from .enums import MAVSeverity
from .rssi import RSSIMode

__all__ = ("schema",)


RSSI_MODE_SCHEMA = {
    "type": "string",
    "enum": [
        RSSIMode.NONE.value,
        RSSIMode.RADIO_STATUS.value,
        RSSIMode.RTCM_COUNTERS.value,
    ],
    "title": "RSSI mode",
    "default": RSSIMode.RADIO_STATUS.value,
    "options": {
        "enum_titles": [
            "No RSSI values",
            "From RADIO_STATUS messages",
            "From RTCM counters (Skybrush only)",
        ]
    },
}


NETWORK_PROPERTIES = (
    {
        "connections": {
            "title": "Connection URLs",
            "type": "array",
            "format": "table",
            "items": {"type": "string"},
            "default": [],
            "description": (
                "URLs describing the connections where the server needs to "
                "listen for incoming MAVLink packets in this network. 'default' "
                "means that incoming MAVLink packets are expected on UDP port "
                "14550 and outbound MAVLink packets are sent to UDP port 14555."
            ),
        },
        "id_format": {
            "type": "string",
            "title": "ID format",
            "description": (
                "Python format string that determines the format of the IDs of "
                "the drones created in this network. Overrides the global ID format "
                "defined at the top level."
            ),
        },
        "id_offset": {
            "type": "number",
            "title": "ID offset",
            "default": 0,
            "description": (
                "Offset to add to the numeric ID of each drone within the network "
                "to derive its final ID. You can use it to map multiple networks "
                "with the same MAVLink ID range to different Skybrush ID ranges. "
                "Leave it at zero if you only have one MAVLink network."
            ),
        },
        "system_id": {
            "title": "System ID",
            "description": (
                "MAVLink system ID of the server in this network; typically "
                "IDs from 251 to 254 are reserved for ground stations."
            ),
            "type": "integer",
            "minimum": 1,
            "maximum": 255,
            "default": 254,
        },
        "routing": {
            "type": "object",
            "title": "Message routing",
            "properties": {
                "rc": {
                    "type": "array",
                    "format": "table",
                    "title": "RC override",
                    "description": "Indices of the connections where RC override messages are routed to (zero-based)",
                    "default": [0],
                    "items": {
                        "type": "integer",
                        "default": 0,
                        "minimum": 0,
                    },
                },
                "rtk": {
                    "type": "array",
                    "format": "table",
                    "title": "RTK messages",
                    "description": "Indices of the connection where RTK correction messages are routed to (zero-based)",
                    "default": [0],
                    "items": {
                        "type": "integer",
                        "default": 0,
                        "minimum": 0,
                    },
                },
            },
        },
        "rssi_mode": dict(
            RSSI_MODE_SCHEMA,
            description="Specifies how RSSI values are derived for the drones in this network",
        ),
        "signing": {
            "type": "object",
            "title": "Message signing",
            "properties": {
                "enabled": {
                    "type": "boolean",
                    "title": "Enable MAVLink message signing",
                    "default": False,
                    "format": "checkbox",
                    "propertyOrder": -1000,
                },
                "key": {
                    "type": "string",
                    "title": "Signing key",
                    "default": "",
                    "description": (
                        "The key must be exactly 32 bytes long. It can be "
                        "provided in hexadecimal format or as a base64-encoded "
                        "string, which is identical to the format being used "
                        "in Mission Planner."
                    ),
                    "propertyOrder": -500,
                },
                "sign_outbound": {
                    "type": "boolean",
                    "title": "Sign outbound MAVLink messages if signing is enabled",
                    "default": True,
                    "format": "checkbox",
                },
                "allow_unsigned": {
                    "type": "boolean",
                    "title": "Accept unsigned incoming messages",
                    "default": False,
                    "format": "checkbox",
                },
            },
        },
        "statustext_targets": {
            "type": "object",
            "title": "STATUSTEXT message handling",
            "properties": {
                "client": MAVSeverity.json_schema(
                    title="Forward to Skybrush clients above this severity",
                ),
                "server": MAVSeverity.json_schema(
                    title="Log in the server log above this severity",
                ),
                "log_prearm": {
                    "type": "boolean",
                    "title": "Log pre-arm messages",
                    "description": (
                        "If enabled, the extension will log all pre-arm check "
                        "errors received from the drones in this network. "
                        "These messages are hidden by default as they are "
                        "fairly common and can be inspected by other means."
                    ),
                    "default": False,
                    "format": "checkbox",
                    "propertyOrder": 10000,
                },
            },
            "default": {
                "client": "debug",
                "server": "notice",
                "log_prearm": False,
            },
        },
        "use_broadcast_rate_limiting": {
            "type": "boolean",
            "title": "Apply rate limiting on broadcast messages",
            "description": (
                "This is a workaround that should be enabled only if "
                "you have a connection without flow control and you "
                "are experiencing issues with packet loss, especially "
                "for bursty packet streams like RTK corrections."
            ),
            "default": False,
            "format": "checkbox",
        },
    },
)

schema = {
    "properties": {
        "networks": {
            "title": "MAVLink networks",
            "type": "object",
            "propertyOrder": 2000,
            "options": {"disable_properties": False},
            "additionalProperties": {
                "type": "object",
                "properties": NETWORK_PROPERTIES,
            },
        },
        "id_format": {
            "type": "string",
            "title": "ID format",
            "description": (
                "Python format string that determines the format of the IDs of "
                "the drones created by the extension. May be overridden in each "
                "network."
            ),
            "propertyOrder": 0,
        },
        "custom_mode": {
            "type": "integer",
            "minimum": 0,
            "maximum": 255,
            "required": False,
            "title": "Enforce MAVLink custom flight mode",
            "description": (
                "MAVLink custom flight mode number to switch drones to when "
                "they are discovered the first time. 127 is the mode number of "
                "the drone show mode for Skybrush-compatible MAVLink-based "
                "drones. Refer to the documentation of your autopilot for more "
                "details."
            ),
            "default": 127,
            "propertyOrder": 5000,
        },
        "rssi_mode": dict(
            RSSI_MODE_SCHEMA,
            description="Specifies how RSSI values are derived for the drones. May be overridden in each network.",
            propertyOrder=10000,
        ),
        "assume_data_streams_configured": {
            "type": "boolean",
            "title": "Assume that MAVLink packet streams are configured",
            "description": (
                "If enabled, the driver will assume that the MAVLink data streams "
                "are already configured and will not attempt to configure them "
                "automatically. This speeds up the initialization sequence "
                "when you have thousands of drones."
            ),
            "default": False,
            "format": "checkbox",
        },
        "autopilot_type": {
            "type": "string",
            "enum": ["auto", "ardupilot", "skybrush", "px4"],
            "title": "Flight controller firmware",
            "default": "auto",
            "options": {
                "enum_titles": [
                    "Autodetected",
                    "ArduPilot",
                    "ArduPilot with Skybrush",
                    "PX4",
                ]
            },
        },
        # packet_loss is an advanced setting and is not included here
    }
}