###########################################################################
#
# Copyright (c) 2021-2024 Diality Inc. - All Rights Reserved.
#
# THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
# WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
#
# @file    test_hd_valves.py
#
# @author  (last)      Peter Lucia
# @date    (last)      21-May-2021
# @author  (original)  Peter Lucia
# @date    (original)  30-Apr-2021
#
############################################################################
import numpy as np
import sys
from time import sleep
sys.path.append("../../")
from dialin import HDSimulator
from dialin.protocols.CAN import DenaliMessage, DenaliChannels
from dialin.common import MsgIds
from dialin.utils.conversions import integer_to_bytearray, float_to_bytearray


def run():
    hd_sim = HDSimulator(log_level="DEBUG")

    while True:
        vlv_id = np.random.randint(0, 5)
        state_id = np.random.randint(0, 1)
        pos_id = np.random.randint(0, 1)
        pos_cnt = np.random.randint(0, 1)
        next_pos = np.random.randint(0, 1)
        current = np.random.uniform(0, 250)
        pos_c = np.random.randint(0, 100)
        pos_a = np.random.randint(0, 100)
        pos_b = np.random.randint(0, 100)
        pwm = np.random.randint(0, 100)
        air_trap = np.random.randint(0, 100)

        payload = integer_to_bytearray(vlv_id)
        payload += integer_to_bytearray(state_id)
        payload += integer_to_bytearray(pos_id)
        payload += integer_to_bytearray(pos_cnt)
        payload += integer_to_bytearray(next_pos)
        payload += float_to_bytearray(current)
        payload += integer_to_bytearray(pos_c)
        payload += integer_to_bytearray(pos_a)
        payload += integer_to_bytearray(pos_b)
        payload += integer_to_bytearray(pwm)
        payload += integer_to_bytearray(air_trap)

        message = DenaliMessage.build_message(channel_id=DenaliChannels.hd_sync_broadcast_ch_id,
                                              message_id=MsgIds.MSG_ID_HD_VALVES_DATA.value,
                                              payload=payload)

        hd_sim.can_interface.send(message, 0)
        sleep(1)


if __name__ == '__main__':
    run()