"""Knauer pump control."""
import asyncio
import warnings
from enum import Enum

import pint
from loguru import logger

from flowchem import ureg
from flowchem.devices.flowchem_device import DeviceInfo
from flowchem.devices.flowchem_device import FlowchemDevice
from flowchem.devices.knauer._common import KnauerEthernetDevice
from flowchem.devices.knauer.azura_compact_pump import AzuraCompactPump
from flowchem.devices.knauer.azura_compact_sensor import AzuraCompactSensor
from flowchem.utils.exceptions import DeviceError
from flowchem.utils.people import dario, jakob, wei_hsin

FLOW = "FLOW"  # 0-50000 µL/min, int only!
HEADTYPE = "HEADTYPE"  # 10, 50 ml. Value refers to the highest flow rate in ml/min
PMIN10 = "PMIN10"  # 0-400 in 0.1 MPa, use to avoid running dry
PMIN50 = "PMIN50"  # 0-150 in 0.1 MPa, use to avoid running dry
PMAX10 = "PMAX10"  # 0-400 in 0.1 MPa, chosen automatically by selecting pump head
PMAX50 = "PMAX50"  # 0-150 in 0.1 MPa, chosen automatically by selecting pump head
IMIN10 = "IMIN10"  # 0-100 minimum motor current
IMIN50 = "IMIN50"  # 0-100 minimum motor current
STARTLEVEL = "STARTLEVEL"  # 0, 1 configures start. 0 -> only start pump when shorted to GND, 1 -> always allow start
ERRIO = "ERRIO"  # 0, 1 write/read error in/output ??? sets errio either 1 or 0, reports errio:ok
STARTMODE = "STARTMODE"  # 0, 1; 0=pause pump after switch on, 1=start immediately with previous set flow rate
ADJ10 = "ADJ10"  # 100-2000
ADJ50 = "ADJ50"  # 100-2000
CORR10 = "CORR10"  # 0-300
CORR50 = "CORR50"  # 0-300
EXTFLOW = "EXTFLOW?"
IMOTOR = "IMOTOR"  # motor current in relative units 0-100
PRESSURE = "PRESSURE?"  # reads the pressure in 0.1 MPa
ERRORS = "ERRORS"  # displays last 5 error codes
EXTCONTR = "EXTCONTR"  # allows flow control via analog input
LOCAL = "LOCAL"  # no parameter, releases pump to manual control
REMOTE = "REMOTE"  # manual param input prevented
PUMP_ON = "ON"  # starts flow
PUMP_OFF = "OFF"  # stops flow


class AzuraPumpHeads(Enum):
    """Two Pump heads are available for the Azura: 50 mL/min and 10 mL/min."""

    FLOWRATE_FIFTY_ML = 50
    FLOWRATE_TEN_ML = 10


# noinspection DuplicatedCode
class AzuraCompact(KnauerEthernetDevice, FlowchemDevice):
    """Control module for Knauer Azura Compact pumps."""

    metadata = DeviceInfo(
        authors=[dario, jakob, wei_hsin],
        maintainers=[dario],
        manufacturer="knauer",
        model="Azura Compact",
    )

    def __init__(
        self,
        ip_address=None,
        mac_address=None,
        max_pressure: str = "",
        min_pressure: str = "",
        name="",
    ):
        super().__init__(ip_address, mac_address, name=name)
        self.eol = b"\n\r"

        # All the following are set upon initialize()
        self.max_allowed_pressure = 0
        self.max_allowed_flow = 0
        self._headtype = None
        self._running: bool = None  # type: ignore
        self._pressure_max = max_pressure
        self._pressure_min = min_pressure

        self.rate = ureg.parse_expression("0 ml/min")

    async def initialize(self):
        """Initialize connection."""
        # Here the magic happens...
        await super().initialize()

        # Here it is checked that the device is a pump and not a valve
        await self.get_headtype()
        # Place pump in remote control
        await self.remote_control()
        # Also ensure rest state is not pumping.
        await self.stop()

        if self._pressure_max:
            await self.set_maximum_pressure(self._pressure_max)
        if self._pressure_min:
            await self.set_minimum_pressure(self._pressure_min)

