from ..lib1553 import messages as msgs
from ..lib1553.constants import (
        TargetHistory, RadarMode, AltitudeBlock,
        RWSSubmode, GMSubmode
    )

class RadarController:
    """
    High-level controller for the Radar state.
    Holds the instances of 1553 messages (A-Transmit / B-Receive).
    Acts as the interface for the GUI or Scripts to modify radar behavior.
    """
    def __init__(self):
        # --- TX Messages (BC -> RT) ---
        # These are the commands we send to the Radar
        self.msg_a1 = msgs.MsgA1() # Settings
        self.msg_a2 = msgs.MsgA2() # Commands
        self.msg_a3 = msgs.MsgA3() # Graphics
        self.msg_a4 = msgs.MsgA4() # Nav Data
        self.msg_a5 = msgs.MsgA5() # INU Data
        self.msg_a7 = msgs.MsgA7() # Data Link 1
        self.msg_a8 = msgs.MsgA8() # Data Link 2

        # --- RX Messages (RT -> BC) ---
        # These are placeholders/requests we send to get data back
        self.msg_b1 = msgs.MsgB1() # TWS 1-2
        self.msg_b2 = msgs.MsgB2() # TWS 3-5
        self.msg_b3 = msgs.MsgB3() # TWS 6-8
        self.msg_b4 = msgs.MsgB4() # SPT
        self.msg_b5 = msgs.MsgB5() # Tracked Target
        self.msg_b6 = msgs.MsgB6() # Settings Tell-back
        self.msg_b7 = msgs.MsgB7() # Status Tell-back
        self.msg_b8 = msgs.MsgB8() # BIT Report
        
        # Initialize default state immediately
        self.apply_defaults()

    def apply_defaults(self):
        """
        Sets the default values for the radar commands.
        Based on legacy initialization logic.
        """
        print("[Controller] Applying default configuration...")

        # --- A1: Settings ---
        # Legacy: settings.set_history_level(TARGET_HISTORY_LEVEL_04)
        self.msg_a1.target_history = TargetHistory.LEVEL_4
        
        # Legacy: rdr_symbology_intensity = 127
        self.msg_a1.symbol_intensity = 127
        
        # Additional safe defaults for A1
        self.msg_a1.altitude_block = AltitudeBlock.NORMAL
        self.msg_a1.beacon_delay = 0.0

        # --- A2: Operation Command ---
        # Legacy: set_master_mode(RWS)
        self.msg_a2.master_mode = RadarMode.RWS
        
        # Legacy: set_gm_submode(0) -> RBM
        self.msg_a2.gm_submode = GMSubmode.RBM
        
        # Legacy: set_spare_0_4(0) -> (Handled by default 0 initialization)
        
        # Ensure other modes are in a known state
        self.msg_a2.rws_submode = RWSSubmode.NAM

        # --- A3: Graphic ---
        # Legacy: just instantiated (all zeros)
        # Note: A3 controls symbology. 0 usually means nothing displayed.

        # --- A4: Nav Data ---
        # Legacy: validity_and_slew.raw = 0
        # This implies all validity bits are 0 (Data is VALID)
        self.msg_a4.nav_data_invalid = 0
        self.msg_a4.attitude_data_invalid = 0
        self.msg_a4.radalt_invalid = 0
        # ... (MsgA4 initializes with 0s, so data is considered valid by default)

        # --- A5: INU Data ---
        # Legacy: timetag.raw = 0
        self.msg_a5.time_tag = 0.0

        print("[Controller] Defaults applied. Radar set to RWS.")

    def set_master_mode(self, mode: RadarMode):
        """API to change the Radar Master Mode."""
        self.msg_a2.master_mode = mode
        print(f"[Controller] Master Mode set to: {mode.name}")

    def update_navigation_data(self, alt=None, vel_x=None):
        """Example API to update navigation data."""
        if alt is not None:
            self.msg_a4.baro_inertial_alt = alt
        if vel_x is not None:
            self.msg_a5.velocity_x = vel_x