###########################################################################
#
#  Copyright (c) 2019-2020 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
#
#  @date 14-Apr-2020
#  @author S. Nash
#
#  @brief
#
#
############################################################################
import struct
from ..utils.conversions import integer_to_bytearray, float_to_bytearray
from .constants import NO_RESET
from ..protocols.CAN import (DenaliMessage,
                             DenaliChannels)
from ..utils.base import _AbstractSubSystem, _publish
from logging import Logger


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

    # Pressure message IDs
    MSG_ID_DG_PRESSURES_DATA = 0x0020
    MSG_ID_DG_PRESSURE_OVERRIDE = 0xA006
    MSG_ID_DG_PRESSURE_DATA_BROADCAST_INTERVAL_OVERRIDE = 0xA007

    # Pressure broadcast message field positions
    START_POS_RO_INLET_PRES = DenaliMessage.PAYLOAD_START_INDEX
    END_POS_RO_INLET_PRES = START_POS_RO_INLET_PRES + 4
    START_POS_RO_OUTLET_PRES = END_POS_RO_INLET_PRES
    END_POS_RO_OUTLET_PRES = START_POS_RO_OUTLET_PRES + 4
    START_POS_DRAIN_INLET_PRES = END_POS_RO_OUTLET_PRES
    END_POS_DRAIN_INLET_PRES = START_POS_DRAIN_INLET_PRES + 4
    START_POS_DRAIN_OUTLET_PRES = END_POS_DRAIN_INLET_PRES
    END_POS_DRAIN_OUTLET_PRES = START_POS_DRAIN_OUTLET_PRES + 4

    # 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 = self.MSG_ID_DG_PRESSURES_DATA
            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'][self.START_POS_RO_INLET_PRES:self.END_POS_RO_INLET_PRES]))
        roo = struct.unpack('f', bytearray(
            message['message'][self.START_POS_RO_OUTLET_PRES:self.END_POS_RO_OUTLET_PRES]))
        dri = struct.unpack('f', bytearray(
            message['message'][self.START_POS_DRAIN_INLET_PRES:self.END_POS_DRAIN_INLET_PRES]))
        dro = struct.unpack('f', bytearray(
            message['message'][self.START_POS_DRAIN_OUTLET_PRES:self.END_POS_DRAIN_OUTLET_PRES]))

        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, pressure, sensor, reset=NO_RESET):
        """
        Constructs and sends the pressure override command

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

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

        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=self.MSG_ID_DG_PRESSURE_OVERRIDE,
                                              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, reset=NO_RESET):
        """
        Constructs and sends the pressure override command

        @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

        """

        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=self.MSG_ID_DG_PRESSURE_DATA_BROADCAST_INTERVAL_OVERRIDE,
                                              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