import time
import sys
import os
from .core.network import UdpHandler
from .core.dispatcher import MessageDispatcher
from .core.scheduler import TrafficScheduler
from .core.controller import RadarController
from .utils.printer import dump_message

#Configuration
RX_IP = os.getenv("PYBM_RX_IP", "127.0.0.1")
RX_PORT = int(os.getenv("PYBM_RX_PORT", str(61553)))
TARGET_IP = os.getenv("PYBM_TARGET_IP", "127.0.0.1")
TARGET_PORT = int(os.getenv("PYBM_TARGET_PORT", "51553"))

def main():
    print("--------------------------------------------------")
    print(" PyBusMonitor1553 - Active Controller")
    print("--------------------------------------------------")
    
    # 1. Initialize Components
    dispatcher = MessageDispatcher()
    network = UdpHandler(rx_ip=RX_IP, rx_port=RX_PORT)

    # 2. Initialize Radar Logic Controller
    # This sets up the default A1, A2, etc. messages
    radar_ctrl = RadarController()

    # 3. Initialize Scheduler with the Controller
    scheduler = TrafficScheduler(network, radar_ctrl, TARGET_IP, TARGET_PORT)

    # 4. Define the callback for received messages
    def on_packet(data, addr):
        header, messages = dispatcher.parse_packet(data)
        
        if messages:
            # Filter for B-messages (RT -> BC, IS_TRANSMIT=True)
            for msg in messages:
                if msg.IS_TRANSMIT:
                    print(f"\n[RX] {msg.__class__.__name__} from RT{header.ta if header else '?'}")
                    dump_message(msg)
        elif header and header.errors != 0:
            print(f"[RX] Server Error Code: {header.errors}")

    # 5. Start everything
    network.register_callback(on_packet)
    network.start()

    # Send defaults immediately via scheduler loop
    scheduler.start()

    print(f"System Running.")
    print(f"RX: {RX_IP}:{RX_PORT} | TX: {TARGET_IP}:{TARGET_PORT}")
    print("Press Ctrl+C to stop.")

    try:
        while True:
            # Here we could accept user input to call radar_ctrl.set_master_mode(...)
            time.sleep(1)
    except KeyboardInterrupt:
        print("\nStopping...")
    finally:
        scheduler.stop()
        network.stop()
        sys.exit(0)
        
if __name__ == "__main__":
    main()