import enum
import logging
import struct

from spacepackets.ecss import PusTelecommand
from tmtccmd.config import CmdTreeNode
from tmtccmd.tmtc import DefaultPusQueueHelper
from tmtccmd.pus.s201_fsfw_health import pack_set_health_cmd_data, FsfwHealth
from tmtccmd.pus.s201_fsfw_health import Subservice

import eive_tmtc.config.object_ids as obj_ids
from tmtccmd.pus.s200_fsfw_mode import create_mode_command, Mode
from tmtccmd.pus.tc.s3_fsfw_hk import create_request_one_hk_command, make_sid
from tmtccmd.config.tmtc import (
    tmtc_definitions_provider,
    OpCodeEntry,
    TmtcDefinitionWrapper,
)
from eive_tmtc.config.object_ids import (
    GYRO_0_ADIS_HANDLER_ID,
    GYRO_1_L3G_HANDLER_ID,
    GYRO_2_ADIS_HANDLER_ID,
    GYRO_3_L3G_HANDLER_ID,
)
from eive_tmtc.config.definitions import CustomServiceList
from eive_tmtc.pus_tm.defs import PrintWrapper

from tmtccmd.util import ObjectIdU32


class OpCode:
    NML = "normal"
    OFF = "off"
    CORE_HK = "core_hk"
    CFG_HK = "cfg_hk"
    SET_FAULTY = "set_faulty"


class AdisGyroSetId(enum.IntEnum):
    CORE_HK = 0
    CFG_HK = 1


class L3gGyroSetId(enum.IntEnum):
    CORE_HK = 0


class GyrSel(enum.IntEnum):
    GYR_0_ADIS = 0
    GYR_1_L3G = 1
    GYR_2_ADIS = 2
    GYR_3_L3G = 3


GYR_SEL_DICT = {
    GyrSel.GYR_0_ADIS: ("GYRO_0_ADIS", GYRO_0_ADIS_HANDLER_ID),
    GyrSel.GYR_1_L3G: ("GYRO_1_L3G", GYRO_1_L3G_HANDLER_ID),
    GyrSel.GYR_2_ADIS: ("GYRO_2_ADIS", GYRO_2_ADIS_HANDLER_ID),
    GyrSel.GYR_3_L3G: ("GYRO_3_L3G", GYRO_3_L3G_HANDLER_ID),
}


def handle_gyr_cmd(q: DefaultPusQueueHelper, cmd_str: str):
    print("Please select the Gyro Device")
    for k, v in GYR_SEL_DICT.items():
        print(f"{k}: {v[0]}")
    sel_idx = int(input("Select gyro device by index: "))
    gyr_info = GYR_SEL_DICT[GyrSel(sel_idx)]
    gyr_obj_id = gyr_info[1]
    is_adis = False
    if sel_idx == GyrSel.GYR_0_ADIS or sel_idx == GyrSel.GYR_2_ADIS:
        is_adis = True
        core_hk_id = AdisGyroSetId.CORE_HK
    else:
        core_hk_id = L3gGyroSetId.CORE_HK
    if cmd_str == OpCode.NML:
        q.add_log_cmd(f"Gyro {gyr_info[0]} NORMAL mode")
        q.add_pus_tc(create_mode_command(gyr_obj_id, Mode.NORMAL, 0))
    if cmd_str == OpCode.OFF:
        q.add_log_cmd(f"Gyro {gyr_info[0]} OFF mode")
        q.add_pus_tc(create_mode_command(gyr_obj_id, Mode.OFF, 0))
    elif cmd_str == OpCode.CORE_HK:
        q.add_log_cmd(f"Gyro  {gyr_info[0]} Core HK")
        q.add_pus_tc(create_request_one_hk_command(make_sid(gyr_obj_id, core_hk_id)))
    elif cmd_str == OpCode.CFG_HK:
        if not is_adis:
            raise ValueError("No config HK for L3 device")
        q.add_log_cmd(f"Gyro {gyr_info[0]} CFG HK")
        q.add_pus_tc(
            create_request_one_hk_command(make_sid(gyr_obj_id, AdisGyroSetId.CFG_HK))
        )
    elif cmd_str == OpCode.SET_FAULTY:
        q.add_log_cmd(f"Gyro {gyr_info[0]} set faulty")
        q.add_pus_tc(
            PusTelecommand(
                service=201,
                subservice=Subservice.TC_SET_HEALTH,
                app_data=pack_set_health_cmd_data(
                    object_id=gyr_obj_id, health=FsfwHealth.FAULTY
                ),
            )
        )
    else:
        logging.getLogger(__name__).warning(
            f"invalid op code {cmd_str} for gyro command"
        )


