###########################################################################
#
# 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    alarms.py
#
# @author  (last)      Micahel Garthwaite
# @date    (last)      17-Aug-2023
# @author  (original)  Quang Nguyen
# @date    (original)  02-Sep-2020
#
############################################################################
import struct
from logging import Logger

from .constants import RESET, NO_RESET
from leahi_dialin.common.dd_defs import DDEventDataType
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

class DDAlarms(AbstractSubSystem):
    """
    DD interface containing alarm related commands.
    """
    _ALARM_ID_MAX_ALARMS = 500
    START_POS_ALARM_ID = DenaliMessage.PAYLOAD_START_INDEX
    END_POS_ALARM_ID = START_POS_ALARM_ID + 2

    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.fp_alarm_broadcast_ch_id
            msg_id = MsgIds.MSG_ID_ALARM_TRIGGERED.value
            self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_alarm_triggered)

        self.dd_alarm_triggered_timestamp = 0.0
        # alarm states based on received TD alarm activation and alarm clear messages
        self.alarm_states = [False] * 500
        # alarm condition states based on received TD alarm activation and clear condition messages
        self.alarm_conditions = [False] * 500
        # alarm priorities based on received TD alarm activation messages
        self.alarm_priorities = [0] * 500
        # alarm ranks based on received TD alarm activation messages
        self.alarm_ranks = [0] * 500
        # alarm clear top only flags based on received TD alarm activation messages
        self.alarm_clear_top_only_flags = [False] * 500
        # alarm debug data on alarm triggered message
        self.alarm_data = [0, 0] * 500

        self.last_alarm_triggered = 0
        self.last_alarm_data_1 = 0.0
        self.last_alarm_data_2 = 0.0

        # Loop through the list of the event data type enum and update the dictionary
        for data_type in DDEventDataType:
            event_data_type = DDEventDataType(data_type).name
            struct_unpack_type = None

            # If U32 is in the data type enum (i.e. EVENT_DATA_TYPE_U32), then the key is the enum and the value is
            # the corresponding format in the python struct
            if 'U32' in event_data_type or 'BOOL' in event_data_type or 'NONE' in event_data_type:
                struct_unpack_type = 'I'
            elif 'S32' in event_data_type:
                struct_unpack_type = 'i'
            elif 'F32' in event_data_type:
                struct_unpack_type = 'f'

            self.alarm_data_type[event_data_type] = struct_unpack_type

    @publish(["dd_alarm_triggered_timestamp", "alarm_states", "alarm_conditions", "alarm_data",
              "alarm_priorities", "alarm_ranks", "alarm_clear_top_only_flags"])
    def _handler_alarm_triggered(self, message, timestamp = 0.0):
        """
        Handles published DD alarm activation messages.

        @param message:  published DD alarm activation message
        @return: none
        """
        self.logger.debug("Alarm activated!")
        alarm_id = struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))

        data_typ_1 = struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))
        # Get the corresponding structure format
        struct_data_type_1 = self.alarm_data_type[DDEventDataType(data_typ_1[0]).name]
        # Get the data value by unpacking the data type
        data_1 = struct.unpack(struct_data_type_1, bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))

        data_typ_2 = struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))
        # Get the corresponding structure format
        struct_data_type_2 = self.alarm_data_type[DDEventDataType(data_typ_2[0]).name]
        # Get the data value by unpacking the data type
        data_2 = struct.unpack(struct_data_type_2, bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))

        priority = struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))
        rank = struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_7:MsgFieldPositions.END_POS_FIELD_7]))
        clr_top_only = struct.unpack('i', bytearray(message['message'][MsgFieldPositions.START_POS_FIELD_8:MsgFieldPositions.END_POS_FIELD_8]))

        self.logger.debug("Alarm ID: %d %d %d" % (alarm_id[0], data_1[0], data_2[0]))
        self.alarm_states[alarm_id[0]] = True
        self.alarm_conditions[alarm_id[0]] = True
        self.alarm_priorities[alarm_id[0]] = priority[0]
        self.alarm_ranks[alarm_id[0]] = rank[0]
        self.alarm_clear_top_only_flags[alarm_id[0]] = clr_top_only[0]
        self.alarm_data[alarm_id[0]] = [data_1[0], data_2[0]]
        self.last_alarm_triggered = alarm_id
        self.last_alarm_data_1 = data_1[0]
        self.last_alarm_data_2 = data_2[0]
        self.dd_alarm_triggered_timestamp = timestamp


    def _handler_alarm_info(self, message, timestamp = 0.0):
        pass


    #TODO: alarm state override, alarm info pubish override