###########################################################################
#
# Copyright (c) 2019-2021 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    pressures.py
#
# @author  (last)      Quang Nguyen
# @date    (last)      07-Jul-2021
# @author  (original)  Sean
# @date    (original)  14-Apr-2020
#
############################################################################
import struct
from logging import Logger

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


class DGPressures(AbstractSubSystem):
    """
    DG interface containing pressure related commands.
    """

    # Pressure Sensor IDs
    PRESSURE_SENSOR_RO_PUMP_INLET = 0
    PRESSURE_SENSOR_RO_PUMP_OUTLET = 1
    PRESSURE_SENSOR_DRAIN_PUMP_INLET = 2
    PRESSURE_SENSOR_DRAIN_PUMP_OUTLET = 3

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

        @param can_interface: The DenaliCANMessenger object
        """

        super().__init__()
        self.can_interface = can_interface
        self.logger = logger

        if self.can_interface is not None:
            channel_id = DenaliChannels.dg_sync_broadcast_ch_id
            msg_id = MsgIds.MSG_ID_DG_PRESSURES_DATA.value
            self.can_interface.register_receiving_publication_function(channel_id, msg_id,
                                                                       self._handler_pressures_sync)

        self.ro_pump_inlet_pressure = 0.0
        self.ro_pump_outlet_pressure = 0.0
        self.drain_pump_inlet_pressure = 0.0
        self.drain_pump_outlet_pressure = 0.0

    def get_pressures(self):
        """
        Gets the pressure values

        @return: [ro pump inlet, ro pump outlet, drain pump inlet, drain pump outlet]
        """
        return [self.ro_pump_inlet_pressure,
                self.ro_pump_outlet_pressure,
                self.drain_pump_inlet_pressure,
                self.drain_pump_outlet_pressure]

    @publish([
        "ro_pump_inlet_pressure",
        "ro_pump_outlet_pressure",
        "drain_pump_inlet_pressure",
        "drain_pump_outlet_pressure"
    ])
    def _handler_pressures_sync(self, message):
        """
        Handles published pressure data messages.  Pressure data are captured
        for reference.

        @param message:  published pressure data message
        @return: none
        """

        roi = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))
        roo = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))
        dri = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))
        dro = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))

        self.ro_pump_inlet_pressure = roi[0]
        self.ro_pump_outlet_pressure = roo[0]
        self.drain_pump_inlet_pressure = dri[0]
        self.drain_pump_outlet_pressure = dro[0]

    def cmd_pressure_override(self, sensor: int, pressure: int, reset: int = NO_RESET) -> int:
        """
        Constructs and sends the pressure override command.
        Constraints:
            Must be logged into DG.
            Given sensor must be one of the sensors listed below.

        pressure sensor IDs: \n
            0 = RO Pump Inlet \n
            1 = RO Pump Outlet \n
            2 = Drain Pump Inlet \n
            3 = Drain Pump Outlet \n

        @param sensor:  unsigned int - sensor ID
        @param pressure:  unsigned int - pressure (in PSI)
        @param reset:  integer - 1 to reset a previous override, 0 to override
        @return: 1 if successful, zero otherwise
        """

        rst = integer_to_bytearray(reset)
        prs = float_to_bytearray(pressure)
        idx = integer_to_bytearray(sensor)
        payload = rst + prs + idx

        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dg_ch_id,
                                              message_id=MsgIds.MSG_ID_PRESSURE_OVERRIDE.value,
                                              payload=payload)

        self.logger.debug("override pressure sensor")

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

        # If there is content...
        if received_message is not None:
            # response payload is OK or not OK
            return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]
        else:
            self.logger.debug("Timeout!!!!")
            return False

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

        @param ms:  unsigned int - broadcast interval (in ms)
        @param reset:  integer - 1 to reset a previous override, 0 to override
        @return: 1 if successful, zero otherwise

        """

        if not check_broadcast_interval_override_ms(ms):
            return False

        rst = integer_to_bytearray(reset)
        ivl = integer_to_bytearray(ms)
        payload = rst + ivl

        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_dg_ch_id,
                                              message_id=MsgIds.MSG_ID_PRESSURE_SEND_INTERVAL_OVERRIDE.value,
                                              payload=payload)

        self.logger.debug("override pressure data broadcast interval")

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

        # If there is content...
        if received_message is not None:
            # response payload is OK or not OK
            return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]
        else:
            self.logger.debug("Timeout!!!!")
            return False