import struct
from nbus_api.nbus_sensor import NBusSensor
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_data_fomat import NBusDataValue, NBusDataFormat
from nbus_types.nbus_exceptions.nbus_api_exception import NBusErrorAPI, NBusErrorAPIType
from nbus_types.nbus_parameter_type import NBusParameterID, NBusParameterValue
from nbus_types.nbus_status_type import NBusStatusType
from nbus_types.nbus_sensor_count_type import NBusSensorCount
from nbus_types.nbus_info_type import NBusInfo
from nbus_types.nbus_sensor_type import NBusSensorType


@beartype
class NBusSlaveModule:
    """
    Class representing nBus slave module.
    """

    def __init__(self, serial_port: NBusSerialPort, module_address: NBusModuleAddress):
        """
        Constructor.

        :param serial_port: serial port
        :param module_address: address of module
        """
        self.__port = serial_port
        self.__module_addr = module_address
        self.__params = {}
        self.__devices = {}
        self._map_param_get = lambda t, v: v    # dummy implementation
        self._map_param_set = lambda t, v: v    # dummy implementation

    """
    ================================================================================================================
                                                Module General Methods
    ================================================================================================================
    """

    def set_module_parameter_mappers(self, map_param_get_cb: Callable[[NBusParameterID, NBusParameterValue], int],
                                     map_param_set_cb: Callable[[NBusParameterID, int], NBusParameterValue]) -> None:
        """
        Set parameter mappers for module.

        :param map_param_get_cb: callback for map param get
        :param map_param_set_cb: callback for map param set
        """
        self._map_param_get = map_param_get_cb
        self._map_param_set = map_param_set_cb

    def add_sensor(self, sensor: NBusSensor) -> None:
        """
        Add sensor to container.

        :param sensor: nbus sensor
        """
        sensor.set_parent_module_address(self.__module_addr)
        sensor.set_device_port(self.__port)
        self.__devices[sensor.address] = sensor

    def get_sensor(self, sensor_address: NBusSensorAddress) -> NBusSensor:
        """
        Get module sensor.

        :param sensor_address: address of sensor

        :return: sensor
        """
        return self.__devices[sensor_address]

    """
    ================================================================================================================
                                                Module Get Commands
    ================================================================================================================
    """
    def cmd_get_echo(self, message: bytearray) -> bool:
        """
        Get echo from module.

        :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) -> NBusParameterValue:
        """
        Get single module parameter.

        :param parameter: parameter id
        :return: parameter value
        """
        # get response
        resp_len, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_GET_PARAM,
                                                         bytearray([parameter.value]))

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

        # store parameter value
        self.__params[param_id] = param_val

        return param_val

    def cmd_get_all_params(self) -> dict[NBusParameterID, NBusParameterValue]:
        """
        Get all module parameters.

        :return: dict of parameter id and parameter value
        """

        # get response
        resp_len, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_GET_PARAM, bytearray([]))

        # parse parameters
        params_raw = NbusCommonParser.parameters_from_response(resp_len, response)

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

            # store parameters
            self.__params[param_id] = param_val

        return self.__params.copy()

    def cmd_get_sensor_cnt(self) -> NBusSensorCount:
        """
        Get sensor count.

        :return: count of read-only and read-write sensors
        """
        _, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_GET_SENSOR_CNT, bytearray([]))
        return NBusSensorCount(*response)

    def cmd_get_data(self) -> dict[NBusSensorAddress, list[NBusDataValue]]:
        """
        Get data from all module sensors.

        :return: dict of device addresses and data values
        """

        # get data
        resp_length, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_GET_DATA, bytearray([]))

        # parse data
        begin_idx = 0
        data = {}

        while begin_idx < resp_length:
            device_id = response[begin_idx]

            # handle errors
            if self.__devices[device_id].data_format is None:  # check for format and params
                raise NBusErrorAPI(NBusErrorAPIType.FORMAT_NOT_LOADED)
            if not self.__devices[device_id].data_parameters_loaded():
                raise NBusErrorAPI(NBusErrorAPIType.PARAMS_NOT_LOADED)

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

        return data

    def cmd_get_info(self) -> NBusInfo:
        """
        Get module info.

        :return: module info
        """

        response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_GET_INFO, bytearray([]))

        name = str(response[1:9], "ascii")
        typ = str(response[9:12], "ascii")
        uuid = struct.unpack("<I", bytearray(response[12:16]))[0]
        hw = str(response[16:19], "ascii")
        fw = str(response[19:22], "ascii")
        mem_id = struct.unpack("<Q", bytearray(response[22:30]))[0]
        ro_count = int(response[30])
        rw_count = int(response[31])

        return NBusInfo(module_name=name, module_type=typ, uuid=uuid, hw=hw, fw=fw, memory_id=mem_id,
                        read_only_sensors=ro_count, read_write_sensors=rw_count)

    def cmd_get_format(self) -> dict[NBusSensorAddress, NBusDataFormat]:
        """
        Get format of all on-board sensors.

