import struct
from abc import abstractmethod
from typing import Tuple, Annotated

from beartype.vale import Is

from nbus_api.nbus_slave_device import NBusSlaveDevice
from nbus_api.nbus_common_parser import NbusCommonParser
from nbus_hal.nbus_serial.serial_port import *
from nbus_types.nbus_address_type import NBusModuleAddress
from nbus_types.nbus_parameter_type import NBusParameterID, NBusParameterValue


@beartype
class NBusSlaveModule:

    def __init__(self, serial_port: NBusSerialPort, module_address: NBusModuleAddress):
        self.__port = serial_port
        self.__module_addr = module_address
        self.__params = {}
        self.__devices = {}
        self._map_param_get = lambda t, v: v
        self._map_param_set = lambda t, v: v

    def set_module_parameter_mappers(self, map_param_get_cb: Callable[[NBusParameterID, NBusParameterValue], int],
                                     map_param_set_cb: Callable[[NBusParameterID, int], NBusParameterValue]):
        self._map_param_get = map_param_get_cb
        self._map_param_set = map_param_set_cb

    def add_device(self, device: NBusSlaveDevice) -> None:
        device.set_parent_module_address(self.__module_addr)
        device.set_device_port(self.__port)
        self.__devices[device.address] = device

    def get_device(self, device_address: NBusDeviceAddress) -> NBusSlaveDevice:
        return self.__devices[device_address]



    """
    ================================================================================================================
                                                Module Get Commands
    ================================================================================================================
    """

    def cmd_get_echo(self, message: bytearray) -> bool:
        """
        Send Echo Command.
        :param message: message to send
        :return: status (True = echo, False = no echo)
        """
        _, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_GET_ECHO, message)
        return response == list(message)

    def cmd_get_param(self, parameter: NBusParameterID) -> Tuple[NBusParameterID, NBusParameterValue]:
        # get response
        resp_len, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_GET_PARAM,
                                                         bytearray([parameter.value]))

        param_id, param_val_raw = NbusCommonParser.parameters_from_response(resp_len, response)[0]
        param_val = self._map_param_get(param_id, param_val_raw)

        self.__params[param_id] = param_val

        return param_id, param_val

    def cmd_get_all_params(self) -> list[Tuple[NBusParameterID, NBusParameterValue]]:
        resp_len, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_GET_PARAM, bytearray([]))
        params_raw = NbusCommonParser.parameters_from_response(resp_len, response)

        params = []

        for param_id, param_val_raw in params_raw:
            param_val = self._map_param_get(param_id, param_val_raw)

            params.append((param_id, param_val))
            self.__params[param_id] = param_val

        return params

    def cmd_get_sensor_cnt(self) -> Annotated[int, Is[lambda value: 0 < value < 64]]:
        _, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_GET_SENSOR_CNT, bytearray([]))
        return response[0]

    def cmd_get_data(self):
        resp_length, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_GET_DATA, bytearray([]))
        begin_idx = 0
        data = []

        while begin_idx < resp_length:
            device_id = response[begin_idx]

            values, offset = NbusCommonParser.data_from_response(self.__devices[device_id], response[begin_idx:])
            data.append((device_id, values))
            begin_idx += offset + 1

        return data

    def cmd_get_info(self, parameter: NBusInfoParam):
        resp_length, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_GET_INFO,
                                                            bytearray([parameter.value]))

        if parameter == NBusInfoParam.INFO_FORMAT:
            begin_idx = 0
            formats = []

            while begin_idx < resp_length:
                device_id = response[begin_idx]
                device_format = NbusCommonParser.format_from_response(response[begin_idx:begin_idx + 4])

                self.__devices[device_id].data_format = device_format
                formats.append((device_id, device_format))
                begin_idx += 4

            return formats




    def cmd_get_sensor_type(self):
        pass


    """
    ================================================================================================================
                                                Module Set Commands
    ================================================================================================================
    """

    def cmd_set_module_stop(self):
        self._send_request_module(self.__module_addr, NBusCommand.CMD_SET_STOP, bytearray([]))

    def cmd_set_module_start(self):
        self.__port.request_module(self.__module_addr,NBusCommand.CMD_SET_START, bytearray([]))