###########################################################################
#
# 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)      Vinayakam Mani
# @date    (last)      02-May-2024
# @author  (original)  Peter Lucia
# @date    (original)  02-Apr-2020
#
############################################################################
import struct
from enum import unique
from logging import Logger

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


@unique
class ROPressureSensorNames(DialinEnum):
    PRESSURE_SENSOR_WATER_INLET_PRE_REG = 0
    PRESSURE_SENSOR_WATER_INLET_POST_REG = 1
    PRESSURE_SENSOR_WATER_INLET_PRE_COND = 2
    PRESSURE_SENSOR_PRE_RO_FILTER = 3
    PRESSURE_SENSOR_POST_RO_FILTER = 4
    PRESSURE_SENSOR_PRE_RO_PUMP = 5


class ROPressureSensors(AbstractSubSystem):
    """
    Reverse Osmosis (RO) Dialin API sub-class for pressure related commands.
    """

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

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

        if self.can_interface is not None:
            channel_id = DenaliChannels.ro_sync_broadcast_ch_id
            msg_id = MsgIds.MSG_ID_RO_PRESSURES_DATA.value
            self.can_interface.register_receiving_publication_function(channel_id, msg_id,
                                                                       self._handler_pressure_sync)

        self.ro_pressure_timestamp = 0.0
        self.pressure_sensor_water_inlet_pre_reg = 0.0
        self.pressure_sensor_water_inlet_post_reg = 0.0
        self.pressure_sensor_water_inlet_pre_cond = 0.0
        self.pressure_sensor_pre_ro_filter = 0.0
        self.pressure_sensor_post_ro_filter = 0.0
        self.pressure_sensor_pre_ro_pump = 0.0


    @publish([
        "ro_pressure_timestamp",
        "pressure_sensor_water_inlet_pre_reg",
        "pressure_sensor_water_inlet_post_reg",
        "pressure_sensor_water_inlet_pre_cond",
        "pressure_sensor_pre_ro_filter",
        "pressure_sensor_post_ro_filter",
        "pressure_sensor_pre_ro_pump",
    ])
    def _handler_pressure_sync(self, message, timestamp=0.0):
        """
        Handles published pressure & occlusion data messages.  Pressure data are captured
        for reference.

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

        pre_reg_wi = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))
        post_reg_wi = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))
        pre_cond_wi = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))
        pre_ro = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))
        post_ro = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))
        pre_rop = struct.unpack('f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))

        self.pressure_sensor_water_inlet_pre_reg = pre_reg_wi[0]
        self.pressure_sensor_water_inlet_post_reg = post_reg_wi[0]
        self.pressure_sensor_water_inlet_pre_cond = pre_cond_wi[0]
        self.pressure_sensor_pre_ro_filter = pre_ro[0]
        self.pressure_sensor_post_ro_filter = post_ro[0]
        self.pressure_sensor_pre_ro_pump = pre_rop[0]
        self.ro_pressure_timestamp = timestamp

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

        @param pressure:  float - measured arterial pressure (in mmHg) to override with
        @param sensor: bool - switch between filtered override and raw override
        @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

        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_ro_ch_id,
                                              message_id=MsgIds.MSG_ID_RO_PRESSURE_OVERRIDE_REQUEST.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:
            if reset == RESET:
                str_res = "reset back to normal.  "
            else:
                str_res = str(pressure) + " mmHg.  "
            self.logger.debug("pressure (measured)) overridden to " + str_res +
                              str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]))
            # 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_sensors_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int:
        """
        Constructs and sends the measured pressure sensors broadcast interval override command
        Constraints:
            Must be logged into RO.
            Given interval must be non-zero and a multiple of the RO 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
        """

        if not check_broadcast_interval_override_ms(ms):
            return False

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

        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_ro_ch_id,
                                              message_id=MsgIds.MSG_ID_RO_PRESSURE_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value,
                                              payload=payload)

        self.logger.debug("override blood flow broadcast interval")

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

        # If there is content...
        if received_message is not None:
            # self.logger.debug(received_message)
            if reset == RESET:
                str_res = "reset back to normal: "
            else:
                str_res = str(ms) + " ms: "
            self.logger.debug("Blood flow broadcast interval overridden to " + str_res +
                              str(received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]))
            # response payload is OK or not OK
            return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]
        else:
            self.logger.debug("Timeout!!!!")
            return False