# -*- coding: utf-8 -*-
"""
@file   star_tracker.py
@brief  Star tracker commanding
@author J. Meier
@date   14.08.2021
"""
import struct

from tmtccmd.config.definitions import QueueCommands

from tmtccmd.tc.packer import TcQueueT
from spacepackets.ecss.tc import PusTelecommand
from pus_tc.service_200_mode import pack_mode_data


class StarTrackerActionIds:
    PING = 0
    BOOT = 1
    REQ_VERSION = 2
    REQ_INTERFACE = 3
    REQ_TIME = 4
    SWITCH_TO_BOOTLOADER_PROGRAM = 7
    REQ_POWER = 11
    TAKE_IMAGE = 15
    DOWNLOAD_IMAGE = 9
    UPLOAD_IMAGE = 10
    DOWNLOAD_CENTROID = 16
    UPLOAD_CENTROID = 17
    SUBSCRIBE_TO_TM = 18
    REQ_SOLUTION = 24
    REQ_TEMPERATURE = 25
    REQ_HISTOGRAM = 28
    REQ_CONTRAST = 29
    LIMITS = 40
    MOUNTING = 41
    CAMERA = 42
    BLOB = 43
    CENTROIDING = 44
    LISA = 45
    MATCHING = 46
    TRACKING = 47
    VALIDATION = 48
    ALGO = 49
    CHECKSUM = 50
    READ = 51
    WRITE = 52
    DOWNLOAD_MATCHED_STAR = 53
    STOP_STR_HELPER = 55
    RESET_ERROR = 56
    CHANGE_DOWNLOAD_IMAGE = 57
    SET_JSON_FILE_NAME = 58
    SET_READ_FILENAME = 59
    SET_TIME = 60
    DOWNLOAD_DBIMAGE = 61
    DOWNLOAD_BLOBPIXEL = 62
    DOWNLOAD_FPGA_IMAGE = 63
    CHANGE_FPGA_DOWNLOAD_FILE = 64
    UPLOAD_FPGA_IMAGE = 65
    FPGA_ACTION = 66


class ImagePathDefs:
    uploadFile = "/mnt/sd0/startracker/gemma.bin"
    downloadFile = "test_image.bin"
    downloadPath = "/mnt/sd0/startracker"
    jsonFile = "/mnt/sd0/startracker/test.json"
    flashFile = "/mnt/sd0/startracker/flash.bin"
    flashReadPath = "/mnt/sd0/startracker"
    uploadCentroidJson = "/mnt/sd0/startracker/upload-centroid.json"
    downloadFpgaImagePath = "/mnt/sd0/startracker"
    downloadFpgaImageName = "testname"
    uploadFpgaImageName = "/mnt/sd0/startracker/fpga-image.bin"


class Region:
    # Definition according to datasheet (which turned out to be partially faulty)
    BOOTLOADER = 0
    STAR_TRACKER_FIRMWARE = 1
    FREE_1 = 2
    FREE_2 = 3


class PartitionSize:
    BOOTLOADER = 128000
    STAR_TRACKER_FIRMWARE = 896000
    FREE_1 = 128000
    FREE_2 = 896000


def pack_star_tracker_commands(
    object_id: bytearray, tc_queue: TcQueueT, op_code: str
) -> TcQueueT:
    tc_queue.appendleft(
        (
            QueueCommands.PRINT,
            "Generate command for star tracker with object id: 0x" + object_id.hex(),
        )
    )