def handle_gyros_hk_data(
    object_id: ObjectIdU32, pw: PrintWrapper, set_id: int, hk_data: bytes
):
    if object_id.as_bytes in [
        obj_ids.GYRO_0_ADIS_HANDLER_ID,
        obj_ids.GYRO_2_ADIS_HANDLER_ID,
    ]:
        handle_adis_gyro_hk(object_id=object_id, pw=pw, set_id=set_id, hk_data=hk_data)
    elif object_id.as_bytes in [
        obj_ids.GYRO_1_L3G_HANDLER_ID,
        obj_ids.GYRO_3_L3G_HANDLER_ID,
    ]:
        handle_l3g_gyro_hk(object_id=object_id, pw=pw, set_id=set_id, hk_data=hk_data)


def handle_adis_gyro_hk(
    object_id: ObjectIdU32, pw: PrintWrapper, set_id: int, hk_data: bytes
):
    if set_id == AdisGyroSetId.CORE_HK:
        fmt_str = "!ddddddf"
        inc_len = struct.calcsize(fmt_str)
        (
            ang_veloc_x,
            ang_veloc_y,
            ang_veloc_z,
            accel_x,
            accel_y,
            accel_z,
            temp,
        ) = struct.unpack(fmt_str, hk_data[0 : 0 + inc_len])
        pw.dlog(f"Received ADIS1650X Gyro HK data from object {object_id}")
        pw.dlog(
            f"Angular Velocities (degrees per second): X {ang_veloc_x} | "
            f"Y {ang_veloc_y} | Z {ang_veloc_z}"
        )
        pw.dlog(f"Acceleration (m/s^2): X {accel_x} | Y {accel_y} | Z {accel_z}")
        pw.dlog(f"Temperature {temp} C")
    if set_id == AdisGyroSetId.CFG_HK:
        fmt_str = "!HBHHH"
        inc_len = struct.calcsize(fmt_str)
        print(len(hk_data))
        (
            diag_stat_reg,
            filter_setting,
            range_mdl,
            msc_ctrl_reg,
            dec_rate_reg,
        ) = struct.unpack(fmt_str, hk_data[0 : 0 + inc_len])
        pw.dlog(f"Diagnostic Status Register {diag_stat_reg:#018b}")
        pw.dlog(f"Range MDL {range_mdl}")
        pw.dlog(f"Filter Settings {filter_setting:#010b}")
        pw.dlog(f"Miscellaneous Control Register {msc_ctrl_reg:#018b}")
        pw.dlog(f"Decimation Rate {dec_rate_reg:#06x}")


def handle_l3g_gyro_hk(
    object_id: ObjectIdU32, pw: PrintWrapper, set_id: int, hk_data: bytes
):
    if set_id == L3gGyroSetId.CORE_HK:
        fmt_str = "!ffff"
        inc_len = struct.calcsize(fmt_str)
        (angVelocX, angVelocY, angVelocZ, temp) = struct.unpack(
            fmt_str, hk_data[0 : 0 + inc_len]
        )
        pw.dlog(f"Received L3GD20H Gyro HK data from object {object_id}")
        pw.dlog(
            f"Angular Velocities (degrees per second): X {angVelocX} | "
            f"Y {angVelocY} | Z {angVelocZ}"
        )
        pw.dlog(f"Temperature {temp} °C")


def create_gyros_node() -> CmdTreeNode:
    node = CmdTreeNode("gyros", "Gyroscope devices")
    node.add_child(CmdTreeNode(OpCode.CORE_HK, "Request Core HK"))
    node.add_child(CmdTreeNode(OpCode.CFG_HK, "Request CFG HK"))
    node.add_child(CmdTreeNode(OpCode.NML, "Normal Mode"))
    node.add_child(CmdTreeNode(OpCode.OFF, "Off Mode"))
    node.add_child(CmdTreeNode(OpCode.SET_FAULTY, "Set Faulty"))
    return node


@tmtc_definitions_provider
def add_gyr_cmd_defs(defs: TmtcDefinitionWrapper):
    oce = OpCodeEntry()
    oce.add(keys=OpCode.CORE_HK, info="Request Core HK")
    oce.add(keys=OpCode.CFG_HK, info="Request CFG HK")
    oce.add(keys=OpCode.NML, info="Normal Mode")
    oce.add(keys=OpCode.OFF, info="Off Mode")
    oce.add(keys=OpCode.SET_FAULTY, info="Set Faulty")
    defs.add_service(CustomServiceList.GYRO, info="Gyro", op_code_entry=oce)