from __future__ import annotations

from logging import Logger
from struct import Struct
from typing import Optional, TYPE_CHECKING

from flockwave.server.tasks.led_lights import (
    LightConfiguration,
    LightEffectType,
    LEDLightConfigurationManagerBase,
)

from .packets import create_led_control_packet
from .types import MAVLinkMessageSpecification

__all__ = ("MAVLinkLEDLightConfigurationManager",)

if TYPE_CHECKING:
    from .network import MAVLinkNetwork


_light_control_packet_struct = Struct("<BBBHB")


class MAVLinkLEDLightConfigurationManager(
    LEDLightConfigurationManagerBase[MAVLinkMessageSpecification]
):
    """Class that manages the state of the LED lights on the drones when they
    are controlled by commands from the GCS.
    """

    def __init__(self, network: "MAVLinkNetwork"):
        """Constructor.

        Parameters:
            network: the network whose LED lights this object manages
        """
        super().__init__()
        self._network: "MAVLinkNetwork" = network

    def _create_light_control_packet(
        self, config: LightConfiguration
    ) -> Optional[MAVLinkMessageSpecification]:
        """Creates a MAVLink message specification for the MAVLink message that
        we need to send to all the drones in order to instruct them to do the
        current light effect.
        """
        is_active = config.effect == LightEffectType.SOLID
        data = _light_control_packet_struct.pack(
            config.color[0],
            config.color[1],
            config.color[2],
            (
                30000  # drone will switch back to normal mode after 30 sec
                if is_active
                else 0
            ),  # submitting zero duration turns off any effect that we have
            1 if is_active else 0,
        )
        return create_led_control_packet(data, broadcast=True)

    def _get_logger(self) -> Optional[Logger]:
        return self._network.log if self._network else None

    async def _send_light_control_packet(
        self, packet: MAVLinkMessageSpecification
    ) -> None:
        return await self._network.broadcast_packet(packet)