    if op_code == "0":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Mode On"))
        command = pack_mode_data(object_id, 1, 0)
        command = PusTelecommand(service=200, subservice=1, ssc=10, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "1":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Mode Normal"))
        command = pack_mode_data(object_id, 2, 0)
        command = PusTelecommand(service=200, subservice=1, ssc=11, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "2":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Mode Off"))
        command = pack_mode_data(object_id, 0, 0)
        command = PusTelecommand(service=200, subservice=1, ssc=12, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "3":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Mode Raw"))
        command = pack_mode_data(object_id, 3, 0)
        command = PusTelecommand(service=200, subservice=1, ssc=13, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "4":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Ping"))
        command = object_id + struct.pack("!I", StarTrackerActionIds.PING)
        command = PusTelecommand(service=8, subservice=128, ssc=30, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "5":
        tc_queue.appendleft(
            (QueueCommands.PRINT, "Star tracker:  Switch to bootloader program")
        )
        command = object_id + struct.pack(
            "!I", StarTrackerActionIds.SWITCH_TO_BOOTLOADER_PROGRAM
        )
        command = PusTelecommand(service=8, subservice=128, ssc=31, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "6":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Temperature request"))
        command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_TEMPERATURE)
        command = PusTelecommand(service=8, subservice=128, ssc=32, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "7":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Request version"))
        command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_VERSION)
        command = PusTelecommand(service=8, subservice=128, ssc=33, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "8":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Request interface"))
        command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_INTERFACE)
        command = PusTelecommand(service=8, subservice=128, ssc=34, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "9":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Request power"))
        command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_POWER)
        command = PusTelecommand(service=8, subservice=128, ssc=35, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "10":
        tc_queue.appendleft(
            (QueueCommands.PRINT, "Star tracker: Subscribe to telemetry")
        )
        tm_id = int(input("Specify Id of tm: "))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.SUBSCRIBE_TO_TM)
            + struct.pack("B", tm_id)
        )
        command = PusTelecommand(service=8, subservice=128, ssc=36, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "11":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Boot"))
        command = object_id + struct.pack("!I", StarTrackerActionIds.BOOT)
        command = PusTelecommand(service=8, subservice=128, ssc=37, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "12":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Request time"))
        command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_TIME)
        command = PusTelecommand(service=8, subservice=128, ssc=38, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "13":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Request solution"))
        command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_SOLUTION)
        command = PusTelecommand(service=8, subservice=128, ssc=39, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "14":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Upload image"))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.UPLOAD_IMAGE)
            + bytearray(ImagePathDefs.uploadFile, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=40, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "15":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Download image"))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.DOWNLOAD_IMAGE)
            + bytearray(ImagePathDefs.downloadPath, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=53, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "16":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Set limits"))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.LIMITS)
            + bytearray(ImagePathDefs.jsonFile, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=42, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "17":
        tc_queue.appendleft(
            (QueueCommands.PRINT, "Star tracker: Set tracking parameters")
        )
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.TRACKING)
            + bytearray(ImagePathDefs.jsonFile, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=43, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "18":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Mounting"))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.MOUNTING)
            + bytearray(ImagePathDefs.jsonFile, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=44, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "19":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Camera"))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.CAMERA)
            + bytearray(ImagePathDefs.jsonFile, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=45, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "20":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Blob"))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.BLOB)
            + bytearray(ImagePathDefs.jsonFile, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=46, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "21":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Centroiding"))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.CENTROIDING)
            + bytearray(ImagePathDefs.jsonFile, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=47, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "22":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: LISA"))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.LISA)
            + bytearray(ImagePathDefs.jsonFile, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=48, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "23":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Matching"))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.MATCHING)
            + bytearray(ImagePathDefs.jsonFile, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=49, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "24":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Validation"))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.VALIDATION)
            + bytearray(ImagePathDefs.jsonFile, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=50, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "25":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Algo"))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.ALGO)
            + bytearray(ImagePathDefs.jsonFile, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=51, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "26":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Take image"))
        actionid = int(input("Specify parameter ID (nominal - 4): "))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.TAKE_IMAGE)
            + struct.pack("!B", actionid)
        )
        command = PusTelecommand(service=8, subservice=128, ssc=52, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "27":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Stop str helper"))
        command = object_id + struct.pack("!I", StarTrackerActionIds.STOP_STR_HELPER)
        command = PusTelecommand(service=8, subservice=128, ssc=54, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "28":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Reset error signal"))
        command = object_id + struct.pack("!I", StarTrackerActionIds.RESET_ERROR)
        command = PusTelecommand(service=8, subservice=128, ssc=54, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "29":
        tc_queue.appendleft(
            (QueueCommands.PRINT, "Star tracker: Set name of download image")
        )
        filename = input("Specify download image name: ")
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.CHANGE_DOWNLOAD_IMAGE)
            + bytearray(filename, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=54, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "30":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Request histogram"))
        command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_HISTOGRAM)
        command = PusTelecommand(service=8, subservice=128, ssc=55, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "31":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Request contrast"))
        command = object_id + struct.pack("!I", StarTrackerActionIds.REQ_CONTRAST)
        command = PusTelecommand(service=8, subservice=128, ssc=56, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "32":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Set json filename"))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.SET_JSON_FILE_NAME)
            + bytearray(ImagePathDefs.jsonFile, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=57, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "33":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Write"))
        command = pack_write_command(object_id)
        command = PusTelecommand(service=8, subservice=128, ssc=58, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "34":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Read"))
        command = pack_read_command(object_id)
        command = PusTelecommand(service=8, subservice=128, ssc=59, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "35":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Set read filename"))
        filename = input("Specify filename: ")
        command = (
            object_id
            + StarTrackerActionIds.SET_READ_FILENAME
            + bytearray(filename, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=60, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "36":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Get checksum"))
        command = pack_checksum_command(object_id)
        command = PusTelecommand(service=8, subservice=128, ssc=61, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "37":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Set time"))
        unix_time = 1640783543
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.SET_TIME)
            + struct.pack("!Q", unix_time)
        )
        command = PusTelecommand(service=8, subservice=128, ssc=61, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "38":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Download Centroid"))
        id = 0
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.DOWNLOAD_CENTROID)
            + struct.pack("!B", id)
        )
        command = PusTelecommand(service=8, subservice=128, ssc=62, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "39":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Upload Centroid"))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.UPLOAD_CENTROID)
            + bytearray(ImagePathDefs.uploadCentroidJson, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=63, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "40":
        tc_queue.appendleft(
            (QueueCommands.PRINT, "Star tracker: Download matched star")
        )
        id = 0
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.DOWNLOAD_MATCHED_STAR)
            + struct.pack("!B", id)
        )
        command = PusTelecommand(service=8, subservice=128, ssc=64, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "41":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Download DB Image"))
        id = 0
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.DOWNLOAD_DBIMAGE)
            + struct.pack("!B", id)
        )
        command = PusTelecommand(service=8, subservice=128, ssc=65, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "42":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Download Blob Pixel"))
        id = 0
        type = 1  # 0 - normal, 1 - fast
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.DOWNLOAD_BLOBPIXEL)
            + struct.pack("!B", id)
            + struct.pack("!B", type)
        )
        command = PusTelecommand(service=8, subservice=128, ssc=65, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "43":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Download FPGA Image"))
        position = 0
        length = 4100
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.DOWNLOAD_FPGA_IMAGE)
            + struct.pack("!I", position)
            + struct.pack("!I", length)
            + bytearray(ImagePathDefs.downloadFpgaImagePath, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=66, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "44":
        tc_queue.appendleft(
            (QueueCommands.PRINT, "Star tracker: Chnage donwload FPGA image file name")
        )
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.CHANGE_FPGA_DOWNLOAD_FILE)
            + bytearray(ImagePathDefs.downloadFpgaImageName, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=67, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "45":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Upload FPGA image"))
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.UPLOAD_FPGA_IMAGE)
            + bytearray(ImagePathDefs.uploadFpgaImageName, "utf-8")
        )
        command = PusTelecommand(service=8, subservice=128, ssc=68, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())
    if op_code == "46":
        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: FPGA action"))
        id = 3
        command = (
            object_id
            + struct.pack("!I", StarTrackerActionIds.FPGA_ACTION)
            + struct.pack("!B", id)
        )
        command = PusTelecommand(service=8, subservice=128, ssc=69, app_data=command)
        tc_queue.appendleft(command.pack_command_tuple())


