#!/usr/bin/env python
"""
can_logger.py logs CAN traffic to the terminal and to a file on disk.

    can_logger.py can0

See candump in the can-utils package for a C implementation.
Efficient filtering has been implemented for the socketcan backend.
For example the command

    can_logger.py can0 F03000:FFF000

Will filter for can frames with a can_id containing XXF03XXX.

Dynamic Controls 2010
"""
from __future__ import print_function
import datetime
import argparse
import time
import socket

import can

if __name__ == "__main__":

    parser = argparse.ArgumentParser(description="Log CAN traffic, printing messages to stdout or to a given file")

    parser.add_argument("-f", "--file_name", dest="log_file",
                        help="""Path and base log filename, extension can be .txt, .asc, .csv, .db, .npz""",
                        default=None)

    parser.add_argument("-v", action="count", dest="verbosity",
                        help='''How much information do you want to see at the command line?
                        You can add several of these e.g., -vv is DEBUG''', default=2)

    parser.add_argument('-c', '--channel', help='''Most backend interfaces require some sort of channel.
    For example with the serial interface the channel might be a rfcomm device: "/dev/rfcomm0"
    With the socketcan interfaces valid channel examples include: "can0", "vcan0"''')

    parser.add_argument('-i', '--interface', dest="interface",
                        help='''Specify the backend CAN interface to use. If left blank,
                        fall back to reading from configuration files.''',
                        choices=can.interface.VALID_INTERFACES)

    parser.add_argument('--filter', help='''Comma separated filters can be specified for the given CAN interface:
        <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)
        <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)
    ''', nargs=argparse.REMAINDER, default='')

    results = parser.parse_args()

    verbosity = results.verbosity

    logging_level_name = ['critical', 'error', 'warning', 'info', 'debug', 'subdebug'][min(5, verbosity)]
    can.set_logging_level(logging_level_name)

    can_filters = []
    if len(results.filter) > 0:
        print('Adding filter/s', results.filter)
        for filt in results.filter:
            if ':' in filt:
                _ = filt.split(":")
                can_id, can_mask = int(_[0], base=16), int(_[1], base=16)
            elif "~" in filt:
                can_id, can_mask = filt.split("~")
                can_id = int(can_id, base=16) | 0x20000000    # CAN_INV_FILTER
                can_mask = int(can_mask, base=16) & socket.CAN_ERR_FLAG
            can_filters.append({"can_id": can_id, "can_mask": can_mask})

    bus = can.interface.Bus(results.channel, bustype=results.interface, can_filters=can_filters)
    print('Can Logger (Started on {})\n'.format(datetime.datetime.now()))
    logger = can.Logger(results.log_file)
    notifier = can.Notifier(bus, [logger], timeout=0.1)

    try:
        while True:
            time.sleep(1)
    except KeyboardInterrupt:
        bus.shutdown()
        notifier.stop()