###########################################################################
#
# 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    pressure_sensors.py
#
# @author  (last)      Zoltan Miskolci
# @date    (last)      09-Jan-2026
# @author  (original)  Peter Lucia
# @date    (original)  02-Apr-2020
#
############################################################################

import struct
from logging import Logger

from leahi_dialin.common.constants import NO_RESET
from leahi_dialin.common.fp_defs import FPPressureSensorNames
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 FPPressureSensors(AbstractSubSystem):
    """
        Dialin API sub-class for FP pressure sensor related commands.
    """

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

        if self.can_interface is not None:
            channel_id = DenaliChannels.fp_sync_broadcast_ch_id
            self.msg_id_fp_pressures_data = MsgIds.MSG_ID_FP_PRESSURES_DATA.value
            self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_fp_pressures_data,
                                                                       self._handler_pressure_sync)

        self.fp_pressures = {
            FPPressureSensorNames.M3_PRES.name: 0.0,
            FPPressureSensorNames.P8_PRES.name: 0.0,
            FPPressureSensorNames.P13_PRES.name: 0.0,
            FPPressureSensorNames.P17_PRES.name: 0.0,
            FPPressureSensorNames.P46_PRES.name: 0.0
        }

        self.fp_pressure_timestamp = 0.0


    @publish(["msg_id_fp_pressures_data", "fp_pressures", "fp_pressure_timestamp"])
    def _handler_pressure_sync(self, message, timestamp=0.0):
        """
        Handles published FP pressure sensor data messages.  Pressure data are captured
        for reference.

        @param message:  published FP pressure sensor data message
        @return: none
        """
        self.fp_pressures[FPPressureSensorNames.M3_PRES.name] = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0]
        self.fp_pressures[FPPressureSensorNames.P8_PRES.name] = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0]
        self.fp_pressures[FPPressureSensorNames.P13_PRES.name] = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0]
        self.fp_pressures[FPPressureSensorNames.P17_PRES.name] = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0]
        self.fp_pressures[FPPressureSensorNames.P46_PRES.name] = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0]

        self.fp_pressure_timestamp = timestamp


    def cmd_pressure_sensors_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int:
        """
        Constructs and sends the FP pressure data broadcast interval override command.
        Constraints:
            Must be logged into FP.
            Given interval must be non-zero and a multiple of the FP 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_fp_ch_id,
            msg_id = MsgIds.MSG_ID_FP_PRESSURE_PUBLISH_INTERVAL_OVERRIDE_REQUEST,
            module_name = 'FP Pressure Sensors',
            logger = self.logger,
            can_interface = self.can_interface)


    def cmd_pressure_sensor_override(self, sensor: int, pressure: float,  reset: int = NO_RESET) -> int:
        """
        Constructs and  sends a measured FP pressure override command message.
        Constraints:
            Must be logged into FP.

        @param sensor: int - switch between filtered override and raw override
        @param pressure:  float - measured pressure (in PSI) 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)
        sen = integer_to_bytearray(sensor)
        prs = float_to_bytearray(pressure)
        payload = rst + prs + sen

        sensor_name = FPPressureSensorNames(sensor).name.split('_')[0]
        return cmd_generic_override(
            payload = payload,
            reset = reset,
            channel_id = DenaliChannels.dialin_to_fp_ch_id,
            msg_id = MsgIds.MSG_ID_FP_PRESSURE_OVERRIDE_REQUEST,
            entity_name = f'TD {sensor_name} Pressure Sensor pressure',
            override_text = f'{str(pressure)} psi',
            logger = self.logger,
            can_interface = self.can_interface)