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

from tmtccmd.utility.tmtc_printer import FsfwTmTcPrinter
from tmtccmd.config.definitions import HkReplyUnpacked
from tmtccmd.tm.service_3_fsfw_housekeeping import (
    Service3Base,
    HkContentType,
    Service3FsfwTm,
)
from tmtccmd.logging import get_console_logger
from pus_tc.devs.bpx_batt import BpxSetIds
from pus_tc.devs.syrlinks_hk_handler import SetIds
from pus_tc.devs.p60dock import SetIds
from pus_tc.devs.imtq import ImtqSetIds
from tmtccmd.pus.obj_id import ObjectId, ObjectIdDictT
from config.object_ids import (
    SYRLINKS_HANDLER_ID,
    IMTQ_HANDLER_ID,
    GPS_HANDLER_0_ID,
    GPS_HANDLER_1_ID,
    BPX_HANDLER_ID,
    CORE_CONTROLLER_ID,
    P60_DOCK_HANDLER,
    PL_PCDU_ID,
)

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:]
        printer.generic_hk_tm_print(
            content_type=HkContentType.HK,
            object_id=named_obj_id,
            set_id=tm_packet.set_id,
            hk_data=hk_data,
        )
        handle_regular_hk_print(
            printer=printer,
            object_id=named_obj_id,
            hk_packet=tm_packet,
            hk_data=hk_data,
        )
    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,
):
    object_id = 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 == SYRLINKS_HANDLER_ID:
        if set_id == SetIds.RX_REGISTERS_DATASET:
            return handle_syrlinks_rx_registers_dataset(printer, hk_data)
        elif set_id == SetIds.TX_REGISTERS_DATASET:
            return handle_syrlinks_tx_registers_dataset(printer, hk_data)
        else:
            LOGGER.info("Service 3 TM: Syrlinks handler reply with unknown set id")
    elif object_id == 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)
        else:
            LOGGER.info("Service 3 TM: Syrlinks handler reply with unknown set id")
    elif object_id == GPS_HANDLER_0_ID or object_id == GPS_HANDLER_1_ID:
        handle_gps_data(printer=printer, hk_data=hk_data)
    elif object_id == BPX_HANDLER_ID:
        handle_bpx_hk_data(hk_data=hk_data, set_id=set_id, printer=printer)
    elif object_id == CORE_CONTROLLER_ID:
        return handle_core_hk_data(printer=printer, hk_data=hk_data)
    elif object_id == P60_DOCK_HANDLER:
        handle_p60_hk_data(printer=printer, hk_data=hk_data)
    elif object_id == PL_PCDU_ID:
        log_to_both(printer, "Received PL PCDU HK data")
    else:
        LOGGER.info("Service 3 TM: Parsing for this SID has not been implemented.")
        return HkReplyUnpacked()


def handle_syrlinks_rx_registers_dataset(printer: FsfwTmTcPrinter, hk_data: bytes):
    reply = HkReplyUnpacked()
    header_list = [
        "RX Status",
        "RX Sensitivity",
        "RX Frequency Shift",
        "RX IQ Power",
        "RX AGC Value",
        "RX Demod Eb",
        "RX Demod N0",
        "RX Datarate",
    ]
    rx_status = hk_data[0]
    rx_sensitivity = struct.unpack("!I", hk_data[1:5])
    rx_frequency_shift = struct.unpack("!I", hk_data[5:9])
    rx_iq_power = struct.unpack("!H", hk_data[9:11])
    rx_agc_value = struct.unpack("!H", hk_data[11:13])
    rx_demod_eb = struct.unpack("!I", hk_data[13:17])
    rx_demod_n0 = struct.unpack("!I", hk_data[17:21])
    rx_data_rate = hk_data[21]
    content_list = [
        rx_status,
        rx_sensitivity,
        rx_frequency_shift,
        rx_iq_power,
        rx_agc_value,
        rx_demod_eb,
        rx_demod_n0,
        rx_data_rate,
    ]
    validity_buffer = hk_data[22:]
    log_to_both(printer, str(header_list))
    log_to_both(printer, str(content_list))
    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=8)


