import enum
import struct

from eive_tmtc.config.definitions import CustomServiceList
from tmtccmd.config import CmdTreeNode, OpCodeEntry

import eive_tmtc.config.object_ids as obj_ids
from eive_tmtc.config.object_ids import (
    MGM_0_LIS3_HANDLER_ID,
    MGM_1_RM3100_HANDLER_ID,
    MGM_2_LIS3_HANDLER_ID,
    MGM_3_RM3100_HANDLER_ID,
)

from eive_tmtc.pus_tm.defs import PrintWrapper
from tmtccmd.config.tmtc import tmtc_definitions_provider, TmtcDefinitionWrapper
from tmtccmd.tmtc import DefaultPusQueueHelper
from tmtccmd.pus.s200_fsfw_mode import create_mode_command, Mode
from tmtccmd.util import ObjectIdU32


class OpCode:
    NORMAL = "normal"
    OFF = "off"


class MgmLis3SetId(enum.IntEnum):
    CORE_HK = 0


class MgmRm3100SetId(enum.IntEnum):
    CORE_HK = 0


class MgmSel(enum.IntEnum):
    MGM_0_LIS3 = 0
    MGM_1_RM3100 = 1
    MGM_2_LIS3 = 2
    MGM_3_RM3100 = 3


MGM_SEL_DICT = {
    MgmSel.MGM_0_LIS3: ("MGM_0_LIS3", MGM_0_LIS3_HANDLER_ID),
    MgmSel.MGM_1_RM3100: ("MGM_1_RM3100", MGM_1_RM3100_HANDLER_ID),
    MgmSel.MGM_2_LIS3: ("MGM_2_LIS3", MGM_2_LIS3_HANDLER_ID),
    MgmSel.MGM_3_RM3100: ("MGM_3_RM3100", MGM_3_RM3100_HANDLER_ID),
}


def handle_mgm_cmd(q: DefaultPusQueueHelper, cmd_str: str):
    print("Please select the MGM Device")
    for k, v in MGM_SEL_DICT.items():
        print(f"{k}: {v[0]}")
    sel_idx = int(input("Select MGM device by index: "))
    mgm_info = MGM_SEL_DICT[MgmSel(sel_idx)]
    mgm_obj_id = mgm_info[1]
    if cmd_str == OpCode.NORMAL:
        q.add_log_cmd(f"Gyro {mgm_info[0]} NORMAL mode")
        q.add_pus_tc(create_mode_command(mgm_obj_id, Mode.NORMAL, 0))
    if cmd_str == OpCode.OFF:
        q.add_log_cmd(f"Gyro {mgm_info[0]} OFF mode")
        q.add_pus_tc(create_mode_command(mgm_obj_id, Mode.OFF, 0))


def handle_mgm_hk_data(
    object_id: ObjectIdU32, pw: PrintWrapper, set_id: int, hk_data: bytes
):
    if object_id.as_bytes in [
        obj_ids.MGM_0_LIS3_HANDLER_ID,
        obj_ids.MGM_2_LIS3_HANDLER_ID,
    ]:
        handle_mgm_lis3_hk_data(object_id, pw, set_id, hk_data)
    elif object_id.as_bytes in [
        obj_ids.MGM_1_RM3100_HANDLER_ID,
        obj_ids.MGM_3_RM3100_HANDLER_ID,
    ]:
        handle_mgm_rm3100_hk_data(object_id, pw, set_id, hk_data)
    pass


def handle_mgm_lis3_hk_data(
    object_id: ObjectIdU32, pw: PrintWrapper, set_id: int, hk_data: bytes
):
    if set_id == MgmLis3SetId.CORE_HK:
        fmt_str = "!ffff"
        inc_len = struct.calcsize(fmt_str)
        (field_x, field_y, field_z, temp) = struct.unpack(
            fmt_str, hk_data[0 : 0 + inc_len]
        )
        pw.dlog(f"Received MGM LIS3 from object {object_id}")
        pw.dlog(
            f"Field strengths in micro Tesla X {field_x} | Y {field_y} | Z {field_z}"
        )
        pw.dlog(f"Temperature {temp} C")


def handle_mgm_rm3100_hk_data(
    object_id: ObjectIdU32, pw: PrintWrapper, set_id: int, hk_data: bytes
):
    if set_id == MgmRm3100SetId.CORE_HK:
        fmt_str = "!fff"
        inc_len = struct.calcsize(fmt_str)
        (field_x, field_y, field_z) = struct.unpack(fmt_str, hk_data[0 : 0 + inc_len])
        pw.dlog(f"Received MGM RM3100 from object {object_id}")
        pw.dlog(
            f"Field strengths in micro Tesla X {field_x} | Y {field_y} | Z {field_z}"
        )


def create_mgms_node() -> CmdTreeNode:
    node = CmdTreeNode("mgms", "Magnetometer devices")
    node.add_child(CmdTreeNode(OpCode.NORMAL, "Normal Mode"))
    node.add_child(CmdTreeNode(OpCode.OFF, "Off Mode"))
    return node


@tmtc_definitions_provider
def add_mgm_cmd_defs(defs: TmtcDefinitionWrapper):
    oce = OpCodeEntry()
    oce.add(keys=OpCode.NORMAL, info="Normal Mode")
    oce.add(keys=OpCode.OFF, info="Off Mode")
    defs.add_service(CustomServiceList.MGMS, info="MGMs", op_code_entry=oce)