###########################################################################
#
# Copyright (c) 2021-2025 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    rinse_pump.py
#
# @author  (last)      Zoltan Miskolci
# @date    (last)      07-Jan-2026
# @author  (original)  Jonny Paguio
# @date    (original)  13-Oct-2025
#
############################################################################

# Module imports
import struct
from logging import Logger

# Project imports
from leahi_dialin.common.constants import NO_RESET
from leahi_dialin.common import dd_enum_repository
from leahi_dialin.common.generic_defs import DataTypes
from leahi_dialin.common.msg_defs import MsgIds
from leahi_dialin.common.override_templates import cmd_generic_broadcast_interval_override, cmd_generic_override
from leahi_dialin.protocols.CAN import CanMessenger, CanChannels
from leahi_dialin.utils.abstract_classes import AbstractSubSystem
from leahi_dialin.utils.base import publish
from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray


class DDSubstitutionPump(AbstractSubSystem):
    """
    Substitution Pump

    Dialysate Delivery (DD) Dialin API sub-class for substitution Pump related commands.
    """

    def __init__(self, can_interface: CanMessenger, logger: Logger):
        """
        @param can_interface: Denali Can Messenger object
        """
        super().__init__()

        self.can_interface = can_interface
        self.logger = logger

        if self.can_interface is not None:
            self.can_interface.register_receiving_publication_function(channel_id = CanChannels.dd_sync_broadcast_ch_id,
                                                                       message_id = MsgIds.MSG_ID_DD_SUBSTITUTION_PUMP_DATA.value,
                                                                       function = self._handler_substitution_pump_sync)

        #: The substitution pump data in dictionary format
        self.dd_substitution_pumps = {
            dd_enum_repository.DDSubstitutionPumpAttributes.TARGET_SPEED.name: 0.0,
            dd_enum_repository.DDSubstitutionPumpAttributes.CURRENT_SPEED.name: 0.0,
            dd_enum_repository.DDSubstitutionPumpAttributes.STATE.name: 0,
            dd_enum_repository.DDSubstitutionPumpAttributes.MEASURED_SPEED.name: 0.0,
        }
        self.dd_substitution_pump_timestamp = 0  #: The timestamp of the latest message

    @publish(["msg_id_dd_rinse_pump_data",
              "dd_substitution_pumps",
              "dd_substitution_pump_timestamp"])
    def _handler_substitution_pump_sync(self, message, timestamp=0.0):
        """
        Handles published substitution pump data messages.

        @param message:  published substitution pump data message
        @return: None
        """
        substitution_pump_list = []
        substitution_pump_list.append((dd_enum_repository.DDSubstitutionPumpAttributes.TARGET_SPEED.name,   DataTypes.F32))
        substitution_pump_list.append((dd_enum_repository.DDSubstitutionPumpAttributes.CURRENT_SPEED.name,  DataTypes.F32))
        substitution_pump_list.append((dd_enum_repository.DDSubstitutionPumpAttributes.STATE.name,          DataTypes.U32))
        substitution_pump_list.append((dd_enum_repository.DDSubstitutionPumpAttributes.MEASURED_SPEED.name, DataTypes.F32))

        self.process_into_dict(dict_to_update = self.dd_substitution_pumps,
                               decoder_list = substitution_pump_list,
                               message = message)

        self.dd_substitution_pump_timestamp = timestamp

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

        @param ms:  integer - interval (in ms) to override with
        @param reset:  integer - 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=CanChannels.dialin_to_dd_ch_id,
            msg_id=MsgIds.MSG_ID_DD_SUBSTITUTION_PUMP_BROADCAST_OVERRIDE_REQUEST,
            module_name='DD Substitution Pump',
            logger=self.logger,
            can_interface=self.can_interface)

    def cmd_substitution_pump_set_start_stop(self, pump_id: int, command: int, speed: float) -> int:
        """
        Constructs and sends the substitution pump start stop command

        @param pump_id: unsigned int - substitution pump ID
        @param command:  int - value to command the substitution pump
        @param speed:  float - ml/min to set the speed to
        @return: 1 if successful, zero otherwise
        """
        pmp = integer_to_bytearray(pump_id)
        cmd = integer_to_bytearray(command)
        spd = float_to_bytearray(speed)
        payload = pmp + cmd + spd

        return cmd_generic_override(
            payload=payload,
            reset=NO_RESET,
            channel_id=CanChannels.dialin_to_dd_ch_id,
            msg_id=MsgIds.MSG_ID_DD_SUBSTITUTION_PUMP_START_STOP_OVERRIDE_REQUEST,
            entity_name=f'DD Substitution Pump start stop request',
            override_text=str(spd),
            logger=self.logger,
            can_interface=self.can_interface)