###########################################################################
#
# Copyright (c) 2021-2024 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    switches.py
#
# @author  (last)      Micahel Garthwaite
# @date    (last)      03-Mar-2023
# @author  (original)  Dara Navaei
# @date    (original)  25-Jul-2021
#
############################################################################

import struct
from enum import unique
from logging import Logger

from leahi_dialin.utils.conversions import integer_to_bytearray
from leahi_dialin.common.msg_defs import MsgIds, MsgFieldPositions
from leahi_dialin.common.td_defs import TDSwitchStatus, TDSwitchesNames
from .constants import RESET, NO_RESET
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


class TDSwitches(AbstractSubSystem):
    """
    @brief Treatment Device (TD) Dialin API sub-class for TD switches related commands.
    """

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

        """
        super().__init__()

        self.can_interface = can_interface
        self.logger = logger

        if self.can_interface is not None:
            channel_id = DenaliChannels.td_sync_broadcast_ch_id
            self.msg_id_td_switches_data = MsgIds.MSG_ID_TD_SWITCHES_DATA.value
            self.can_interface.register_receiving_publication_function(channel_id, self.msg_id_td_switches_data,
                                                                       self._handler_switches_sync)

        self.td_switches_status = {TDSwitchesNames.H9_FRONT_DOOR.name: TDSwitchStatus.CLOSED.value}
        self.td_switches_timestamp = 0.0

    @publish(["msg_id_td_switches_data", "td_switches_status", "td_switches_timestamp"])
    def _handler_switches_sync(self, message, timestamp=0.0):
        """
        Handles published TD switches data messages. Switches data are captured for reference.

        @param message:  published switches data message
        @return: none
        """
        front_door = struct.unpack('i', bytearray(
            message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))[0]

        self.td_switches_status[TDSwitchesNames.H9_FRONT_DOOR.name] = TDSwitchStatus(front_door).value
        self.td_switches_timestamp = timestamp

    def cmd_switch_status_override(self, switch: int, status: int, reset: int = NO_RESET) -> int:
        """
        Constructs and sends the TD switch status override command
        Constraints:
            Must be logged into TD.

        @param switch:  (int) switch ID that is status is overridden
        @param status: (int) status that the switch will be overridden to
        @param reset: (int) 1 to reset a previous override, 0 to override
        @return: 1 if successful, zero otherwise
        """
        reset_value = integer_to_bytearray(reset)
        sw = integer_to_bytearray(switch)
        st = integer_to_bytearray(status)
        payload = reset_value + st + sw

        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id,
                                              message_id=MsgIds.MSG_ID_TD_SWITCH_STATE_OVERRIDE_REQUEST.value,
                                              payload=payload)

        self.logger.debug("Override switch status")

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

        # If there is no content...
        if received_message is not None:

            self.logger.debug("Switch " + str(TDSwitchesNames(switch).name) + " to: " +
                              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_switches_data_broadcast_interval_override(self, ms: int, reset: int = NO_RESET) -> int:
        """
        Constructs and sends the TD switch data publication override command.
        Constraints:
            Must be logged into TD.
            Given interval must be non-zero and a multiple of the TD general task interval (50 ms).

        @param ms: (int) interval (in ms) to override with
        @param reset: (int) 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_td_ch_id,
                                              message_id=MsgIds.MSG_ID_TD_SWITCHES_PUBLISH_INTERVAL_OVERRIDE_REQUEST.value,
                                              payload=payload)

        self.logger.debug("Override TD switches 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(
                "TD Switches 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