"""
GPS NMEA 0183 reader — auto-detects serial port and parses $GPRMC / $GPGGA.
Broadcasts position updates via the shared broadcast_callback.
"""
import asyncio
import logging
import os
import serial
import serial.tools.list_ports
from typing import Callable, Optional

log = logging.getLogger(__name__)

BAUD_RATES    = [9600, 4800, 115200, 38400]   # 9600 first — most GPS default
PROBE_TIMEOUT = 0.8    # seconds per readline() — short enough to fail fast
PROBE_LINES   = 12     # max lines to read before giving up on a baud rate
# All GNSS talker prefixes: GPS, GNSS-combined, GLONASS, Galileo, BeiDou, NavIC, QZSS, SBAS
NMEA_PREFIXES = (b'$GP', b'$GN', b'$GL', b'$GA', b'$GB', b'$GI', b'$GQ', b'$GJ')
# Sentence tags that carry position/fix data
POSITION_TAGS = {'RMC', 'GGA', 'GLL'}

# Hardware ID patterns that identify USB-attached serial adapters
USB_HWID = ('USB VID:PID', 'FTDI', 'CH340', 'CP210', 'PL2303', 'ARDUINO', '2341:', '1A86:', '10C4:')
# Skip Bluetooth virtual COM ports — they hang on open
SKIP_DESC = ('bluetooth', 'serie est')


# ── Auto-detect ───────────────────────────────────────────────────────────────

def find_gps_port(forced_port: str = None, forced_baud: int = None) -> Optional[tuple[str, int]]:
    """
    Find a serial port sending NMEA data.
    If forced_port is set, only probe that port (skips scan).
    Returns (port, baud) or None.
    """
    if forced_port:
        # Try all baud rates on the configured port, fastest first
        bauds = [forced_baud] if forced_baud else BAUD_RATES
        for baud in bauds:
            result = _probe_port(forced_port, baud, PROBE_TIMEOUT)
            if result:
                return result
        log.warning("GPS: forced port %s responded on none of %s", forced_port, bauds)
        return None

    all_ports = serial.tools.list_ports.comports()
    usb_ports   = []
    other_ports = []
    for p in all_ports:
        desc = p.description.lower()
        hwid = (p.hwid or '').upper()
        if any(s in desc for s in SKIP_DESC):
            log.debug("GPS scan: skipping %s (%s) — Bluetooth", p.device, p.description)
            continue
        if any(s in hwid for s in USB_HWID):
            usb_ports.append(p.device)
        else:
            other_ports.append(p.device)

    candidates = usb_ports + other_ports
    log.info("GPS scan — USB: %s  other: %s", usb_ports, other_ports)

    for port in candidates:
        for baud in BAUD_RATES:
            result = _probe_port(port, baud, PROBE_TIMEOUT)
            if result:
                return result
    return None


def _probe_port(port: str, baud: int, timeout: float) -> Optional[tuple[str, int]]:
    try:
        with serial.Serial(port, baud, timeout=timeout) as s:
            buf = b""
            for _ in range(PROBE_LINES):
                chunk = s.readline()
                if not chunk:
                    continue
                buf += chunk
                for prefix in NMEA_PREFIXES:
                    if prefix in buf:
                        log.info("GPS detected on %s @ %d baud", port, baud)
                        return port, baud
    except serial.SerialException as e:
        log.warning("GPS probe %s@%d: %s", port, baud, e)
    except Exception as e:
        log.debug("GPS probe %s@%d failed: %s", port, baud, e)
    return None


# ── NMEA parsers ──────────────────────────────────────────────────────────────

def _nmea_checksum_ok(sentence: str) -> bool:
    if '*' not in sentence:
        return True  # no checksum field, accept
    data, cs = sentence.rsplit('*', 1)
    data = data.lstrip('$')
    calc = 0
    for ch in data:
        calc ^= ord(ch)
    return calc == int(cs.strip(), 16)


def _parse_lat(val: str, hemi: str) -> Optional[float]:
    if not val:
        return None
    deg = float(val[:2])
    mins = float(val[2:])
    lat = deg + mins / 60.0
    return -lat if hemi == 'S' else lat


def _parse_lon(val: str, hemi: str) -> Optional[float]:
    if not val:
        return None
    deg = float(val[:3])
    mins = float(val[3:])
    lon = deg + mins / 60.0
    return -lon if hemi == 'W' else lon


def parse_gprmc(fields: list[str]) -> Optional[dict]:
    """$GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,..."""
    try:
        if fields[2] != 'A':   # A=active, V=void
            return None
        lat = _parse_lat(fields[3], fields[4])
        lon = _parse_lon(fields[5], fields[6])
        sog = float(fields[7]) if fields[7] else 0.0   # knots
        cog = float(fields[8]) if fields[8] else 0.0
        if lat is None or lon is None:
            return None
        return {'lat': lat, 'lon': lon, 'sog': sog, 'cog': cog, 'source': 'GPRMC'}
    except (IndexError, ValueError):
        return None


def parse_gpgga(fields: list[str]) -> Optional[dict]:
    """$GPGGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,q,nn,x.x,alt,..."""
    try:
        fix = int(fields[6]) if fields[6] else 0
        if fix == 0:
            return None
        lat = _parse_lat(fields[2], fields[3])
        lon = _parse_lon(fields[4], fields[5])
        alt = float(fields[9]) if fields[9] else 0.0
        sats = int(fields[7]) if fields[7] else 0
        hdop = float(fields[8]) if fields[8] else 99.0
        if lat is None or lon is None:
            return None
        return {'lat': lat, 'lon': lon, 'alt': alt, 'sats': sats,
                'hdop': hdop, 'source': 'GPGGA'}
    except (IndexError, ValueError):
        return None