    @staticmethod
    def error_present(reply: str) -> bool:
        """Return True if there are errors, False otherwise. Warns for errors."""
        # ERRORS: is the expected answer to read_errors()
        if not reply.startswith("ERROR") or reply.startswith("ERRORS:"):
            return False

        if "ERROR:1" in reply:
            warnings.warn("Invalid message sent to device.\n")

        elif "ERROR:2" in reply:
            warnings.warn(
                "Setpoint refused by device.\n" "Refer to manual for allowed values.\n"
            )
        else:
            warnings.warn("Unspecified error detected!")
        return True

    async def _transmit_and_parse_reply(self, message: str) -> str:
        """
        Send command and receive reply.

        Deals with all communication based stuff and checks that the valve is of expected type.
        :param message:
        :return: reply: str
        """
        reply = await self._send_and_receive(message)
        if self.error_present(reply):
            return ""

        # Setpoint ok
        if ":OK" in reply:
            logger.debug("setpoint successfully set!")
            return "OK"

        # Replies to 'VALUE?' are in the format 'VALUE:'
        if message[:-1] in reply:
            logger.debug(f"setpoint successfully acquired, value={reply}")
            # Last value after colon
            return reply.split(":")[-1]

        # No reply
        if not reply:
            warnings.warn("No reply received")
            return ""

        warnings.warn(f"Unrecognized reply: {reply}")
        return reply

    async def create_and_send_command(
        self, message, setpoint: int | None = None, setpoint_range: tuple | None = None
    ):
        """
        Create and sends a message from the command.

        If setpoint is given, then the command is appended with :value
        If not setpoint is given, a "?" is added for getter syntax

        e.g. message = "HEADTYPE"
        no setpoint -> sends "HEADTYPE?"
        w/ setpoint -> sends "HEADTYPE:<setpoint_value>"
        """
        # GETTER
        if setpoint is None:
            return await self._transmit_and_parse_reply(message + "?")

        # SETTER with range
        if setpoint_range:
            if setpoint in range(*setpoint_range):
                return await self._transmit_and_parse_reply(
                    message + ":" + str(setpoint)
                )

            warnings.warn(
                f"The setpoint provided {setpoint} is not valid for the command "
                f"{message}!\n Accepted range is: {setpoint_range}.\n"
                f"Command ignored"
            )
            return ""

        # SETTER w/o range
        return await self._transmit_and_parse_reply(message + ":" + str(setpoint))

    @property
    def _headtype(self):
        """Return internal head type. Use `set_headtype()` to change in pump."""
        return self.__headtype

    @_headtype.setter
    def _headtype(self, htype):
        self.__headtype = htype

        if htype == AzuraPumpHeads.FLOWRATE_TEN_ML:
            self.max_allowed_pressure, self.max_allowed_flow = 400, 10000
        elif htype == AzuraPumpHeads.FLOWRATE_FIFTY_ML:
            self.max_allowed_pressure, self.max_allowed_flow = 150, 50000

    async def get_headtype(self) -> AzuraPumpHeads:
        """Return pump's head type."""
        head_type_id = await self.create_and_send_command(HEADTYPE)
        try:
            headtype = AzuraPumpHeads(int(head_type_id))
            # Sets internal property (changes max flowrate etc.)
            self._headtype = headtype
        except ValueError as value_error:
            raise DeviceError(
                "It seems you're trying instantiate an unknown device/unknown pump type as Knauer Pump.\n"
                "Only Knauer Azura Compact is supported"
            ) from value_error
        logger.debug(f"Head type of pump {self.ip_address} is {headtype}")

        return headtype

    async def set_headtype(self, head_type: AzuraPumpHeads):
        """Set pump's head type."""
        await self.create_and_send_command(HEADTYPE, setpoint=head_type.value)
        # Update internal property (changes max flowrate etc.)
        self._headtype = head_type
        logger.debug(f"Head type set to {head_type}")

    async def get_flow_rate(self) -> float:
        """Get flow rate in ml/min."""
        flow_value = await self.create_and_send_command(FLOW)
        flowrate = ureg.Quantity(f"{flow_value} ul/min")
        logger.debug(f"Current flow rate is {flowrate}")
        return flowrate.m_as("ml/min")

    async def set_flow_rate(self, rate: pint.Quantity):
        """Set flow rate.

