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use Result;
use command::{self, CmdSet};
use types::{self, AckCode, FromBytes};

/// Represents the response of a command.
pub struct AckData {
    message: String,
    status: bool,
}

impl Default for AckData {
    fn default() -> AckData {
        AckData {
            message: String::new(),
            status: true,
        }
    }
}

impl AckData {
    /// Create an ack data.
    pub fn new(msg: String, status: bool) -> AckData {
        AckData {
            message: msg,
            status: status,
        }
    }

    /// Get the execution status of the command. `ture` means the command executed successfully,
    /// `false` means failed.
    pub fn status(&self) -> bool {
        self.status
    }
}

impl Into<String> for AckData {
    /// Consume ack data, produce the message returned from autopilot.
    fn into(self) -> String {
        self.message
    }
}

/// This trait is used to handle ack frames. All functions return an `AckData`.
///
/// ## Example
///
/// ```rust
/// use open_protocol::ack::{AckHandler, AckData};
/// use open_protocol::command::{CmdSet, PushData};
/// use open_protocol::types::{self, FromBytes};
/// use open_protocol::Result;
///
/// struct Handler;
///
/// impl AckHandler for Handler {
///     fn handle_flight_data(&mut self, data: &[u8]) -> Result<AckData> {
///         let mut fd = types::FlightData::default();
///         types::FlightData::fetch_data(data, &mut fd).unwrap();
///         let pos = fd.position.pos;
///         println!("Current position of the drone: {}, {}, {}",
///                  pos.latitude,
///                  pos.longitude,
///                  pos.altitude);
///         Ok(Default::default())
///     }
/// }
///
/// let data = vec![62, 59, 0, 0, 128, 63, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4,
///                 0, 0, 128, 4, 0, 0, 128, 0, 0, 0, 128, 0, 0, 0, 0, 0, 0, 0,
///                 0, 106, 0, 0, 128, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 57,
///                 205, 170, 175, 241, 75, 225, 63, 66, 226, 94, 187, 158, 229,
///                 0, 64, 205, 204, 204, 61, 0, 0, 0, 0, 5, 205, 204, 204, 61,
///                 0, 0, 240, 65, 0, 0, 200, 66, 0, 0, 200, 66, 0, 0, 200, 66,
///                 0, 0, 0, 0, 31, 220, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
///                 0, 0, 0, 0, 0, 6, 1, 0, 0, 0, 0, 0, 24, 178, 0, 0, 0, 0, 0,
///                 0, 0, 0, 0];
///
/// let _ = Handler.handle_ack(&CmdSet::PushData(PushData::FlightData), &data);
/// ```
pub trait AckHandler {
    fn handle_version(&mut self, data: &[u8]) -> Result<AckData> {
        let ack = types::VersionAck::from_bytes(data)?;
        let msg = format!("Version: \n  code: [{:#x}]{}\n  crc: {:#x}\n  version: {}",
                          ack.code(),
                          ack.to_str(),
                          ack.crc,
                          ack.version_text);
        Ok(AckData::new(msg, ack.success()))
    }

    fn waypoint_upload(&self, data: &[u8]) -> Result<AckData> {
        let ack = types::WaypointDataAck::from_bytes(data)?;
        let msg = format!("WaypointUpload({}): [{:#x}]{}",
                          ack.index,
                          ack.code(),
                          ack.to_str());
        Ok(AckData::new(msg, ack.success()))
    }

    fn waypoint_get_idle_speed(&self, data: &[u8]) -> Result<AckData> {
        let ack = types::WaypointGetIdleSpeedAck::from_bytes(data)?;
        let msg = format!("WaypointGetIdleSpeed: \n  code: [{:#x}]{}\n  speed: {}\n",
                          ack.code(),
                          ack.to_str(),
                          ack.speed);
        Ok(AckData::new(msg, ack.success()))
    }

    fn handle_flight_data(&mut self, _: &[u8]) -> Result<AckData> {
        Ok(Default::default())
    }

    fn handle_mission(&mut self, _: &[u8]) -> Result<AckData> {
        Ok(Default::default())
    }

    fn handle_waypoint_event(&mut self, _: &[u8]) -> Result<AckData> {
        Ok(Default::default())
    }

    fn handle_switch_result(&mut self, _: &[u8]) -> Result<AckData> {
        Ok(Default::default())
    }

    fn handle_waypoint_start(&mut self, _: &[u8]) -> Result<AckData> {
        Ok(Default::default())
    }

    fn handle_lost_control(&mut self, data: &[u8]) -> Result<AckData> {
        let ack = types::LostControl::from_bytes(data)?;
        let msg = if ack.lost() {
            "LostControl: control lost".to_string()
        } else {
            format!("LostControl: unknown code: {}", ack.code())
        };
        Ok(AckData::new(msg, true))
    }

    fn default<T: AckCode + FromBytes>(&self, name: &str, data: &[u8]) -> Result<AckData> {
        let ack = T::from_bytes(data)?;
        let msg = format!("{}: [{:#x}]{}", name, ack.code(), ack.to_str());
        Ok(AckData::new(msg, ack.success()))
    }

    /// The entry point for handling all kinds of ack frames.
    fn handle_ack(&mut self, cmd: &CmdSet, data: &[u8]) -> Result<AckData> {
        match *cmd {
            CmdSet::Activation(command::Activation::Version) => self.handle_version(data),
            CmdSet::Activation(command::Activation::Activation) => {
                self.default::<types::ActivationAck>("Activate", data)
            }
            CmdSet::Control(command::Control::Auth) => {
                self.default::<types::ControlAck>("Control", data)
            }
            CmdSet::Control(command::Control::FlightMode) => {
                self.default::<types::FlightControlAck>("FlightControl", data)
            }
            CmdSet::Control(command::Control::SwitchResult) => self.handle_switch_result(data),
            CmdSet::Control(command::Control::Arm) => self.default::<types::ArmAck>("Arm", data),
            CmdSet::PushData(command::PushData::FlightData) => self.handle_flight_data(data),
            CmdSet::PushData(command::PushData::LostControl) => self.handle_lost_control(data),
            CmdSet::PushData(command::PushData::MissionState) => self.handle_mission(data),
            CmdSet::PushData(command::PushData::WaypointEvent) => self.handle_waypoint_event(data),
            CmdSet::Mission(command::Mission::WaypointInit) => {
                self.default::<types::WaypointInitAck>("WaypointInit", data)
            }
            CmdSet::Mission(command::Mission::WaypointData) => self.waypoint_upload(data),
            CmdSet::Mission(command::Mission::WaypointStartStop) => {
                self.handle_waypoint_start(data)
            }
            CmdSet::Mission(command::Mission::WaypointPauseResume) => {
                self.default::<types::WaypointPauseResumeAck>("WaypointPauseResume", data)
            }
            CmdSet::Mission(command::Mission::WaypointSetIdleSpeed) => {
                self.default::<types::WaypointSetIdleSpeedAck>("WaypointSetIdleSpeed", data)
            }
            CmdSet::Mission(command::Mission::WaypointGetIdleSpeed) => {
                self.waypoint_get_idle_speed(data)
            }
            _ => Ok(Default::default()),
        }
    }
}