def pack_write_command(object_id: bytearray) -> bytearray:
    region = Region.FREE_1
    address = 0
    command = (
        object_id
        + struct.pack("!I", StarTrackerActionIds.WRITE)
        + struct.pack("!B", region)
        + struct.pack("!I", address)
        + bytearray(ImagePathDefs.flashFile, "utf-8")
    )
    return command


def pack_read_command(object_id: bytearray) -> bytearray:
    region = Region.STAR_TRACKER_FIRMWARE
    address = 0
    size = PartitionSize.STAR_TRACKER_FIRMWARE
    command = (
        object_id
        + struct.pack("!I", StarTrackerActionIds.READ)
        + struct.pack("!B", region)
        + struct.pack("!I", address)
        + struct.pack("!I", size)
        + bytearray(ImagePathDefs.flashReadPath, "utf-8")
    )
    return command


def pack_checksum_command(object_id: bytearray) -> bytearray:
    region = Region.STAR_TRACKER_FIRMWARE
    address = 0
    size = PartitionSize.STAR_TRACKER_FIRMWARE
    command = (
        object_id
        + struct.pack("!I", StarTrackerActionIds.CHECKSUM)
        + struct.pack("!B", region)
        + struct.pack("!I", address)
        + struct.pack("!I", size)
    )
    return command