        Args:
            rate (str): value with units
        """
        await self.create_and_send_command(
            FLOW,
            setpoint=round(rate.m_as("ul/min")),
            setpoint_range=(0, self.max_allowed_flow + 1),
        )
        logger.info(f"Flow set to {rate}")

    async def get_minimum_pressure(self):
        """Get minimum pressure. The pump stops if the measured P is lower than this."""
        command = PMIN10 if self._headtype == AzuraPumpHeads.FLOWRATE_TEN_ML else PMIN50
        p_min = await self.create_and_send_command(command) * ureg.bar
        return str(p_min)

    async def set_minimum_pressure(self, value: str = "0 bar"):
        """Set minimum pressure. The pump stops if the measured P is lower than this."""
        pressure = ureg.Quantity(value)
        command = PMIN10 if self._headtype == AzuraPumpHeads.FLOWRATE_TEN_ML else PMIN50
        await self.create_and_send_command(
            command,
            setpoint=round(pressure.m_as("bar")),
            setpoint_range=(0, self.max_allowed_pressure + 1),
        )
        logger.info(f"Minimum pressure set to {pressure}")

    async def get_maximum_pressure(self) -> str:
        """Get maximum pressure. The pumps stop if the measured P is higher than this."""
        command = PMAX10 if self._headtype == AzuraPumpHeads.FLOWRATE_TEN_ML else PMAX50
        p_max = await self.create_and_send_command(command) * ureg.bar
        return str(p_max)

    async def set_maximum_pressure(self, value: str):
        """Set maximum pressure. The pumps stop if the measured P is higher than this."""
        pressure = ureg.Quantity(value)
        command = PMAX10 if self._headtype == AzuraPumpHeads.FLOWRATE_TEN_ML else PMAX50
        await self.create_and_send_command(
            command,
            setpoint=round(pressure.m_as("bar")),
            setpoint_range=(0, self.max_allowed_pressure + 1),
        )
        logger.info(f"Maximum pressure set to {pressure}")

    async def set_minimum_motor_current(self, setpoint=None):
        """Set minimum motor current."""
        command = IMIN10 if self._headtype == AzuraPumpHeads.FLOWRATE_TEN_ML else IMIN50

        reply = await self.create_and_send_command(
            command, setpoint=setpoint, setpoint_range=(0, 101)
        )
        logger.debug(f"Minimum motor current set to {setpoint}, returns {reply}")

    async def is_start_in_required(self):
        """Check state of START IN. See require_start_in() for details."""
        runlevel = await self.create_and_send_command(STARTLEVEL)
        return not bool(int(runlevel))

    async def require_start_in(self, value: bool = True):
        """
        Configure START IN. If required, the pump starts only if the STARTIN pin is shortened to GND.

        True = Pump starts the flow at short circuit contact only. (Start In <> Ground). [0]
        False = Pump starts the flow without a short circuit contact. (Start In <> Ground). [1]
        """
        setpoint = int(not value)
        await self.create_and_send_command(STARTLEVEL, setpoint=setpoint)
        logger.debug(f"Start in required set to {value}")

    async def is_autostart_enabled(self):
        """Return the default behaviour of the pump upon power on."""
        reply = await self.create_and_send_command(STARTMODE)
        return bool(int(reply))

    async def enable_autostart(self, value: bool = True):
        """
        Set the default behaviour of the pump upon power on.

        :param value: False: pause pump after switch on. True: start pumping with previous flow rate at startup
        :return: device message
        """
        await self.create_and_send_command(STARTMODE, setpoint=int(value))
        logger.debug(f"Autostart set to {value}")

    async def get_adjusting_factor(self):
        """Get the adjust parameter. Not clear what it is."""
        command = ADJ10 if self._headtype == AzuraPumpHeads.FLOWRATE_TEN_ML else ADJ50
        reply = await self.create_and_send_command(command)
        return int(reply)

    async def set_adjusting_factor(self, setpoint: int | None = None):
        """Set the adjust parameter. Not clear what it is."""
        command = ADJ10 if self._headtype == AzuraPumpHeads.FLOWRATE_TEN_ML else ADJ50
        reply = await self.create_and_send_command(
            command, setpoint=setpoint, setpoint_range=(0, 2001)
        )
        logger.debug(f"Adjusting factor of set to {setpoint}, returns {reply}")

