#!/bin/python3

from utils import singleton
from utils import conversions
from protocols import CAN
from common import msg_ids


@singleton
class TD_Messaging:


    def __init__(self):

        self.can_enabled: bool=False
        self.can_Channel: str = "can0"

        self.can_interface = CAN.DenaliCanMessenger(can_interface=self.can_Channel)
        self.can_interface.start()

        if self.can_interface is not None:
            self.can_enabled = True


    def cmd_send_hd_operation_mode(self, op_mode: int, sub_mode: int = 0):
        """
        Broadcasts the current HD operation mode
        @param op_mode: hd operation mode
        @param sub_mode: hd operation sub-mode
        @return: None
        """

        if not self.can_enabled:
            raise ValueError("CAN Interface is not enabled")


        payload =  conversions.integer_to_bytearray(op_mode )
        payload += conversions.integer_to_bytearray(sub_mode)

        message = CAN.DenaliMessage.build_message(
                                            channel_id=CAN.DenaliChannels.td_sync_broadcast_ch_id,
                                            message_id=msg_ids.MsgIds.MSG_ID_TD_OP_MODE_DATA.value,
                                            payload=payload)

        self.can_interface.send(message, 0)