"""HK Handling for EIVE OBSW"""
import struct

from pus_tm.devs.rad_sensor import handle_rad_sensor_data
from pus_tm.devs.sus import handle_sus_hk
from pus_tm.system.tcs import handle_thermal_controller_hk_data, TM_TCP_SERVER
from tmtccmd.config.definitions import HkReplyUnpacked
from tmtccmd.tm.pus_3_fsfw_hk import (
    Service3Base,
    HkContentType,
    Service3FsfwTm,
)
from tmtccmd.utility.obj_id import ObjectId, ObjectIdDictT
from tmtccmd.logging import get_console_logger

from pus_tm.devs.bpx_bat import handle_bpx_hk_data
from pus_tm.devs.gps import handle_gps_data
from pus_tm.devs.gyros import handle_gyros_hk_data
from pus_tm.devs.imtq_mgt import (
    handle_self_test_data,
    handle_eng_set,
    handle_calibrated_mtm_measurement,
    handle_raw_mtm_measurement,
)
from pus_tm.devs.pcdu import handle_pdu_data, handle_p60_hk_data, handle_acu_hk_data
from pus_tm.devs.syrlinks import handle_syrlinks_hk_data
from pus_tc.devs.imtq import ImtqSetIds
from pus_tm.devs.reaction_wheels import handle_rw_hk_data
from pus_tm.defs import FsfwTmTcPrinter, log_to_both
from pus_tm.system.core import handle_core_hk_data
from pus_tm.devs.mgms import handle_mgm_hk_data
import config.object_ids as obj_ids


LOGGER = get_console_logger()


def handle_hk_packet(
    raw_tm: bytes,
    obj_id_dict: ObjectIdDictT,
    printer: FsfwTmTcPrinter,
):
    tm_packet = Service3FsfwTm.unpack(raw_telemetry=raw_tm, custom_hk_handling=False)
    named_obj_id = obj_id_dict.get(tm_packet.object_id.as_bytes)
    if named_obj_id is None:
        named_obj_id = tm_packet.object_id
    if tm_packet.subservice == 25 or tm_packet.subservice == 26:
        hk_data = tm_packet.tm_data[8:]
        TM_TCP_SERVER.report_raw_hk_data(
            object_id=named_obj_id, set_id=tm_packet.set_id, hk_data=hk_data
        )
        printer.generic_hk_tm_print(
            content_type=HkContentType.HK,
            object_id=named_obj_id,
            set_id=tm_packet.set_id,
            hk_data=hk_data,
        )
        try:
            handle_regular_hk_print(
                printer=printer,
                object_id=named_obj_id,
                hk_packet=tm_packet,
                hk_data=hk_data,
            )
        except ValueError as e:
            LOGGER.exception(
                f"{e} error when parsing HK data coming from {named_obj_id}"
            )
    if tm_packet.subservice == 10 or tm_packet.subservice == 12:
        LOGGER.warning("HK definitions printout not implemented yet")


