import datetime
import struct
import logging

from spacepackets.ccsds import CdsShortTimestamp
from spacepackets.ecss import PusTelecommand
from tmtccmd.config import CmdTreeNode
from tmtccmd.pus.tc.s200_fsfw_mode import Mode
from tmtccmd.tmtc import DefaultPusQueueHelper
from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice

from opssat_tmtc.camera_params import CameraParameters
from opssat_tmtc.common import (
    EXPERIMENT_APID,
    UniqueId,
    make_action_cmd_header,
)


_LOGGER = logging.getLogger(__name__)


def create_set_mode_cmd(
    apid: int, unique_id: int, mode: int, submode: int
) -> PusTelecommand:
    app_data = bytearray()
    app_data.extend(struct.pack("!I", unique_id))
    app_data.extend(struct.pack("!I", mode))
    app_data.extend(struct.pack("!H", submode))
    return PusTelecommand(
        service=200,
        subservice=ModeSubservice.TC_MODE_COMMAND,
        apid=apid,
        app_data=app_data,
    )


def create_cmd_definition_tree() -> CmdTreeNode:

    root_node = CmdTreeNode.root_node()

    hk_node = CmdTreeNode("hk", "Housekeeping Node", hide_children_for_print=True)
    hk_node.add_child(CmdTreeNode("one_shot_hk", "Request One Shot HK set"))
    hk_node.add_child(
        CmdTreeNode("enable", "Enable periodic housekeeping data generation")
    )
    hk_node.add_child(
        CmdTreeNode("disable", "Disable periodic housekeeping data generation")
    )

    mode_node = CmdTreeNode("mode", "Mode Node", hide_children_for_print=True)
    set_mode_node = CmdTreeNode(
        "set_mode", "Set Node", hide_children_which_are_leaves=True
    )
    set_mode_node.add_child(CmdTreeNode("off", "Set OFF Mode"))
    set_mode_node.add_child(CmdTreeNode("on", "Set ON Mode"))
    set_mode_node.add_child(CmdTreeNode("normal", "Set NORMAL Mode"))
    mode_node.add_child(set_mode_node)
    mode_node.add_child(CmdTreeNode("read_mode", "Read Mode"))

    test_node = CmdTreeNode("test", "Test Node")
    test_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
    test_node.add_child(CmdTreeNode("trigger_event", "Send PUS test to trigger event"))
    root_node.add_child(test_node)

    scheduler_node = CmdTreeNode("scheduler", "Scheduler Node")
    scheduler_node.add_child(
        CmdTreeNode(
            "schedule_ping_10_secs_ahead", "Schedule Ping to execute in 10 seconds"
        )
    )
    root_node.add_child(scheduler_node)

    action_node = CmdTreeNode("action", "Action Node")
    cam_node = CmdTreeNode("take_image", "Take Image with IMS Imager")
    cam_node.add_child(
        CmdTreeNode("default_single", "Default Single Image Camera Parameters")
    )
    cam_node.add_child(
        CmdTreeNode("balanced_single", "Balanced Single Image Camera Parameters")
    )
    cam_node.add_child(
        CmdTreeNode(
            "default_single_flatsat",
            "Default Single Image Camera Parameters for use on FlatSat",
        )
    )
    cam_node.add_child(
        CmdTreeNode(
            "balanced_single_flatsat",
            "Balanced Single Image Camera Parameters for use on FlatSat",
        )
    )
    cam_node.add_child(
        CmdTreeNode("custom_params", "Custom Camera Parameters as specified from file")
    )
    action_node.add_child(cam_node)

    controller_node = CmdTreeNode("controller", "Main OBSW Controller")
    controller_node.add_child(
        CmdTreeNode("downlink_logs", "Downlink Logs via toGround folder")
    )
    controller_node.add_child(
        CmdTreeNode("downlink_last_img", "Downlink last image via toGroundLP folder")
    )
    action_node.add_child(controller_node)

    root_node.add_child(action_node)

    return root_node


def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
    # It should always be at least the root path "/", so we split of the empty portion left of it.
    cmd_path_list = cmd_path.split("/")[1:]
    if len(cmd_path_list) == 0:
        _LOGGER.warning("empty command path")
        return
    if cmd_path_list[0] == "test":
        assert len(cmd_path_list) >= 2
        if cmd_path_list[1] == "ping":
            q.add_log_cmd("Sending PUS ping telecommand")
            return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
        elif cmd_path_list[1] == "trigger_event":
            q.add_log_cmd("Triggering test event")
            return q.add_pus_tc(PusTelecommand(service=17, subservice=128))
    if cmd_path_list[0] == "scheduler":
        assert len(cmd_path_list) >= 2
        if cmd_path_list[1] == "schedule_ping_10_secs_ahead":
            q.add_log_cmd("Sending PUS scheduled TC telecommand")
            crt_time = CdsShortTimestamp.from_now()
            time_stamp = crt_time + datetime.timedelta(seconds=10)
            time_stamp = time_stamp.pack()
            return q.add_pus_tc(
                create_time_tagged_cmd(
                    time_stamp,
                    PusTelecommand(service=17, subservice=1),
                )
            )
    if cmd_path_list[0] == "acs":
        assert len(cmd_path_list) >= 2
    if cmd_path_list[0] == "action":
        assert len(cmd_path_list) >= 2
        if cmd_path_list[1] == "take_image":
            assert len(cmd_path_list) >= 3
            q.add_log_cmd(
                "Sending PUS take image action request with "
                + cmd_path_list[2]
                + " params."
            )
            data = bytearray()
            if cmd_path_list[2] == "default_single":
                data.extend(make_action_cmd_header(UniqueId.CameraHandler, 1))
            if cmd_path_list[2] == "balanced_single":
                data.extend(make_action_cmd_header(UniqueId.CameraHandler, 2))
            if cmd_path_list[2] == "default_single_flatsat":
                data.extend(make_action_cmd_header(UniqueId.CameraHandler, 3))
            if cmd_path_list[2] == "balanced_single_flatsat":
                data.extend(make_action_cmd_header(UniqueId.CameraHandler, 4))
            if cmd_path_list[2] == "custom":
                data.extend(make_action_cmd_header(UniqueId.CameraHandler, 5))
                params = CameraParameters(8, 8, 8, 1, True, 200, 1000)
                data.extend(params.serialize_for_uplink())
            return q.add_pus_tc(
                PusTelecommand(
                    service=8, subservice=128, apid=EXPERIMENT_APID, app_data=data
                )
            )
        if cmd_path_list[1] == "controller":
            assert len(cmd_path_list) >= 3
            data = bytearray()
            if cmd_path_list[2] == "downlink_logs":
                data.extend(make_action_cmd_header(UniqueId.Controller, 2))
            if cmd_path_list[2] == "downlink_last_img":
                data.extend(make_action_cmd_header(UniqueId.Controller, 3))
            return q.add_pus_tc(
                PusTelecommand(
                    service=8, subservice=128, apid=EXPERIMENT_APID, app_data=data
                )
            )


def handle_set_mode_cmd(
    q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int
):
    if mode_str == "off":
        q.add_log_cmd(f"Sending Mode OFF to {target_str}")
        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.OFF, 0))
    elif mode_str == "on":
        q.add_log_cmd(f"Sending Mode ON to {target_str}")
        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.ON, 0))
    elif mode_str == "normal":
        q.add_log_cmd(f"Sending Mode NORMAL to {target_str}")
        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.NORMAL, 0))