import canopen
import os


class ValveBackend:
    def __init__(self, eds_file: str, node_id: int = 0x0F):
        self.eds_file = eds_file
        self.node_id = node_id
        self.network = None
        self.node = None

    def connect(self):
        try:
            self.network = canopen.Network()
            self.network.connect(channel='can0', bustype='socketcan')
            self.node = canopen.RemoteNode(self.node_id, self.eds_file)
            self.network.add_node(self.node)
            return True
        except Exception as e:
            print(f"[VALVE CONNECT ERROR] {e}")
            return False

    def send_command(self, opening: int):
        try:
            if self.node is None:
                raise RuntimeError("Valve node not initialized")
            self.node.sdo[0x6000].raw = opening
            print(f"[VALVE] Opening set to {opening}")
        except Exception as e:
            print(f"[VALVE CMD ERROR] {e}")