    async def get_correction_factor(self):
        """Get the correction factor. Not clear what it is."""
        command = CORR10 if self._headtype == AzuraPumpHeads.FLOWRATE_TEN_ML else CORR50
        return int(await self.create_and_send_command(command))

    async def set_correction_factor(self, setpoint=None):
        """Set the correction factor. Not clear what it is."""
        command = CORR10 if self._headtype == AzuraPumpHeads.FLOWRATE_TEN_ML else CORR50
        reply = await self.create_and_send_command(
            command, setpoint=setpoint, setpoint_range=(0, 301)
        )
        logger.debug(f"Correction factor set to {setpoint}, returns {reply}")

    async def read_pressure(self) -> pint.Quantity:
        """Return pressure if the pump has a pressure sensor."""
        return int(await self._transmit_and_parse_reply(PRESSURE)) * 0.1 * ureg.bar

    async def read_extflow(self) -> float:
        """Read the set flowrate from analog in."""
        ext_flow = await self._transmit_and_parse_reply(EXTFLOW)
        logger.debug(f"Extflow reading returns {ext_flow}")
        return float(ext_flow)

    async def read_errors(self) -> list[int]:
        """Return the last 5 errors."""
        last_5_errors = await self.create_and_send_command(ERRORS)
        logger.debug(f"Error reading returns {last_5_errors}")
        return [int(err_code) for err_code in last_5_errors.split(",")]

    async def read_motor_current(self):
        """Return motor current, relative in percent 0-100."""
        current_percent = int(await self.create_and_send_command(IMOTOR))
        logger.debug(f"Motor current reading returns {current_percent} %")
        return current_percent

    async def infuse(self):
        """Start running pump at the given rate."""
        await self._transmit_and_parse_reply(PUMP_ON)
        self._running = True
        logger.info("Pump started!")

    async def stop(self):
        """Stop flow."""
        await self._transmit_and_parse_reply(PUMP_OFF)
        self._running = False
        logger.info("Pump stopped")

    def is_running(self):
        """Get pump state."""
        return self._running

    async def set_local(self, state: bool = True):
        """Relinquish remote control."""
        await self.create_and_send_command(LOCAL, setpoint=int(state))
        logger.debug(f"Local control set to {state}")

    async def remote_control(self, state: bool = True):
        """Set remote control on or off."""
        if state:
            await self.create_and_send_command(REMOTE, setpoint=1)
        else:
            await self.create_and_send_command(LOCAL, setpoint=1)
        logger.debug(f"Remote control set to {state}")

    async def is_analog_control_enabled(self):
        """Return the status of the external flow control via analog input."""
        reply = await self.create_and_send_command(EXTCONTR)
        return bool(int(reply))

    async def enable_analog_control(self, value: bool):
        """External flow control via analog input.

        False = prevents external flow control. [0]
        True = allows the flow rate control via analog input 0 - 10V (10ml: 1 V = 1 ml/min, 50ml: 1 V = 5 ml/min). [1]
        """
        await self.create_and_send_command(EXTCONTR, setpoint=int(value))
        logger.debug(f"External control set to {value}")

    def components(self):
        """Create a Pump and a Sensor components."""
        return AzuraCompactPump("pump", self), AzuraCompactSensor("pressure", self)


if __name__ == "__main__":
    # This is a bug of asyncio on Windows :|
    import sys

    if sys.platform == "win32":
        asyncio.set_event_loop_policy(asyncio.WindowsSelectorEventLoopPolicy())

    p = AzuraCompact(ip_address="192.168.1.119")

    async def main(pump: AzuraCompact):
        """Test function."""
        await pump.initialize()
        c = pump.components()
        print(c)
        pc: AzuraCompactPump = c[0]
        print(pc)
        print(await pc.infuse(rate="0.1 ml/min"))
        await pump.set_flow_rate(ureg.Quantity("0.1 ml/min"))
        await pump.infuse()
        await asyncio.sleep(5)
        await pump.stop()
        print(await pc.is_pumping())

    asyncio.run(main(p))
