###########################################################################
#
# Copyright (c) 2020-2024 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    water_pumps.py
#
# @author  (last)      Micahel Garthwaite
# @date    (last)      17-Aug-2023
# @author  (original)  Peter Lucia
# @date    (original)  02-Apr-2020
#
############################################################################
import struct
from enum import unique
from logging import Logger
from enum import unique

from leahi_dialin.utils.base import DialinEnum
from .constants import RESET, NO_RESET
from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions
from leahi_dialin.protocols.CAN import DenaliMessage, DenaliChannels
from leahi_dialin.utils.base import AbstractSubSystem, publish, DialinEnum
from leahi_dialin.utils.checks import check_broadcast_interval_override_ms
from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray


class FPPumps(AbstractSubSystem):
    """
        Dialin API sub-class for FP water pump driver related commands.
    """

    def __init__(self, can_interface, logger: Logger):
        """
        FPPumps constructor
        """
        super().__init__()
        self.can_interface = can_interface
        self.logger = logger

        # no current registered call back methods

    def cmd_pump_set_speed_rate_override(self, pump: int, rpm: int, reset: int = NO_RESET) -> int:
        """
        Constructs and sends the boost pump set speed rate command
        Constraints:
            Must be logged into FP.

        @param rpm:  integer - speed set point (in rpm)
        @return: 1 if successful, zero otherwise
        """
        rst = integer_to_bytearray(reset)
        rpm = integer_to_bytearray(rpm)
        pmp = integer_to_bytearray(pump)
        payload = rst + rpm + pmp

        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id,
                                              message_id=MsgIds.MSG_ID_FP_FLUID_PUMP_SPEED_OVERRIDE_REQUEST.value,
                                              payload=payload)

        self.logger.debug("override pump set speed rate point")

        # Send message
        received_message = self.can_interface.send(message)

        # If there is content...
        if received_message is not None:
            if reset == RESET:
                str_res = "reset back to normal"
            else:
                str_res = str(rpm)

            self.logger.debug("rpm overridden to " + str_res)
            # response payload is OK or not OK
            return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]
        else:
            self.logger.debug("Timeout!!!!")
            return False

    def cmd_pump_set_pwm_request(self, pump: int, pwm: int) -> int:
        """
        Constructs and sends set pwm request for FP pumps \n
        command.
        Constraints:
            Must be logged into FP.

        @param pump: integer - the pump id to set pwm
        @param pwm:  integer - counts to override the pwm ( 0 - 500 )
        @return: 1 if successful, zero otherwise
        """

        spd = integer_to_bytearray(pwm)
        pmp = integer_to_bytearray(pump)
        payload = pmp + spd

        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id,
                                              message_id=MsgIds.MSG_ID_FP_FLUID_PUMP_SET_PWM_REQUEST.value,
                                              payload=payload)

        self.logger.debug("setting pump {} to pwm count {}".format(pump,pwm))

        # Send message
        received_message = self.can_interface.send(message)

        # If there is content...
        if received_message is not None:

            self.logger.debug("pwm set to " + str(pwm))
            # response payload is OK or not OK
            return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]
        else:
            self.logger.debug("Timeout!!!!")
            return False

    def cmd_pump_read_pwm_override(self, pump: int, pwm: float, reset: int = NO_RESET) -> int:
        """
        Constructs and sends the read pwm override for the FP pumps \n
        command.
        Constraints:
            Must be logged into FP.

        @param pwm:  float - pwm in percentage to override with
        @param reset:  integer - 1 to reset a previous override, 0 to override
        @return: 1 if successful, zero otherwise
        """

        rst = integer_to_bytearray(reset)
        rpwm = float_to_bytearray(pwm)
        pmp = integer_to_bytearray(pump)
        payload = rst + rpwm + pmp

        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id,
                                              message_id=MsgIds.MSG_ID_FP_FLUID_PUMP_READ_PWM_OVERRIDE_REQUEST.value,
                                              payload=payload)

        self.logger.debug("override read pwm for pump".format(pump))

        # Send message
        received_message = self.can_interface.send(message)

        # If there is content...
        if received_message is not None:
            if reset == RESET:
                str_res = "reset back to normal"
            else:
                str_res = str(rpwm)

            self.logger.debug("pwm overridden to " + str_res)
            # response payload is OK or not OK
            return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]
        else:
            self.logger.debug("Timeout!!!!")
            return False