###########################################################################
#
# 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    switches.py
#
# @author  (last)      Zoltan Miskolci
# @date    (last)      08-Jan-2026
# @author  (original)  Dara Navaei
# @date    (original)  25-Jul-2021
#
############################################################################

import struct
from logging import Logger

from leahi_dialin.common.constants import NO_RESET
from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions
from leahi_dialin.common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override
from leahi_dialin.common.td_defs import TDSwitchStatus, TDSwitchesNames
from leahi_dialin.protocols.CAN import DenaliChannels
from leahi_dialin.utils.base import AbstractSubSystem, publish
from leahi_dialin.utils.conversions import integer_to_bytearray


class TDSwitches(AbstractSubSystem):
    """
    @brief Treatment Device (TD) Dialin API sub-class for TD switches related commands.
    """

    def __init__(self, can_interface, logger: Logger):
        """
        TDSwitches constructor

        """
        super().__init__()

        self.can_interface = can_interface
        self.logger = logger

        if self.can_interface is not None:
            channel_id = DenaliChannels.td_sync_broadcast_ch_id
            self.msg_id_td_switches_data = MsgIds.MSG_ID_TD_SWITCHES_DATA.value
            self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_td_switches_data,
                                                                       self._handler_switches_sync)

        self.td_switches_status = {TDSwitchesNames.H9_FRONT_DOOR.name: TDSwitchStatus.CLOSED.value}
        self.td_switches_timestamp = 0.0


    @publish(["msg_id_td_switches_data", "td_switches_status", "td_switches_timestamp"])
    def _handler_switches_sync(self, message, timestamp=0.0):
        """
        Handles published TD switches data messages. Switches data are captured for reference.

        @param message:  published switches data message
        @return: none
        """
        front_door = struct.unpack('i', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0]

        self.td_switches_status[TDSwitchesNames.H9_FRONT_DOOR.name] = TDSwitchStatus(front_door).value
        self.td_switches_timestamp = timestamp


    def cmd_switches_data_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int:
        """
        Constructs and sends the TD switch data publication override command.
        Constraints:
            Must be logged into TD.
            Given interval must be non-zero and a multiple of the TD general task interval (50 ms).

        @param ms: (int) interval (in ms) to override with
        @param reset: (int) 1 to reset a previous override, 0 to override
        @return: 1 if successful, zero otherwise
        """
        return cmd_generic_broadcast_interval_override(
            ms = ms,
            reset = reset,
            channel_id = DenaliChannels.dialin_to_td_ch_id,
            msg_id = MsgIds.MSG_ID_TD_SWITCHES_PUBLISH_INTERVAL_OVERRIDE_REQUEST,
            module_name = 'TD Switches',
            logger = self.logger,
            can_interface = self.can_interface)


    def cmd_switch_status_override(self, switch: int, status: int, reset: int = NO_RESET) -> int:
        """
        Constructs and sends the TD switch status override command
        Constraints:
            Must be logged into TD.

        @param switch:  (int) switch ID that is status is overridden
        @param status: (int) status that the switch will be overridden to
        @param reset: (int) 1 to reset a previous override, 0 to override
        @return: 1 if successful, zero otherwise
        """
        reset_value = integer_to_bytearray(reset)
        sw = integer_to_bytearray(switch)
        st = integer_to_bytearray(status)
        payload = reset_value + st + sw

        switch_name = TDSwitchesNames(switch).name
        return cmd_generic_override(
            payload = payload,
            reset = NO_RESET,
            channel_id = DenaliChannels.dialin_to_td_ch_id,
            msg_id = MsgIds.MSG_ID_TD_SWITCH_STATE_OVERRIDE_REQUEST,
            entity_name = f'TD {switch_name} Switch status',
            override_text = f'{str(status)}',
            logger = self.logger,
            can_interface = self.can_interface)