###########################################################################
#
# 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
#
############################################################################

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.protocols.CAN import DenaliChannels
from leahi_dialin.utils.base import AbstractSubSystem, publish
from leahi_dialin.utils.conversions import integer_to_bytearray, float_to_bytearray


class DDRinsePump(AbstractSubSystem):
    """
    Rinse Pump

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

    def __init__(self, can_interface, 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:
            channel_id = DenaliChannels.dd_sync_broadcast_ch_id
            self.msg_id_dd_rinse_pump_data = MsgIds.MSG_ID_DD_RINSE_PUMP_DATA.value
            self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_dd_rinse_pump_data,
                                                                       self._handler_rinse_pump_sync)

        self.d79_state = 0
        self.d79_pump_pwm = 0.0
        self.d79_pump_rpm = 0
        self.dd_rinse_pump_timestamp = 0


    @publish(["msg_id_dd_rinse_pump_data",
              "d79_state", "d79_pump_pwm", "d79_pump_rpm",
              "dd_rinse_pump_timestamp"])
    def _handler_rinse_pump_sync(self, message, timestamp=0.0):
        """
        Handles published rinse pump data messages.

        @param message:  published rinse pump data message
        @return: None
        """
        self.d79_state = struct.unpack('I', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0]
        self.d79_pump_pwm = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0]
        self.d79_pump_rpm = struct.unpack('I', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0]

        self.dd_rinse_pump_timestamp = timestamp


    def cmd_rinse_pump_data_publish_interval_override(self, ms: int, reset: int = NO_RESET) -> int:
        """
        Constructs and sends the rinse 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 = DenaliChannels.dialin_to_dd_ch_id,
            msg_id = MsgIds.MSG_ID_DD_RINSE_PUMP_DATA_PUBLISH_INTERVAL_OVERRIDE_REQUEST,
            module_name = 'DD Rinse Pump',
            logger = self.logger,
            can_interface = self.can_interface)


    def cmd_rinse_pump_pwm_percent_override(self, pwm_pct: float, reset: int = NO_RESET) -> int:
        """
        Constructs and sends the rinse pump PWM override request
        Constraints:
            Must be logged into DD.
            Given interval must be non-zero and less than 100.

        @param pwm_pct:  float - PWM in percent
        @param reset:  integer - 1 to reset a previous override, 0 to override
        @return: 1 if successful, zero otherwise
        """
        reset_byte_array = integer_to_bytearray(reset)
        float_pct_byte_array = float_to_bytearray(pwm_pct)
        payload = reset_byte_array + float_pct_byte_array

        return cmd_generic_override(
            payload = payload,
            reset = reset,
            channel_id = DenaliChannels.dialin_to_dd_ch_id,
            msg_id = MsgIds.MSG_ID_DD_RINSE_PUMP_PWM_PERCENT_OVERRIDE_REQUEST,
            entity_name = f'DD Rinse Pump PWM',
            override_text = str(pwm_pct),
            logger = self.logger,
            can_interface = self.can_interface)
    

    def cmd_rinse_pump_on_off_request(self, on_off: int) -> int:
        """
        Constructs and sends the rinse pump On/Off request
        Constraints:
            Must be logged into DD.
            Given integer must be 0 (Off) or 1 (On)

        @param on_off:  integer - On/Off value
        @return: 1 if successful, zero otherwise
        """
        on_off_byte_array = integer_to_bytearray(on_off)
        payload = on_off_byte_array

        return cmd_generic_override(
            payload = payload,
            reset = NO_RESET,
            channel_id = DenaliChannels.dialin_to_dd_ch_id,
            msg_id = MsgIds.MSG_ID_DD_RINSE_PUMP_TURN_ON_OFF_REQUEST,
            entity_name = f'DD Rinse Pump state',
            override_text = 'On' if on_off == 1 else 'Off',
            logger = self.logger,
            can_interface = self.can_interface)