###########################################################################
#
# Copyright (c) 2020-2023 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    ro_pump.py
#
# @author  (last)      Dara Navaei
# @date    (last)      02-Jan-2023
# @author  (original)  Sean
# @date    (original)  14-Apr-2020
#
############################################################################
import struct
from enum import unique
from logging import Logger

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


@unique
class ROPumpStates(DialinEnum):
    RO_PUMP_OFF_STATE = 0
    RO_PUMP_RAMP_UP_TO_TARGET_FLOW_STATE = 1
    RO_PUMP_CONTROL_TO_TARGET_FLOW_STATE = 2
    RO_PUMP_CONTROL_TO_MAX_PRESSURE_STATE = 3
    RO_PUMP_OPEN_LOOP_STATE = 4


class DGROPump(AbstractSubSystem):
    """
    DGROPump
    Dialysate Generator (DG) Dialin API sub-class for RO pump related commands.

    """

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

        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_RO_PUMP_DATA.value
            self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_ro_pump_sync)

        self.target_pressure_psi = 0.0
        self.pwm_duty_cycle_pct = 0.0
        self.ro_pump_state = 0
        self.target_flow_lpm = 0.0
        self.feedback_duty_cycle_pct = 0.0

    def get_target_pressure(self):
        """
        Gets the target pressure

        @return: the target pressure (PSI)
        """
        return self.target_pressure_psi

    def get_target_flow_rate(self):
        """
        Gets the target flow rate (lpm)

        @return: The measured flow rate (float)
        """
        return self.target_flow_lpm

    def get_pwm_duty_cycle_pct(self):
        """
        Gets the PWM duty cycle pct

        @return: The PWM duty cycle pct (float)
        """
        return self.pwm_duty_cycle_pct

    def get_ro_pump_state(self):
        """
        Gets the RO pump state

        @return: The state of the RO pump
        """
        return self.ro_pump_state

    @publish(["target_pressure_psi", "pwm_duty_cycle_pct", "ro_pump_state", "target_flow_lpm",
              "feedback_duty_cycle_pct"])
    def _handler_ro_pump_sync(self, message):
        """
        Handles published ro pump data messages.  RO pump data are captured
        for reference.

        @param message:  published RO pump data message

        @return: None
        """
        self.target_pressure_psi = struct.unpack('<f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0]
        ro_for_ui_place_holder = struct.unpack('<f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_2:MsgFieldPositions.END_POS_FIELD_2]))[0]
        self.pwm_duty_cycle_pct = struct.unpack('<f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_3:MsgFieldPositions.END_POS_FIELD_3]))[0]
        ro_state = struct.unpack('<i', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_4:MsgFieldPositions.END_POS_FIELD_4]))[0]
        self.target_flow_lpm = struct.unpack('<f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_5:MsgFieldPositions.END_POS_FIELD_5]))[0]
        self.feedback_duty_cycle_pct = struct.unpack('<f', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_6:MsgFieldPositions.END_POS_FIELD_6]))[0]

        self.ro_pump_state = ROPumpStates(ro_state).name

    def cmd_ro_pump_duty_cycle_pct(self, duty: float) -> int:
        """
        Constructs and sends the set RO pump duty cycle message
        Constraints:
            Must be logged into DG.

        @param duty:  integer - 1 percentage for duty cycle between 0 and 100
        @return: 1 if successful, zero otherwise
        """
        dc = float_to_bytearray(duty/100)
        payload = dc

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

        self.logger.debug("RO pump duty cycle set")

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

        # If there is content...
        if received_message is not None:

            self.logger.debug(
                "RO pump duty cycle set to " + str(duty) + " %" +
                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_set_ro_flow_rate(self, flow: float) -> int:
        """
        Constructs and sends the RO rate set command.
        Constraints:
            Must be logged into DG.

        @param flow:  float - flow rate (in L/min) to set
        @return: 1 if successful, zero otherwise
        """

        flo = float_to_bytearray(flow)
        payload = flo

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

        self.logger.debug("Set RO pump target flow rate")

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

        # If there is content...
        if received_message is not None:
            str_res = str(flo)
            self.logger.debug(
                "Target RO flow rate set to " + str_res + " L/min: " +
                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_ro_pump_data_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int:
        """
        Constructs and sends the RO pump set point 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:  integer - time interval (in ms) to broadcast RO pump data
        @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_dg_ch_id,
                                              message_id=MsgIds.MSG_ID_RO_PUMP_SEND_INTERVAL_OVERRIDE.value,
                                              payload=payload)

        self.logger.debug("Override RO pump data 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(mis)
            self.logger.debug(
                "RO pump data broadcast interval overridden to " + str_res + " ms: " +
                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_ro_pump_measured_feedback_pwm_override(self, pwm: float, reset: int = NO_RESET) -> int:
        """
        Constructs and sends the feedback pwm override command.
        Constraints:
            Must be logged into DG.
            Given RPM must be within 0.0 <= PWM <= 0.99

        @param pwm: (float) pwm to override with
        @param reset: (int) 1 to reset a previous override, 0 to override
        @return: 1 if successful, zero otherwise
        """

        rst = integer_to_bytearray(reset)
        pwm = float_to_bytearray(pwm)
        payload = rst + pwm

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

        self.logger.debug("Override RO Pump measured Feedback PWM.")

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

        # If there is content...
        if received_message is not None:
            if reset == RESET:
                str_res = "back to normal"
            else:
                str_res = str(pwm)
            self.logger.debug(
                "Feedback PWM has been overridden " + 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