def handle_syrlinks_tx_registers_dataset(
    printer: FsfwTmTcPrinter,
    hk_data: bytes,
):
    reply = HkReplyUnpacked()
    header_list = ["TX Status", "TX Waveform", "TX AGC value"]
    tx_status = hk_data[0]
    tx_waveform = hk_data[1]
    tx_agc_value = struct.unpack("!H", hk_data[2:4])
    content_list = [tx_status, tx_waveform, tx_agc_value]
    validity_buffer = hk_data[4:]
    log_to_both(printer, str(header_list))
    log_to_both(printer, str(content_list))
    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=3)


def handle_self_test_data(printer: FsfwTmTcPrinter, hk_data: bytes):
    header_list = [
        "Init Err",
        "Init Raw Mag X [nT]",
        "Init Raw Mag Y [nT]",
        "Init Raw Mag Z [nT]",
        "Init Cal Mag X [nT]",
        "Init Cal Mag Y [nT]",
        "Init Cal Mag Z [nT]",
        "Init Coil X Current [mA]",
        "Init Coil Y Current [mA]",
        "Init Coil Z Current [mA]",
        "Init Coil X Temperature [°C]",
        "Init Coil Y Temperature [°C]",
        "Init Coil Z Temperature [°C]",
        "Err",
        "Raw Mag X [nT]",
        "Raw Mag Y [nT]",
        "Raw Mag Z [nT]",
        "Cal Mag X [nT]",
        "Cal Mag Y [nT]",
        "Cal Mag Z [nT]",
        "Coil X Current [mA]",
        "Coil Y Current [mA]",
        "Coil Z Current [mA]",
        "Coil X Temperature [°C]",
        "Coil Y Temperature [°C]",
        "Coil Z Temperature [°C]",
        "Fina Err",
        "Fina Raw Mag X [nT]",
        "Fina Raw Mag Y [nT]",
        "Fina Raw Mag Z [nT]",
        "Fina Cal Mag X [nT]",
        "Fina Cal Mag Y [nT]",
        "Fina Cal Mag Z [nT]",
        "Fina Coil X Current [mA]",
        "Fina Coil Y Current [mA]",
        "Fina Coil Z Current [mA]",
        "Fina Coil X Temperature [°C]",
        "Fina Coil Y Temperature [°C]",
        "Fina Coil Z Temperature [°C]",
    ]
    # INIT step (no coil actuation)
    init_err = hk_data[0]
    init_raw_mag_x = struct.unpack("!f", hk_data[1:5])[0]
    init_raw_mag_y = struct.unpack("!f", hk_data[5:9])[0]
    init_raw_mag_z = struct.unpack("!f", hk_data[9:13])[0]
    init_cal_mag_x = struct.unpack("!f", hk_data[13:17])[0]
    init_cal_mag_y = struct.unpack("!f", hk_data[17:21])[0]
    init_cal_mag_z = struct.unpack("!f", hk_data[21:25])[0]
    init_coil_x_current = struct.unpack("!f", hk_data[25:29])[0]
    init_coil_y_current = struct.unpack("!f", hk_data[29:33])[0]
    init_coil_z_current = struct.unpack("!f", hk_data[33:37])[0]
    init_coil_x_temperature = struct.unpack("!H", hk_data[37:39])[0]
    init_coil_y_temperature = struct.unpack("!H", hk_data[39:41])[0]
    init_coil_z_temperature = struct.unpack("!H", hk_data[41:43])[0]

    # Actuation step
    err = hk_data[43]
    raw_mag_x = struct.unpack("!f", hk_data[44:48])[0]
    raw_mag_y = struct.unpack("!f", hk_data[48:52])[0]
    raw_mag_z = struct.unpack("!f", hk_data[52:56])[0]
    cal_mag_x = struct.unpack("!f", hk_data[56:60])[0]
    cal_mag_y = struct.unpack("!f", hk_data[60:64])[0]
    cal_mag_z = struct.unpack("!f", hk_data[64:68])[0]
    coil_x_current = struct.unpack("!f", hk_data[68:72])[0]
    coil_y_current = struct.unpack("!f", hk_data[72:76])[0]
    coil_z_current = struct.unpack("!f", hk_data[76:80])[0]
    coil_x_temperature = struct.unpack("!H", hk_data[80:82])[0]
    coil_y_temperature = struct.unpack("!H", hk_data[82:84])[0]
    coil_z_temperature = struct.unpack("!H", hk_data[84:86])[0]

