"""Error classes specific to the Flockwave model."""

from enum import IntEnum

__all__ = ("FlockwaveErrorCode",)


#: Dictionary mapping Flockwave error codes to more-or-less human-readable
#: abbreviations
_error_code_to_abbreviation = {
    0: "ok",
    # Informational messages
    1: "ground",
    2: "no log",
    3: "prearm",
    4: "init",
    5: "takeoff",
    6: "landing",
    7: "landed",
    8: "motors",
    9: "sleep",
    10: "paused",
    11: "slow",
    63: "RTH",
    # Warnings
    64: "storage",
    65: "RC lost",
    66: "lowbat",
    67: "timesync",
    68: "tkoffpos",
    69: "mission",
    70: "no radio",
    71: "fence",
    72: "wind",
    73: "disarm",
    74: "reboot",
    75: "drift",
    127: "warning",
    # Errors
    128: "comm t/o",
    129: "ack t/o",
    130: "proto",
    131: "prearm",
    132: "RC lost",
    133: "no GPS",
    134: "lowbat",
    135: "target",
    136: "too far",
    137: "config",
    138: "RC calib",
    139: "wind",
    140: "payload",
    141: "proximity",
    188: "simerr",
    189: "control",
    190: "sensor",
    191: "error",
    # Critical errors
    192: "compat",
    193: "mag",
    194: "gyro",
    195: "acc",
    196: "baro",
    197: "GPS",
    198: "motor",
    199: "lowbat",
    200: "home",
    201: "fence",
    202: "clk",
    203: "extclk",
    204: "no HW",
    205: "initfail",
    206: "commfail",
    207: "crash",
    253: "simcrit",
    254: "sensor",
    255: "fatal",
}


#: Dictionary mapping Flockwave error codes to human-readable descriptions.
_error_code_to_description = {
    0: "No error",
    # Informational messages
    1: "Drone is on the ground with motors off",
    2: "Logging deactivated",
    3: "Prearm check in progress",
    4: "Autopilot initializing",
    5: "Drone is taking off",
    6: "Drone is landing",
    7: "Drone has landed successfully",
    8: "Motors are running while on ground",
    9: "Drone is in sleep mode",
    10: "Flight control is suspended",
    11: "Flight control is in slow mode",
    63: "Drone is returning home",
    # Warnings
    64: "Low disk space",
    65: "RC lost",
    66: "Battery low",
    67: "Timesync error",
    68: "Drone is not at its designated takeoff position",
    69: "Mission configuration error or mission out of geofence",
    70: "Radio channel offline",
    71: "Drone is outside geofence on ground",
    72: "Wind speed is high",
    73: "Drone not armed yet",
    74: "Drone requires a reboot",
    75: "Unexpected drift from desired position",
    127: "Unspecified warning",
    # Errors
    128: "Autopilot communication timeout",
    129: "Autopilot acknowledgment timeout",
    130: "Autopilot communication protocol error",
    131: "Prearm check failure",
    132: "RC signal lost",
    133: "GPS signal lost or GPS error",
    134: "Battery low",
    135: "Target not found",
    136: "Target is too far",
    137: "Configuration error",
    138: "RC is not calibrated",
    139: "Wind speed is too high",
    140: "Payload error",
    141: "Proximity sensor error",
    188: "Simulated error",
    189: "Error in control algorithm",
    190: "Unspecified sensor failure",
    191: "Unspecified error",
    # Critical errors
    192: "Incompatible hardware or software",
    193: "Magnetometer error",
    194: "Gyroscope error",
    195: "Accelerometer error",
    196: "Pressure sensor or altimeter error",
    197: "GPS error or GPS signal lost",
    198: "Motor malfunction",
    199: "Battery critical",
    200: "No GPS home position",
    201: "Geofence violation",
    202: "Internal clock error",
    203: "External clock error",
    204: "Required hardware component missing",
    205: "Autopilot initialization failed",
    206: "Autopilot communication failed",
    207: "Drone crashed",
    253: "Simulated critical error",
    254: "Unspecified critical sensor failure",
    255: "Unspecified critical error",
}


class FlockwaveErrorCode(IntEnum):
    """Error codes defined in the Flockwave protocol."""

    NO_ERROR = 0

    # Informational messages
    ON_GROUND = 1
    LOGGING_DEACTIVATED = 2
    PREARM_CHECK_IN_PROGRESS = 3
    AUTOPILOT_INITIALIZING = 4
    TAKEOFF = 5
    LANDING = 6
    LANDED = 7
    MOTORS_RUNNING_WHILE_ON_GROUND = 8
    SLEEPING = 9
    FLIGHT_CONTROL_SUSPENDED = 10
    SLOW_MODE = 11
    RETURN_TO_HOME = 63

    # Warnings
    LOW_DISK_SPACE = 64
    RC_SIGNAL_LOST_WARNING = 65
    BATTERY_LOW_WARNING = 66
    TIMESYNC_ERROR = 67
    FAR_FROM_TAKEOFF_POSITION = 68
    INVALID_MISSION_CONFIGURATION = 69
    RADIO_MISSING = 70
    GEOFENCE_VIOLATION_WARNING = 71
    WIND_SPEED_WARNING = 72
    DISARMED = 73
    REBOOT_REQUIRED = 74
    DRIFT_FROM_DESIRED_POSITION = 75
    UNSPECIFIED_WARNING = 127

    # Errors
    AUTOPILOT_COMM_TIMEOUT = 128
    AUTOPILOT_ACK_TIMEOUT = 129
    AUTOPILOT_PROTOCOL_ERROR = 130
    PREARM_CHECK_FAILURE = 131
    RC_SIGNAL_LOST_ERROR = 132
    GPS_SIGNAL_LOST = 133
    BATTERY_LOW_ERROR = 134
    TARGET_NOT_FOUND = 135
    TARGET_TOO_FAR = 136
    CONFIGURATION_ERROR = 137
    RC_NOT_CALIBRATED = 138
    WIND_SPEED_ERROR = 139
    PAYLOAD_ERROR = 140
    PROXIMITY_ERROR = 141
    SIMULATED_ERROR = 188
    CONTROL_ALGORITHM_ERROR = 189
    SENSOR_FAILURE = 190
    UNSPECIFIED_ERROR = 191

    # Critical errors
    HW_SW_INCOMPATIBLE = 192
    MAGNETIC_ERROR = 193
    GYROSCOPE_ERROR = 194
    ACCELEROMETER_ERROR = 195
    PRESSURE_SENSOR_ERROR = 196
    GPS_SIGNAL_LOST_CRITICAL = 197
    MOTOR_MALFUNCTION = 198
    BATTERY_CRITICAL = 199
    NO_GPS_HOME_POSITION = 200
    GEOFENCE_VIOLATION = 201
    INTERNAL_CLOCK_ERROR = 202
    EXTERNAL_CLOCK_ERROR = 203
    REQUIRED_HW_COMPONENT_MISSING = 204
    AUTOPILOT_INIT_FAILED = 205
    AUTOPILOT_COMM_FAILED = 206
    CRASH = 207
    SIMULATED_CRITICAL_ERROR = 253
    CRITICAL_SENSOR_FAILURE = 254
    UNSPECIFIED_CRITICAL_ERROR = 255

    @property
    def abbreviation(self) -> str:
        """Returns a short abbreviation of the error code that is more-or-less
        human-readable, but requires less space on the screen than the full
        description of the error.
        """
        return _error_code_to_abbreviation.get(self) or f"E{self}"

    @property
    def description(self) -> str:
        """Returns a human-readable description of the error code."""
        return _error_code_to_description.get(self) or f"Error {self}"