def parse_gpgll(fields: list[str]) -> Optional[dict]:
    """$GPGLL / $GNGLL,llll.ll,a,yyyyy.yy,a,hhmmss,A/V,..."""
    try:
        lat = _parse_lat(fields[1], fields[2])
        lon = _parse_lon(fields[3], fields[4])
        status = fields[6] if len(fields) > 6 else fields[5] if len(fields) > 5 else 'V'
        if status.strip().upper() not in ('A', ''):
            return None
        if lat is None or lon is None:
            return None
        return {'lat': lat, 'lon': lon, 'sog': 0.0, 'cog': 0.0, 'source': 'GLL'}
    except (IndexError, ValueError):
        return None


def parse_sentence(raw: str) -> Optional[dict]:
    raw = raw.strip()
    if not raw.startswith('$'):
        return None
    if not _nmea_checksum_ok(raw):
        return None
    sentence = raw.split('*')[0].lstrip('$')
    fields   = sentence.split(',')
    tag      = fields[0][-3:]   # RMC, GGA, GLL, etc.

    if tag == 'RMC':
        return parse_gprmc(fields)
    if tag == 'GGA':
        return parse_gpgga(fields)
    if tag == 'GLL':
        return parse_gpgll(fields)
    return None


# ── Async reader ──────────────────────────────────────────────────────────────

class GPSReader:
    def __init__(self, broadcast_cb: Callable, forced_port: str = None, forced_baud: int = None):
        self.broadcast = broadcast_cb
        self._port: Optional[str]  = None
        self._baud: int            = 9600
        self._forced_port          = forced_port
        self._forced_baud          = forced_baud
        self._running              = False
        self._ser: Optional[serial.Serial] = None
        self.last_fix: Optional[dict] = None
        self.status: str           = 'SEARCHING'

    def reconnect(self):
        """Force the read loop to drop the current serial and re-probe."""
        if self._ser is not None:
            try: self._ser.close()
            except Exception: pass

    async def start(self):
        self._running = True
        asyncio.create_task(self._run())

    async def _run(self):
        while self._running:
            if self._forced_port:
                log.info("GPS: using configured port %s", self._forced_port)
            else:
                log.info("GPS: scanning ports...")
            self.status = 'SEARCHING'
            result = await asyncio.get_event_loop().run_in_executor(
                None, lambda: find_gps_port(self._forced_port, self._forced_baud))
            if not result:
                msg = f"GPS: port {self._forced_port} not responding" if self._forced_port else "GPS: no NMEA device found"
                log.warning("%s, retrying in 10s", msg)
                self.status = 'NOT FOUND'
                await asyncio.sleep(10)
                continue

            self._port, self._baud = result
            self.status = 'ONLINE'
            log.info("GPS: reading from %s @ %d", self._port, self._baud)
            await self._read_loop()

    async def _read_loop(self):
        import time
        loop = asyncio.get_event_loop()
        try:
            ser = await loop.run_in_executor(
                None, lambda: serial.Serial(self._port, self._baud, timeout=2))
            self._ser = ser
        except Exception as e:
            log.error("GPS: could not open %s — %s", self._port, e)
            self.status = 'ERROR'
            return

        _last_fix_ts   = 0.0   # epoch of last valid fix sentence
        _nofix_sent    = False  # have we already broadcast NO FIX this gap?
        NO_FIX_TIMEOUT = 8.0   # seconds with no valid sentence → NO FIX

        try:
            while self._running:
                raw = await loop.run_in_executor(None, ser.readline)
                now = time.monotonic()

                # If no valid fix for NO_FIX_TIMEOUT seconds, broadcast once
                if now - _last_fix_ts > NO_FIX_TIMEOUT and not _nofix_sent:
                    await self.broadcast({'type': 'gps', 'status': 'NO FIX',
                                          'lat': None, 'lon': None})
                    _nofix_sent = True

                try:
                    line = raw.decode('ascii', errors='ignore')
                except Exception:
                    continue

                line_s = line.strip()
                # Only process GNSS talker sentences
                if not any(line_s.startswith(p) for p in ('$GP','$GN','$GL','$GA','$GB','$GI','$GQ')):
                    continue
                # Only position/fix sentences — skip GSV, GSA, VTG, ZDA silently
                try:
                    tag = line_s.split(',')[0].lstrip('$')[-3:]
                except Exception:
                    continue
                if tag not in POSITION_TAGS:
                    continue

                fix = parse_sentence(line_s)
                if fix:
                    _last_fix_ts = now
                    _nofix_sent  = False
                    # Merge new fix into last_fix so GGA-only fields (hdop, sats, alt)
                    # persist across RMC/GLL sentences that don't carry them.
                    merged = dict(self.last_fix or {})
                    merged.update({k: v for k, v in fix.items() if v is not None})
                    self.last_fix = merged
                    await self.broadcast({
                        'type':   'gps',
                        'status': 'FIX',
                        'lat':    merged['lat'],
                        'lon':    merged['lon'],
                        'sog':    merged.get('sog', 0),
                        'cog':    merged.get('cog', 0),
                        'sats':   merged.get('sats'),
                        'hdop':   merged.get('hdop'),
                        'alt':    merged.get('alt'),
                        'source': fix['source'],
                    })
                # void RMC/GGA: silently ignored — NO FIX only after timeout above
        except Exception as e:
            log.error("GPS: read error — %s", e)
            self.status = 'DISCONNECTED'
        finally:
            try: ser.close()
            except Exception: pass
            self._ser = None
            await asyncio.sleep(3)   # reconnect delay