UART发送数据｜帧ID：0x{frame_id:X}｜扩展帧：{is_extended}｜"
            #     f"CAN发送数据：{data.hex()}｜长度：{len(data)}字节"
            # )
            ## 外设名称+函数名+字符串参数 uart24 WriteRXFIFODataString "0xEB9000C571000827C00000BC1003190000106C02AC020101FF5716"'

            ## 收到的CAN帧可能是多帧连在一起，需要拆分单帧保证虚拟平台能读取。
            frame_len = 11
            frame_list = []
            total =len(data)
            #步长11字节截取完整帧,不满足的丢弃(尾帧长度可以不满11，不丢弃)
            end = 0
            for start in range(0,total, frame_len):
                '''
                if end>total:
                    break
                end = start + frame_len
                frame_list.append(data[start:end])
                sysbus_cmd = f'{dev_name} SendRxBufferDataString "0x{data[start:end].hex()}"'
                #print(sysbus_cmd)
                logger.info(f"CAN发送指令：{sysbus_cmd}")
                response = renode.send_sync(sysbus_cmd)#2026/4/10
                time.sleep(0.0001)
                '''
                #计算当前帧结束的位置
                end = min(start + frame_len, total)
                frame = data[start:end]
                #尾帧长度不足11时，补0到11字节
                if len(frame)<frame_len:
                    #补0
                    frame = frame.ljust(frame_len, b'\x00')
                frame_list.append(frame)
                sysbus_cmd = f'{dev_name} SendRxBufferDataString "0x{frame.hex()}"'
                logger.info(f"CAN发送指令：{sysbus_cmd}")
                response = renode.send_sync(sysbus_cmd,timeout_ms=2)#2026/4/10
                # response = renode.enqueue_cmd(sysbus_cmd)#2026/6/4
                time.sleep(0.0001)


            #sysbus_cmd = f'{dev_name} SendRxBufferDataString "0x{data.hex()}"'
            #print(sysbus_cmd)
            #logger.info(f"CAN发送指令：{sysbus_cmd}")
            #response = renode.send_sync(sysbus_cmd)#2026/4/10

            # 实际逻辑：调用CAN驱动发送接口
            return True
        except Exception as e:
            logger.error(f"CAN数据发送失败：{str(e)}")
            return False
    
    def recv(self, timeout: float = 0.1, **kwargs) -> Optional[bytes]:
        if not self.is_connected:
            logger.error("CAN驱动未连接，接收失败")
            return None
        
        try:
            # 模拟接收
            time.sleep(0.001)
            # mock_data = b"\x11\x22\x33\x44"
            # logger.debug(f"CAN接收数据：{mock_data.hex()}")
            # return mock_data
            return None
        except Exception as e:
            logger.error(f"CAN数据接收失败：{str(e)}")
            return None