    # FINA step (no coil actuation)
    fina_err = hk_data[86]
    fina_raw_mag_x = struct.unpack("!f", hk_data[87:91])[0]
    fina_raw_mag_y = struct.unpack("!f", hk_data[91:95])[0]
    fina_raw_mag_z = struct.unpack("!f", hk_data[95:99])[0]
    fina_cal_mag_x = struct.unpack("!f", hk_data[99:103])[0]
    fina_cal_mag_y = struct.unpack("!f", hk_data[103:107])[0]
    fina_cal_mag_z = struct.unpack("!f", hk_data[107:111])[0]
    fina_coil_x_current = struct.unpack("!f", hk_data[111:115])[0]
    fina_coil_y_current = struct.unpack("!f", hk_data[115:119])[0]
    fina_coil_z_current = struct.unpack("!f", hk_data[119:123])[0]
    fina_coil_x_temperature = struct.unpack("!H", hk_data[123:125])[0]
    fina_coil_y_temperature = struct.unpack("!H", hk_data[125:127])[0]
    fina_coil_z_temperature = struct.unpack("!H", hk_data[127:129])[0]

    validity_buffer = hk_data[129:]
    content_list = [
        init_err,
        init_raw_mag_x,
        init_raw_mag_y,
        init_raw_mag_z,
        init_cal_mag_x,
        init_cal_mag_y,
        init_cal_mag_z,
        init_coil_x_current,
        init_coil_y_current,
        init_coil_z_current,
        init_coil_x_temperature,
        init_coil_y_temperature,
        init_coil_z_temperature,
        err,
        raw_mag_x,
        init_raw_mag_y,
        raw_mag_z,
        cal_mag_x,
        cal_mag_y,
        cal_mag_z,
        coil_x_current,
        coil_y_current,
        coil_z_current,
        coil_x_temperature,
        coil_y_temperature,
        coil_z_temperature,
        fina_err,
        fina_raw_mag_x,
        fina_raw_mag_y,
        fina_raw_mag_z,
        fina_cal_mag_x,
        fina_cal_mag_y,
        fina_cal_mag_z,
        fina_coil_x_current,
        fina_coil_y_current,
        fina_coil_z_current,
        fina_coil_x_temperature,
        fina_coil_y_temperature,
        fina_coil_z_temperature,
    ]
    num_of_vars = len(header_list)
    log_to_both(printer, str(header_list))
    log_to_both(printer, str(content_list))
    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)


def handle_gps_data(printer: FsfwTmTcPrinter, hk_data: bytes):
    LOGGER.info(f"Received GPS data, HK data length {len(hk_data)}")
    reply = HkReplyUnpacked()
    var_index = 0
    header_list = [
        "Latitude",
        "Longitude",
        "Altitude",
        "Fix Mode",
        "Sats in Use",
        "Date",
        "Unix Seconds",
    ]
    latitude = struct.unpack("!d", hk_data[0:8])[0]
    longitude = struct.unpack("!d", hk_data[8:16])[0]
    altitude = struct.unpack("!d", hk_data[16:24])[0]
    fix_mode = hk_data[24]
    sat_in_use = hk_data[25]
    year = struct.unpack("!H", hk_data[26:28])[0]
    month = hk_data[28]
    day = hk_data[29]
    hours = hk_data[30]
    minutes = hk_data[31]
    seconds = hk_data[32]
    date_string = f"{day}.{month}.{year} {hours}:{minutes}:{seconds}"
    unix_seconds = struct.unpack("!I", hk_data[33:37])[0]
    content_list = [
        latitude,
        longitude,
        altitude,
        fix_mode,
        sat_in_use,
        date_string,
        unix_seconds,
    ]
    var_index += 13
    reply.num_of_vars = var_index
    if not os.path.isfile("gps_log.txt"):
        with open("gps_log.txt", "w") as gps_file:
            gps_file.write(
                "Time, Latitude [deg], Longitude [deg], Altitude [m], Fix Mode, Sats in Use, "
                "Date, Unix Seconds\n"
            )
    with open("gps_log.txt", "a") as gps_file:
        gps_file.write(
            f"{datetime.datetime.now()}, {latitude}, {longitude}, {altitude}, "
            f"{fix_mode}, {sat_in_use}, {date_string}, {unix_seconds}\n"
        )
    validity_buffer = hk_data[37:39]
    log_to_both(printer, str(header_list))
    log_to_both(printer, str(content_list))
    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=10)