        :return: dict of sensor addresses and sensor formats
        """

        # get response
        resp_length, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_GET_FORMAT,
                                                            bytearray([]))
        begin_idx = 0
        formats = {}

        # parse format
        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[device_id] = device_format
            begin_idx += 4

        return formats

    def cmd_get_sensor_type(self) -> dict[NBusSensorAddress, NBusSensorType]:
        """
        Get type of all on-board sensors.

        :return: dict of sensor addresses and sensor types
        """
        # get response
        resp_length, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_GET_SENSOR_TYPE,
                                                            bytearray([]))
        # parse response
        types = {}
        i = 0

        while i < resp_length - 1:
            types[NBusSensorAddress(response[i])] = NBusSensorType(response[i + 1])
            i += 2

        return types

    """
    ================================================================================================================
                                                Module Set Commands
    ================================================================================================================
    """
    def cmd_set_module_stop(self) -> NBusStatusType:
        """
        Stop automatic measuring.

        :return: status
        """

        _, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_SET_STOP, bytearray([]))
        return NBusStatusType(response[0])

    def cmd_set_module_start(self) -> NBusStatusType:
        """
        Start automatic measuring.

        :return: status
        """
        _, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_SET_START, bytearray([]))
        return NBusStatusType(response[0])

    def cmd_set_param(self, param: NBusParameterID, value: NBusParameterValue) -> NBusStatusType:
        """
        Set module parameter.

        :param param: parameter ID
        :param value: parameter value
        :return: status
        """

        # create request packet
        param_id_raw = struct.pack("B", param.value)
        param_val_raw = struct.pack("<I", self._map_param_set(param, value))
        param_bytes = bytearray(param_id_raw) + bytearray(param_val_raw)

        # proceed request
        _, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_SET_PARAM, param_bytes)

        # if response is valid, store parameter
        if response[0] == param.value and response[1] == NBusStatusType.STATUS_SUCCESS:
            self.__params[param] = value

        return NBusStatusType(response[1])

    def cmd_set_multi_params(self, params: dict[NBusParameterID, NBusParameterValue]) \
            -> dict[NBusParameterID, NBusStatusType]:
        """
        Set multiple module parameters.

        :param params: parameters
        :return: dict od statuses
        """

        # scale parameters
        for p_id in params.keys():
            params[p_id] = self._map_param_set(p_id, params[p_id])

        # create request packet
        param_bytes = NbusCommonParser.parameters_to_request(params)

        # send request
        resp_length, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_SET_PARAM,
                                                            bytearray(param_bytes))
        # parse statuses
        statuses = {}

        for i in range(0, resp_length - 1, 2):
            p_id = NBusParameterID(response[i])
            if response[i+1] == NBusStatusType.STATUS_SUCCESS:
                self.__params[p_id] = params[p_id]  # if success, store param

            statuses[p_id] = NBusStatusType(response[i + 1])

        return statuses

    def cmd_set_calibrate(self) -> NBusStatusType:
        """
        Send calibration command.

        :return: calibration status
        """

        resp_length, *response = self.__port.request_module(self.__module_addr,
                                                            NBusCommand.CMD_SET_CALIBRATE, bytearray([]))
        print(response)
        return NBusStatusType(response[0])

    def cmd_set_data(self, data: dict[NBusSensorAddress, list[NBusDataValue]]) \
            -> dict[NBusSensorAddress, NBusStatusType]:
        """
        Set data to read-write sensors.

        :param data:
        :return: operation statuses
        """

        # create request packet
        request = []

        # transform data
        for addr in data.keys():
            # handle errors
            if self.__devices[addr].data_format is None:  # check for format and params
                raise NBusErrorAPI(NBusErrorAPIType.FORMAT_NOT_LOADED)
            if not self.__devices[addr].data_parameters_loaded():
                raise NBusErrorAPI(NBusErrorAPIType.PARAMS_NOT_LOADED)

            raw_data = self.__devices[addr].map_data_set(data[addr])
            request.append(addr)
            request.extend(NbusCommonParser.data_to_request(self.__devices[addr].data_format, raw_data))

        # send request
        resp_length, *response = self.__port.request_module(self.__module_addr, NBusCommand.CMD_SET_DATA,
                                                            bytearray(request))

        # return response statuses
        statuses = {}

        for i in range(0, resp_length - 1, 2):
            statuses[NBusSensorAddress(response[i])] = NBusStatusType(response[i + 1])

        return statuses