import asyncio, time
import threading

from fastapi import APIRouter, Query, BackgroundTasks
from djitellopy import Tello


class FlightStatsCollector:
    def __init__(self):
        self.stats_thread = None
        self.stop_event = threading.Event()
    
    def start_collecting(self):
        self.stats_thread = threading.Thread(target=self.collect_stats)
        self.stats_thread.start()

    def stop_collecting(self):
        self.stop_event.set()
        if self.stats_thread:
            self.stats_thread.join()
        
    def collect_stats(self):
        while not self.stop_event.is_set():
            tello.send_command_with_return("command")
            bat = tello.get_battery()
            temp = tello.get_temperature()
    #        wsnr = tello.query_wifi_signal_noise_ratio()
            print(f"bat: {bat} - temp: {temp}") #- wsnr: {wsnr}")
            time.sleep(3)

router = APIRouter()
tello = Tello()
stats_collector = FlightStatsCollector()


def land_on_low_battery():
    bat_level = tello.get_battery()
    if bat_level < 20:
        tello.land()


@router.get("/takeoff")
def takeoff():
    try:
        tello.connect()
    except Exception as e:
        return {"msg": "command failed", "reason": "failed to connect"}
    
    if tello.is_flying:
        return {"msg": "command failed", "reason": "already flying"}

    try:
        tello.takeoff()
        stats_collector.start_collecting()
    except Exception as e:
        return { "msg": "command failed", "reason": e }

    if tello.is_flying:
        return {"msg": "ok"}
    else:
        return {"msg": "takeoff failed"}

@router.get("/land")
def land():
    if not tello.is_flying:
        return {"msg": "command failed", "reason": "already on land"}

    try:
        tello.land()
        stats_collector.stop_collecting()
    except Exception as e:
        return { "msg": "command failed", "reason": e }
    
    if not tello.is_flying:
        return {"msg": "ok"}

@router.get("/turn/{direction}/{degree}")
def turn(direction: str, degree: int):
    if direction not in ["left", "right"]:
        return {"msg": "command failed", "reason": "direction must be only left or right"}
    if degree < 1 or degree > 360:
        return {"msg": "command failed", "reason": "degree must be between 1 and 360"}

    try:
        if direction == "right":
            tello.rotate_clockwise(degree)
        elif direction == "left":
            tello.rotate_counter_clockwise(degree)
    except Exception as e:
        return {"msg": "command failed", "reason": e}

    return {"msg": "ok"}

@router.get("/move/{direction}/{distance}")
def turn(direction: str, distance: int):
    if direction not in ["back", "forward", "left", "right", "up" , "down"]:
        return {"msg": "command failed", "reason": "direction must be only back, forward, left, right up or down"}
    if distance < 20 or distance > 250:
        # tellonun kendi sınırı 500 ama nolur nolmaz diye kısıtladım
        return {"msg": "command failed", "reason": "distance must be between 20 and 250"}


    try:
        tello.move(direction, distance)
    except Exception as e:
        return {"msg": "command failed", "reason": e}

    return {"msg": "ok"}

@router.get("/emergency")
def emergency_stop():
    try:
        tello.emergency()
        return {"msg": "ok"}
    except Exception as e:
        return {"msg": "command failed", "reason": e}

@router.get("/end")
def end_flight_session():
    try:
        tello.end()
        return {"msg": "ok"}
    except Exception as e:
        return {"msg": "command failed", "reason": e}