def handle_bpx_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
    if set_id == BpxSetIds.GET_HK_SET:
        fmt_str = "!HHHHhhhhIB"
        inc_len = struct.calcsize(fmt_str)
        (
            charge_current,
            discharge_current,
            heater_current,
            batt_voltage,
            batt_temp_1,
            batt_temp_2,
            batt_temp_3,
            batt_temp_4,
            reboot_cntr,
            boot_cause,
        ) = struct.unpack(fmt_str, hk_data[0:inc_len])
        header_list = [
            "Charge Current",
            "Discharge Current",
            "Heater Current",
            "Battery Voltage",
            "Batt Temp 1",
            "Batt Temp 2",
            "Batt Temp 3",
            "Batt Temp 4",
            "Reboot Counter",
            "Boot Cause",
        ]
        content_list = [
            charge_current,
            discharge_current,
            heater_current,
            batt_voltage,
            batt_temp_1,
            batt_temp_2,
            batt_temp_3,
            batt_temp_4,
            reboot_cntr,
            boot_cause,
        ]
        validity_buffer = hk_data[inc_len:]
        log_to_both(printer, str(header_list))
        log_to_both(printer, str(content_list))
        printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=10)
    elif set_id == BpxSetIds.GET_CFG_SET:
        battheat_mode = hk_data[0]
        battheat_low = struct.unpack("!b", hk_data[1:2])[0]
        battheat_high = struct.unpack("!b", hk_data[2:3])[0]
        header_list = [
            "Battery Heater Mode",
            "Battery Heater Low Limit",
            "Battery Heater High Limit",
        ]
        content_list = [battheat_mode, battheat_low, battheat_high]
        validity_buffer = hk_data[3:]
        log_to_both(printer, str(header_list))
        log_to_both(printer, str(content_list))
        printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=10)


def handle_core_hk_data(printer: FsfwTmTcPrinter, hk_data: bytes):

    fmt_str = "!fffH"
    inc_len = struct.calcsize(fmt_str)
    (temperature, ps_voltage, pl_voltage, tx_agc_value) = struct.unpack(
        fmt_str, hk_data[0 : 0 + inc_len]
    )
    printout = (
        f"Chip Temperature [°C] {temperature} | PS Voltage [mV] {ps_voltage} | "
        f"PL Voltage [mV] {pl_voltage} | TX AGC {tx_agc_value}"
    )
    log_to_both(printer, printout)
    printer.print_validity_buffer(validity_buffer=hk_data[inc_len:], num_vars=4)


P60_INDEX_LIST = [
    "ACU VCC",
    "PDU1 VCC",
    "X3 IDLE VCC",
    "PDU2 VCC",
    "ACU VBAT",
    "PDU1 VBAT",
    "X3 IDLE VBAT",
    "PDU2 VBAT",
    "STACK VBAT",
    "STACK 3V3",
    "STACK 5V",
    "GS3V3",
    "GS5V",
]

WDT_LIST = ["GND", "I2C", "CAN", "CSP0", "CSP1"]