def handle_regular_hk_print(
    printer: FsfwTmTcPrinter,
    object_id: ObjectId,
    hk_packet: Service3Base,
    hk_data: bytes,
):
    objb = object_id.as_bytes
    set_id = hk_packet.set_id
    """This function is called when a Service 3 Housekeeping packet is received."""
    if object_id in [obj_ids.RW1_ID, obj_ids.RW2_ID, obj_ids.RW3_ID, obj_ids.RW4_ID]:
        handle_rw_hk_data(printer, object_id, set_id, hk_data)
    elif objb == obj_ids.SYRLINKS_HANDLER_ID:
        handle_syrlinks_hk_data(printer=printer, hk_data=hk_data, set_id=set_id)
    elif objb == obj_ids.IMTQ_HANDLER_ID:
        if (set_id >= ImtqSetIds.POSITIVE_X_TEST) and (
            set_id <= ImtqSetIds.NEGATIVE_Z_TEST
        ):
            return handle_self_test_data(printer, hk_data)
        elif set_id == ImtqSetIds.ENG_HK_SET:
            return handle_eng_set(printer, hk_data)
        elif set_id == ImtqSetIds.CAL_MTM_SET:
            return handle_calibrated_mtm_measurement(printer, hk_data)
        elif set_id == ImtqSetIds.RAW_MTM_SET:
            return handle_raw_mtm_measurement(printer, hk_data)
        else:
            LOGGER.info("Service 3 TM: IMTQ handler reply with unknown set id")
    elif objb == obj_ids.GPS_CONTROLLER:
        return handle_gps_data(printer=printer, hk_data=hk_data)
    if objb == obj_ids.BPX_HANDLER_ID:
        handle_bpx_hk_data(hk_data=hk_data, set_id=set_id, printer=printer)
    if objb == obj_ids.CORE_CONTROLLER_ID:
        return handle_core_hk_data(printer=printer, hk_data=hk_data, set_id=set_id)
    elif objb == obj_ids.PDU_1_HANDLER_ID:
        return handle_pdu_data(
            printer=printer, pdu_idx=1, set_id=set_id, hk_data=hk_data
        )
    elif objb == obj_ids.PDU_2_HANDLER_ID:
        return handle_pdu_data(
            printer=printer, pdu_idx=2, set_id=set_id, hk_data=hk_data
        )
    elif objb == obj_ids.ACU_HANDLER_ID:
        return handle_acu_hk_data(printer=printer, hk_data=hk_data, set_id=set_id)
    elif objb == obj_ids.RAD_SENSOR_ID:
        return handle_rad_sensor_data(printer=printer, hk_data=hk_data, set_id=set_id)
    elif objb in [obj_ids.RW1_ID, obj_ids.RW2_ID, obj_ids.RW3_ID, obj_ids.RW4_ID]:
        return handle_rw_hk_data(
            printer=printer, object_id=object_id, set_id=set_id, hk_data=hk_data
        )
    if objb in [
        obj_ids.SUS_0_N_LOC_XFYFZM_PT_XF,
        obj_ids.SUS_1_N_LOC_XBYFZM_PT_XB,
        obj_ids.SUS_2_N_LOC_XFYBZB_PT_YB,
        obj_ids.SUS_3_N_LOC_XFYBZF_PT_YF,
        obj_ids.SUS_4_N_LOC_XMYFZF_PT_ZF,
        obj_ids.SUS_5_N_LOC_XFYMZB_PT_ZB,
        obj_ids.SUS_6_R_LOC_XFYBZM_PT_XF,
        obj_ids.SUS_7_R_LOC_XBYBZM_PT_XB,
        obj_ids.SUS_8_R_LOC_XBYBZB_PT_YB,
        obj_ids.SUS_9_R_LOC_XBYBZB_PT_YF,
        obj_ids.SUS_10_R_LOC_XMYBZF_PT_ZF,
        obj_ids.SUS_11_R_LOC_XBYMZB_PT_ZB,
    ]:
        handle_sus_hk(
            object_id=object_id, hk_data=hk_data, printer=printer, set_id=set_id
        )
    if objb == obj_ids.P60_DOCK_HANDLER:
        handle_p60_hk_data(printer=printer, set_id=set_id, hk_data=hk_data)
    elif objb in [
        obj_ids.GYRO_0_ADIS_HANDLER_ID,
        obj_ids.GYRO_1_L3G_HANDLER_ID,
        obj_ids.GYRO_2_ADIS_HANDLER_ID,
        obj_ids.GYRO_3_L3G_HANDLER_ID,
    ]:
        handle_gyros_hk_data(
            object_id=object_id, hk_data=hk_data, printer=printer, set_id=set_id
        )
    elif objb in [
        obj_ids.MGM_0_LIS3_HANDLER_ID,
        obj_ids.MGM_1_RM3100_HANDLER_ID,
        obj_ids.MGM_2_LIS3_HANDLER_ID,
        obj_ids.MGM_3_RM3100_HANDLER_ID,
    ]:
        handle_mgm_hk_data(
            object_id=object_id, hk_data=hk_data, printer=printer, set_id=set_id
        )
    elif objb == obj_ids.PL_PCDU_ID:
        log_to_both(printer, "Received PL PCDU HK data")
    elif objb == obj_ids.THERMAL_CONTROLLER_ID:
        handle_thermal_controller_hk_data(
            object_id=object_id, printer=printer, set_id=set_id, hk_data=hk_data
        )
    else:
        LOGGER.info(
            f"Service 3 TM: Parsing for object {object_id} and set ID {set_id} "
            f"has not been implemented."
        )