import struct

from pus_tm.defs import PrintWrapper, FsfwTmTcPrinter
from tmtccmd.util.obj_id import ObjectIdU32


def handle_rw_hk_data(
    printer: FsfwTmTcPrinter, object_id: ObjectIdU32, set_id: int, hk_data: bytes
):
    from pus_tc.devs.reaction_wheels import RwSetIds

    pw = PrintWrapper(printer)
    current_idx = 0
    if set_id == RwSetIds.STATUS_SET_ID:
        pw.dlog(
            f"Received Status HK (ID {set_id}) from Reaction Wheel {object_id.name}"
        )
        fmt_str = "!IiiBB"
        inc_len = struct.calcsize(fmt_str)
        (temp, speed, ref_speed, state, clc_mode) = struct.unpack(
            fmt_str, hk_data[current_idx : current_idx + inc_len]
        )
        current_idx += inc_len
        speed_rpm = speed / 10.0
        ref_speed_rpm = ref_speed / 10.0
        pw.dlog(
            f"Temperature {temp} C | Speed {speed_rpm} rpm | Reference Speed {ref_speed_rpm} rpm"
        )
        pw.dlog(
            f"State {state}. 0: Error, 1: Idle, 2: Coasting, 3: Running, speed stable, "
            f"4: Running, speed  changing"
        )
        pw.dlog(
            f"Current Limit Control mode {clc_mode}. 0: Low Current Mode (0.3 A), "
            f"1: High Current Mode (0.6 A)"
        )
        printer.print_validity_buffer(hk_data[current_idx:], 5)
    if set_id == RwSetIds.LAST_RESET:
        pw.dlog(
            f"Received Last Reset HK (ID {set_id}) from Reaction Wheel {object_id.name}"
        )
        fmt_str = "!BB"
        inc_len = struct.calcsize(fmt_str)
        (last_not_cleared_reset_status, current_reset_status) = struct.unpack(
            fmt_str, hk_data[current_idx : current_idx + inc_len]
        )
        current_idx += inc_len
        pw.dlog(
            f"Last Non-Cleared (Cached) Reset Status {last_not_cleared_reset_status} | "
            f"Current Reset Status {current_reset_status}"
        )
    if set_id == RwSetIds.TM_SET:
        pw.dlog(f"Received TM HK (ID {set_id}) from Reaction Wheel {object_id.name}")
        fmt_str = "!BiffBBiiIIIIIIIIIIIIIIII"
        inc_len = struct.calcsize(fmt_str)
        (
            last_reset_status,
            mcu_temp,
            pressure_sens_temp,
            pressure,
            state,
            clc_mode,
            current_speed,
            ref_speed,
            num_invalid_crc_packets,
            num_invalid_len_packets,
            num_invalid_cmd_packets,
            num_of_cmd_executed_requests,
            num_of_cmd_replies,
            uart_num_of_bytes_written,
            uart_num_of_bytes_read,
            uart_num_parity_errors,
            uart_num_noise_errors,
            uart_num_frame_errors,
            uart_num_reg_overrun_errors,
            uart_total_num_errors,
            spi_num_bytes_written,
            spi_num_bytes_read,
            spi_num_reg_overrun_errors,
            spi_total_num_errors,
        ) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])

        pw.dlog(
            f"MCU Temperature {mcu_temp} | Pressure Sensore Temperature {pressure_sens_temp} C"
        )
        pw.dlog(f"Last Reset Status {last_reset_status}")
        pw.dlog(
            f"Current Limit Control mode {clc_mode}. 0: Low Current Mode (0.3 A), "
            f"1: High Current Mode (0.6 A)"
        )
        pw.dlog(f"Speed {current_speed} rpm | Reference Speed {ref_speed} rpm")
        pw.dlog(
            f"State {state}. 0: Error, 1: Idle, 2: Coasting, 3: Running, speed stable, "
            f"4: Running, speed  changing"
        )
        pw.dlog(f"Number Of Invalid Packets:")
        pw.dlog("CRC | Length | CMD")
        pw.dlog(
            f"{num_invalid_crc_packets} | {num_invalid_len_packets} | {num_invalid_cmd_packets}"
        )
        pw.dlog(
            f"Num Of CMD Executed Requests {num_of_cmd_executed_requests} | "
            f"Num of CMD Replies {num_of_cmd_replies}"
        )
        pw.dlog("UART COM information:")
        pw.dlog(
            f"NumBytesWritten | NumBytesRead | ParityErrs | NoiseErrs | FrameErrs | "
            f"RegOverrunErrs | TotalErrs"
        )
        pw.dlog(
            f"{uart_num_of_bytes_written} | {uart_num_of_bytes_read} | {uart_num_parity_errors} | "
            f"{uart_num_noise_errors} | {uart_num_frame_errors} | {uart_num_reg_overrun_errors} | "
            f"{uart_total_num_errors}"
        )
        pw.dlog("SPI COM Info:")
        pw.dlog(f"NumBytesWritten | NumBytesRead | RegOverrunErrs | TotalErrs")
        pw.dlog(
            f"{spi_num_bytes_written} | {spi_num_bytes_read} | {spi_num_reg_overrun_errors} | "
            f"{spi_total_num_errors}"
        )
        if current_idx > 0:
            printer.print_validity_buffer(
                validity_buffer=hk_data[current_idx:], num_vars=27
            )