def handle_p60_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
    if set_id == SetIds.P60_CORE:
        log_to_both(printer, "P60 Core HK")
        current_idx = 0
        current_list = []
        for idx in range(13):
            current_list.append(
                struct.unpack("!h", hk_data[current_idx : current_idx + 2])[0]
            )
            current_idx += 2
        voltage_list = []
        for idx in range(13):
            voltage_list.append(
                struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
            )
            current_idx += 2
        out_enb_list = []
        for idx in range(13):
            out_enb_list.append(hk_data[current_idx])
            current_idx += 1
        header_str = f"{'Name'.ljust(24)} | OutEnb | U [mV] | I [mA]"
        print(header_str)
        printer.file_logger.info(header_str)
        for idx in range(13):
            out_enb = f"{out_enb_list[idx]}".ljust(6)
            content_line = (
                f"{P60_INDEX_LIST[idx].ljust(24)} | {out_enb} | "
                f"{voltage_list[idx]:05} | {current_list[idx]:04}"
            )
            log_to_both(printer, content_line)
        fmt_str = "!IBhHhh"
        inc_len = struct.calcsize(fmt_str)
        (
            boot_count,
            batt_mode,
            batt_current,
            batt_voltage,
            temp_0,
            temp_1,
        ) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
        current_idx += inc_len
        batt_info = (
            f"Batt Mode {batt_mode} | Boot Count {boot_count} | "
            f"Batt: Current {batt_current} | Volt {batt_voltage}"
        )
        temps = f"In C: Temp 0 {temp_0 / 10.0} | Temp 1 {temp_1 / 10.0} | "
        log_to_both(printer, temps)
        log_to_both(printer, batt_info)
        printer.print_validity_buffer(validity_buffer=hk_data[current_idx:], num_vars=9)
    if set_id == SetIds.P60_AUX:
        log_to_both(printer, "P60 AUX HK")
        current_idx = 0
        latchup_list = []
        for idx in range(0, 13):
            latchup_list.append(
                struct.unpack("!H", hk_data[current_idx : current_idx + 2])[0]
            )
            content_line = f"{P60_INDEX_LIST[idx].ljust(24)} | {latchup_list[idx]}"
            log_to_both(printer, content_line)
            current_idx += 2
        fmt_str = "!IIHBBHHhhB"
        inc_len = struct.calcsize(fmt_str)
        (
            boot_cause,
            uptime,
            reset_cause,
            heater_on,
            conv_5v_on,
            dock_vbat,
            dock_vcc_c,
            batt_temp_0,
            batt_temp_1,
            dearm_status,
        ) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
        current_idx += inc_len
        wdt_reboots_list = []
        for idx in range(5):
            wdt_reboots_list.append(
                struct.unpack("!I", hk_data[current_idx : current_idx + 4])[0]
            )
            current_idx += 4
        time_pings_left_list = []
        for idx in range(3):
            time_pings_left_list.append(
                struct.unpack("!I", hk_data[current_idx : current_idx + 4])[0]
            )
            current_idx += 4
        for idx in range(2):
            time_pings_left_list.append(hk_data[current_idx])
            current_idx += 1
        fmt_str = "!hhbb"
        inc_len = struct.calcsize(fmt_str)
        (
            batt_charge_current,
            batt_discharge_current,
            ant6_depl,
            ar6_depl,
        ) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
        current_idx += inc_len
        device_types = []
        device_statuses = []
        for idx in range(8):
            device_types.append(hk_data[current_idx])
            current_idx += 1
        for idx in range(8):
            device_statuses.append(hk_data[current_idx])
            current_idx += 1
        util_info = (
            f"Reset Cause {reset_cause} | Boot Cause {boot_cause} | Uptime {uptime}"
        )
        util_info_2 = (
            f"Conv 5V on {conv_5v_on} |  Heater On {heater_on} | "
            f"Dock VBAT {dock_vbat} | DOCK VCC Current {dock_vcc_c}"
        )
        log_to_both(printer, util_info)
        log_to_both(printer, util_info_2)
        wdt_info = "WDT Type | Reboots | Time or Pings left (CSP only)"
        log_to_both(printer, wdt_info)
        for idx in range(len(wdt_reboots_list)):
            log_to_both(
                printer,
                f"{WDT_LIST[idx].ljust(5)} | "
                f"{wdt_reboots_list[idx]:010} | {time_pings_left_list[idx]:010}",
            )
        misc_info = (
            f"Dearm {dearm_status} | ANT6 Depl {ant6_depl} | AR6 Deply {ar6_depl}"
        )
        log_to_both(printer, misc_info)
        batt_info = (
            f"Batt Temp 0 {batt_temp_0 / 10.0} | Batt Temp 1 {batt_temp_1 / 10.0}"
            f"Charge Current {batt_charge_current} | Discharge Current {batt_discharge_current}"
        )
        log_to_both(printer, batt_info)
        printer.print_validity_buffer(
            validity_buffer=hk_data[current_idx:], num_vars=27
        )


def log_to_both(printer: FsfwTmTcPrinter, string: str):
    print(string)
    printer.file_logger.info(string)