###########################################################################
#
# 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    levels.py
#
# @author  (last)      Michael Garthwaite
# @date    (last)      28-Oct-2024
# @author  (original)  Dara Navaei
# @date    (original)  29-May-2020
#
############################################################################

import struct
from enum import unique
from logging import Logger

from .constants import NO_RESET
from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions
from leahi_dialin.common.fp_defs import FPFloaterLevels, FPFloaterLevelSensorNames
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 FPLevels(AbstractSubSystem):
    """

        Dialin API sub-class for levels related commands.
    """

    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_sync_broadcast_ch_id
            msg_id = MsgIds.MSG_ID_FP_LEVEL_DATA.value
            self.can_interface.register_receiving_publication_function(channel_id, msg_id, self._handler_levels_sync)

        self.fp_levels = {
            FPFloaterLevelSensorNames.P25_LEVEL.name: 0
        }
        self.fp_levels_timestamp = 0

    @publish(["fp_levels_timestamp",
                "fp_levels",])
    def _handler_levels_sync(self, message, timestamp=0.0):
        """
        Handles published levels message

        @param message:  published levels data message
        @returns none
        """
        self.fp_levels[FPFloaterLevelSensorNames.P25_LEVEL.name] = struct.unpack('i', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0]

        self.fp_levels_timestamp = timestamp

    def cmd_levels_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int:
        """
        Constructs and sends an FP levels data broadcast interval override command message.
        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: (int) Publish time interval in ms
        @param reset: (int) 1 to reset a previous override, 0 to override
        @returns 1 if successful, zero otherwise
        """
        if not check_broadcast_interval_override_ms(ms):
            return False

        reset_value = integer_to_bytearray(reset)
        interval_value = integer_to_bytearray(ms)
        payload = reset_value + interval_value

        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id,
                                              message_id=MsgIds.MSG_ID_FP_LEVEL_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value,
                                              payload=payload)

        self.logger.debug("Sending {} ms publish interval to the FP Levels module".format(ms))
        # Send message
        received_message = self.can_interface.send(message)

        # If there is content in message
        if received_message is not None:
            # Response payload is OK or not
            return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]
        else:
            self.logger.debug("Timeout!!!!")
            return False

    def cmd_level_status_override(self, status: int, reset: int = NO_RESET) -> int:
        """
        Constructs and sends level status override command.
            Must be logged into FP.

        @param status: integer -  the status value to override
        @param reset: (int) 1 to reset a previous override, 0 to override
        @returns 1 if successful, zero otherwise
        """
        reset_value = integer_to_bytearray(reset)
        sts = integer_to_bytearray(status)
        payload = reset_value + sts
        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_fp_ch_id,
                                              message_id=MsgIds.MSG_ID_FP_LEVEL_OVERRIDE_REQUEST.value,
                                              payload=payload)

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

        # If there is content in message
        if received_message is not None:
            # Response payload is OK or not
            return received_message['message'][DenaliMessage.PAYLOAD_START_INDEX]
        else:
            self.logger.debug("Timeout!!!!")
            return False