import collections.abc
import enum
import struct

import dataclasses


class PrimitiveMixin:
    def decode(cls, f, p: bytes) -> (bytes, object):
        fmt = '<' + cls.size()
        size = struct.calcsize(fmt)
        vs = struct.unpack(fmt, p[:size])
        p, v = p[size:], vs[0]
        v = cls.convert(cls, f, v)
        return p, v

    def convert(cls, f, v):
        if f is not None:
            return f.type(v)
        return v


class Primitive(PrimitiveMixin, int):
    pass


class uint8(Primitive):
    def size():
        return 'B'


class int8(Primitive):
    def size():
        return 'b'


class uint16(Primitive):
    def size():
        return 'H'


class int16(Primitive):
    def size():
        return 'h'


class uint32(Primitive):
    def size():
        return 'I'


class decidegrees(Primitive):
    def size():
        return 'h'

    def convert(cls, f, v):
        return v * 0.1


def _decode(into, p):
    for f in dataclasses.fields(into):
        try:
            p, v = f.type.decode(f.type, f, p)
            setattr(into, f.name, v)
        except Exception as ex:
            print('ignoring error on', f.name, ex)
    return p, into


def decode(into, payload):
    p = bytes(payload)
    p, v = _decode(into, p)
    if len(p):
        print('dropped remaining %d' % len(p))
    return v


def encode(v, t=None):
    out = b''
    if dataclasses.is_dataclass(v):
        for f in dataclasses.fields(v):
            out += encode(getattr(v, f.name), f.type)
    elif isinstance(v, collections.abc.Iterable):
        for f in v:
            out += encode(f, t.inner())
    else:
        return struct.pack('<' + t.size(), v)
    return out


class List(list):
    def decode(cls, f, p: bytes) -> (bytes, object):
        inner = cls.inner()
        out = []
        while p:
            if dataclasses.is_dataclass(inner):
                p, v = _decode(inner(), p)
            else:
                p, v = inner.decode(inner, None, p)
            out.append(v)
        return p, out


class uint16list(List):
    def inner():
        return uint16


@dataclasses.dataclass
class Ident:
    version: uint8 = 0
    multitype: uint8 = 0
    msp_version: uint8 = 0
    capability: uint32 = 0

    def command(self):
        return 100


class ArmingDisabledFlag(PrimitiveMixin, enum.IntFlag):
    NO_GYRO = 1 << 0
    FAILSAFE = 1 << 1
    RX_FAILSAFE = 1 << 2
    BAD_RX_RECOVERY = 1 << 3
    BOXFAILSAFE = 1 << 4
    RUNAWAY_TAKEOFF = 1 << 5
    THROTTLE = 1 << 6
    ANGLE = 1 << 7
    BOOT_GRACE_TIME = 1 << 8
    NOPREARM = 1 << 9
    LOAD = 1 << 10
    CALIBRATING = 1 << 11
    CLI = 1 << 12
    CMS_MENU = 1 << 13
    OSD_MENU = 1 << 14
    BST = 1 << 15
    MSP = 1 << 16
    PARALYZE = 1 << 17
    GPS = 1 << 18
    ARM_SWITCH = 1 << 19

    def size():
        return 'I'


class SensorsFlag(PrimitiveMixin, enum.IntFlag):
    ACC = 1 << 0
    BARO = 1 << 1
    MAG = 1 << 2
    GPS = 1 << 3
    RANGEFINDER = 1 << 4
    GYRO = 1 << 5

    def size():
        return 'H'


class FlightModeFlag(PrimitiveMixin, enum.IntFlag):
    ARM = 1 << 0
    ANGLE = 1 << 1
    HORIZON = 1 << 2
    MAG = 1 << 3
    BARO = 1 << 4
    GPSHOME = 1 << 5
    GPSHOLD = 1 << 6
    HEADFREE = 1 << 7
    PASSTHRU = 1 << 8
    FAILSAFE = 1 << 9
    GPSRESCUE = 1 << 10

    ANTIGRAVITY = 1 << 11
    HEADADJ = 1 << 12
    CAMSTAB = 1 << 13
    BEEPERON = 1 << 14
    LEDLOW = 1 << 15
    CALIB = 1 << 16
    OSD = 1 << 17
    TELEMETRY = 1 << 18
    SERVO1 = 1 << 19
    SERVO2 = 1 << 20
    SERVO3 = 1 << 21
    BLACKBOX = 1 << 22
    AIRMODE = 1 << 23
    X3D = 1 << 24
    FPVANGLEMIX = 1 << 25
    BLACKBOXERASE = 1 << 26
    CAMERA1 = 1 << 27
    CAMERA2 = 1 << 28
    CAMERA3 = 1 << 29
    FLIPOVERAFTERCRASH = 1 << 30
    PREARM = 1 << 31
    BEEPGPSCOUNT = 1 << 32
    VTXPITMODE = 1 << 33
    PARALYZE = 1 << 34
    USER1 = 1 << 35
    USER2 = 1 << 36
    USER3 = 1 << 37
    USER4 = 1 << 38
    PIDAUDIO = 1 << 39
    ACROTRAINER = 1 << 40

    def size():
        return 'I'


