from enum import Enum, IntEnum

from nbus_hal.nbus_serial.serial_config import NBusBaudrate, NBusParity

config = {
    "port_name": "COM14",
    "baud": NBusBaudrate.SPEED_921600,
    "parity": NBusParity.NONE,
    "timeout": 0.01,
    "flush_delay": 0.5,
    "request_attempts": 1,
    "enable_log": False,
}

BRIDGE_ACQUIRE_WAIT = 0.002
TASK_NBUS_DELAY = 0.05  # Znížené na 50 ms, aby sa dáta nehromadili v bufferi

PHASE_SID = "5.129.2"
MODULE_ADDR = 5

PHASES = [
    "Neaktívne",
    "Meranie referenčnej polohy",
    "Čakanie na meranie pohybu",
    "Meranie východiskovej polohy",
    "Meranie pohybu",
    "Meranie cieľovej polohy",
    "Meranie dokončené"]

class MeasuringPhase(IntEnum):
    IDLE = 0,
    POS_REF = 1,
    INTERLUDE = 2,
    POS_START = 3,
    MOVEMENT = 4,
    POS_END = 5,
    ACK = 6

PRECISION = 5

MA = 5
SA_TOF = 1
SA_ACC = 2
SA_GYR = 3
SA_TMP = 4
SA_HUM = 5
SA_MES = 129

VA_AX = 1
VA_AY = 2
VA_AZ = 3

VA_TMP = 1
VA_HUM = 1

VA_SER = 1
VA_PHA = 2

CN_TIME = "time"
CN_TOF_X = "tof_x"
CN_TOF_Y = "tof_y"
CN_TOF_Z = "tof_z"
CN_ACC_X = "acc_x"
CN_ACC_Y = "acc_y"
CN_ACC_Z = "acc_z"
CN_GYR_X = "gyr_x"
CN_GYR_Y = "gyr_y"
CN_GYR_Z = "gyr_z"
CN_TMP   = "temp"
CN_HUM   = "hum"
CN_SER   = "ser"
CN_PHA   = "pha"


TOF_NAN  = 65535
IMU_NAN  = 3276.7
TEMP_NAN = 327.67
HUM_NAN  = 655.35


NBUS_DATA_COLUMN_MAPPING = {
    "TS"                        :   CN_TIME,
    f"{MA}.{SA_TOF}.{VA_AX}"    :   CN_TOF_X,
    f"{MA}.{SA_TOF}.{VA_AY}"    :   CN_TOF_Y,
    f"{MA}.{SA_TOF}.{VA_AZ}"    :   CN_TOF_Z,
    f"{MA}.{SA_ACC}.{VA_AX}"    :   CN_ACC_X,
    f"{MA}.{SA_ACC}.{VA_AY}"    :   CN_ACC_Y,
    f"{MA}.{SA_ACC}.{VA_AZ}"    :   CN_ACC_Z,
    f"{MA}.{SA_GYR}.{VA_AX}"    :   CN_GYR_X,
    f"{MA}.{SA_GYR}.{VA_AY}"    :   CN_GYR_Y,
    f"{MA}.{SA_GYR}.{VA_AZ}"    :   CN_GYR_Z,
    f"{MA}.{SA_TMP}.{VA_TMP}"   :   CN_TMP,
    f"{MA}.{SA_HUM}.{VA_HUM}"   :   CN_HUM,
    f"{MA}.{SA_MES}.{VA_SER}"   :   CN_SER,
    f"{MA}.{SA_MES}.{VA_PHA}"   :   CN_PHA
}

NBUS_DATA_NAN_MAPPING = {
    CN_TOF_X                    :   TOF_NAN,
    CN_TOF_Y                    :   TOF_NAN,
    CN_TOF_Z                    :   TOF_NAN,
    CN_ACC_X                    :   IMU_NAN,
    CN_ACC_Y                    :   IMU_NAN,
    CN_ACC_Z                    :   IMU_NAN,
    CN_GYR_X                    :   IMU_NAN,
    CN_GYR_Y                    :   IMU_NAN,
    CN_GYR_Z                    :   IMU_NAN,
    CN_TMP                      :   TEMP_NAN,
    CN_HUM                      :   HUM_NAN
}

NBUS_DATA_EMPTY_MAPPING = [
    CN_TOF_X,
    CN_TOF_Y,
    CN_TOF_Z,
    CN_ACC_X,
    CN_ACC_Y,
    CN_ACC_Z,
    CN_GYR_X,
    CN_GYR_Y,
    CN_GYR_Z,
    CN_TMP,
    CN_HUM
]

NBUS_DATA_PHASES_TO_REMOVE = [
    MeasuringPhase.IDLE.value,
    MeasuringPhase.INTERLUDE.value,
    MeasuringPhase.ACK.value
]

NBUS_DATA_PHASE_MAPPING = {
    MeasuringPhase.POS_REF.value      : 'ref',
    MeasuringPhase.POS_START.value    : 'beg',
    MeasuringPhase.MOVEMENT.value     : 'mov',
    MeasuringPhase.POS_END.value      : 'end'
}