@dataclasses.dataclass
class Status:
    cycle_time: uint16 = 0
    i2c_errors_count: uint16 = 0
    sensors: SensorsFlag = 0
    mode: FlightModeFlag = 0
    profile: uint8 = 0
    system_load_percent: uint16 = 0
    gyro_cycle_time: uint16 = 0
    flags_len: uint8 = 0
    # flags
    arming_disable_len: uint8 = 0
    arming_disable_flags: ArmingDisabledFlag = 0

    def command(self):
        return 101


@dataclasses.dataclass
class Servo:
    servos: uint16list = None

    def command(self):
        return 103


@dataclasses.dataclass
class Attitude:
    roll: decidegrees = 0
    pitch: decidegrees = 0
    yaw: uint16 = 0

    def command(self):
        return 108


@dataclasses.dataclass
class RC:
    rc_data: uint16list = None

    def command(self):
        return 105


class BatteryStateEnum(PrimitiveMixin, enum.IntEnum):
    OK = 0
    WARNING = 1
    CRITICAL = 2
    NOT_PRESENT = 3
    INIT = 4

    def size():
        return 'B'


@dataclasses.dataclass
class BatteryState:
    cell_count: uint8 = 0
    capacity: uint16 = 0  # mAh
    voltage: uint8 = 0  # dV
    mah_drawn: uint16 = 0
    amps: int16 = 0  # cA
    state: BatteryStateEnum = 0

    def command(self):
        return 130


@dataclasses.dataclass
class SetRawRC:
    channel: uint16list = None

    def command(self):
        return 200


@dataclasses.dataclass
class SetServoConfiguration:
    idx: uint8 = 0
    min: uint16 = 0
    max: uint16 = 0
    middle: uint16 = 0
    rate: uint8 = 0
    forward_from_channel: uint8 = 0
    reversed_sources: uint32 = 0

    def command(self):
        return 200


class InputSource(PrimitiveMixin, enum.IntEnum):
    STABILIZED_ROLL = 0
    STABILIZED_PITCH = 1
    STABILIZED_YAW = 2
    STABILIZED_THROTTLE = 3
    RC_ROLL = 4
    RC_PITCH = 5
    RC_YAW = 6
    RC_THROTTLE = 7
    RC_AUX1 = 8
    RC_AUX2 = 9
    RC_AUX3 = 10
    RC_AUX4 = 11
    GIMBAL_PITCH = 12
    GIMBAL_ROLL = 13
    SOURCE_COUNT = 14

    def size(self):
        return 'B'


class TargetChannel(PrimitiveMixin, enum.IntEnum):
    GIMBAL_PITCH = 0
    GIMBAL_ROLL = 1
    FLAPS = 2
    FLAPPERON_1 = 3
    FLAPPERON_2 = 4
    RUDDER = 5
    ELEVATOR = 6
    THROTTLE = 7

    BICOPTER_LEFT = 4
    BICOPTER_RIGHT = 5

    DUALCOPTER_LEFT = 4
    DUALCOPTER_RIGHT = 5

    SINGLECOPTER_1 = 3
    SINGLECOPTER_2 = 4
    SINGLECOPTER_3 = 5
    SINGLECOPTER_4 = 6

    HELI_LEFT = 0
    HELI_RIGHT = 1
    HELI_TOP = 2
    HELI_RUD = 3

    def size(self):
        return 'B'


@dataclasses.dataclass
class SetServoMixRule:
    idx: uint8 = 0
    target_channel: TargetChannel = 0
    input_source: InputSource = 0
    rate: int8 = 0
    speed: uint8 = 0
    min: int8 = 0
    max: int8 = 0
    box: uint8 = 0


@dataclasses.dataclass
class ServoConfiguration:
    min: int16 = 0
    max: int16 = 0
    middle: int16 = 0
    rate: int8 = 0
    forward_from_channel: int8 = 0
    revered_sources: uint32 = 0


class ServoConfigurationList(List):
    def inner():
        return ServoConfiguration


@dataclasses.dataclass
class ServoConfigurations:
    configs: ServoConfigurationList = None

    def command(self):
        return 120


@dataclasses.dataclass
class SetArmingDisabled:
    command: uint8 = 0
    disable_runway_takeoff: uint8 = 0

    def command(self):
        return 99


@dataclasses.dataclass
class SetModeRange:
    idx: uint8 = 0
    box_id: uint8 = 0
    aux_channel_idx: uint8 = 0
    start_step: uint8 = 0
    end_step: uint8 = 0

    def command(self):
        return 35


@dataclasses.dataclass
class ModeRange:
    idx: uint8 = 0
    aux_channel_idx: uint8 = 0
    start_step: uint8 = 0
    end_step: uint8 = 0


class ModeRangeList(List):
    def inner():
        return ModeRange


@dataclasses.dataclass
class ModeRanges:
    ranges: ModeRangeList = None

    def command(self):
        return 35