"""Advanced Flight Management Agent with Real-time Telemetry and Mission Control."""
import asyncio
import json
import math
import threading
import time
from datetime import datetime, timedelta
from typing import Dict, List, Any, Optional, Callable
from enum import Enum
import websockets
from dataclasses import dataclass, asdict


class FlightState(Enum):
    """Flight states for mission tracking."""
    IDLE = "idle"
    CONFIRMED = "confirmed"
    ACTIVE = "active"
    PAUSED = "paused"
    COMPLETED = "completed"
    CANCELLED = "cancelled"
    EMERGENCY = "emergency"


class DroneMode(Enum):
    """Drone flight modes."""
    AUTO = "AUTO"
    LOITER = "LOITER"
    RTL = "RTL"
    GUIDED = "GUIDED"
    LAND = "LAND"


@dataclass
class Waypoint:
    """Mission waypoint definition."""
    id: int
    lat: float
    lon: float
    alt: float
    hold_time: float = 0.0
    accept_radius: float = 2.0
    completed: bool = False
    completion_time: Optional[str] = None


@dataclass
class FlightMission:
    """Complete flight mission definition."""
    mission_id: str
    drone_id: str
    waypoints: List[Waypoint]
    created_at: str
    confirmed_at: Optional[str] = None
    started_at: Optional[str] = None
    completed_at: Optional[str] = None
    state: FlightState = FlightState.IDLE
    current_waypoint_index: int = 0
    total_distance: float = 0.0
    estimated_duration: int = 0  # minutes
    pause_timer: Optional[threading.Timer] = None


@dataclass
class TelemetryData:
    """Real-time drone telemetry."""
    drone_id: str
    timestamp: str
    lat: float
    lon: float
    alt: float
    battery: int
    mode: str
    speed: float
    heading: float
    satellites: int
    voltage: float
    distance_to_waypoint: float
    current_waypoint: int
    mission_progress: float  # 0-100%


class FlightManager:
    """Advanced Flight Management Agent with AI reasoning and real-time control."""
    
    def __init__(self):
        self.active_missions: Dict[str, FlightMission] = {}
        self.drone_telemetry: Dict[str, TelemetryData] = {}
        self.tracking_threads: Dict[str, threading.Thread] = {}
        self.websocket_clients: List[websockets.WebSocketServerProtocol] = []
        self.notification_callbacks: List[Callable] = []
        self.ai_reasoning_enabled = True
        
        # Flight safety parameters
        self.min_battery_level = 25  # %
        self.max_flight_time = 30  # minutes
        self.waypoint_completion_radius = 5.0  # meters
        
    async def confirm_flight(self, mission_data: Dict[str, Any]) -> Dict[str, Any]:
        """Confirm and start tracking a flight mission."""
        try:
            mission_id = mission_data.get('mission_id')
            drone_id = mission_data.get('drone_id')
            waypoints_data = mission_data.get('waypoints', [])
            
            # Create waypoints
            waypoints = []
            for i, wp_data in enumerate(waypoints_data):
                waypoint = Waypoint(
                    id=i,
                    lat=wp_data['lat'],
                    lon=wp_data['lon'],
                    alt=wp_data['alt'],
                    hold_time=wp_data.get('hold_time', 0.0),
                    accept_radius=wp_data.get('accept_radius', 2.0)
                )
                waypoints.append(waypoint)
            
            # Create mission
            mission = FlightMission(
                mission_id=mission_id,
                drone_id=drone_id,
                waypoints=waypoints,
                created_at=datetime.now().isoformat(),
                confirmed_at=datetime.now().isoformat(),
                state=FlightState.CONFIRMED
            )
            
            self.active_missions[mission_id] = mission
            
            # Start tracking thread
            tracking_thread = threading.Thread(
                target=self._track_mission,
                args=(mission_id,),
                daemon=True
            )
            tracking_thread.start()
            self.tracking_threads[mission_id] = tracking_thread
            
            # Send initial notification
            await self._send_notification({
                'type': 'flight_confirmed',
                'mission_id': mission_id,
                'drone_id': drone_id,
                'message': f'Flight mission {mission_id} confirmed and tracking started',
                'timestamp': datetime.now().isoformat()
            })
            
            return {
                'status': 'confirmed',
                'tracking_id': mission_id,
                'message': f'Flight mission {mission_id} confirmed and tracking started'
            }
            
        except Exception as e:
            return {
                'status': 'error',
                'message': f'Failed to confirm flight: {str(e)}'
            }
    
    async def pause_flight(self, mission_id: str, drone_id: str) -> Dict[str, Any]:
        """Pause an active flight mission."""
        try:
            mission = self.active_missions.get(mission_id)
            if not mission:
                return {'status': 'error', 'message': 'Mission not found'}
            
            # Update mission state
            mission.state = FlightState.PAUSED
            
            # Send LOITER command to drone
            await self._send_drone_command(drone_id, {
                'command': 'SET_MODE',
                'mode': DroneMode.LOITER.value,
                'reason': 'User pause request'
            })
            
            # Calculate timeout based on battery and conditions
            current_telemetry = self.drone_telemetry.get(drone_id)
            timeout_seconds = self._calculate_pause_timeout(current_telemetry)
            
            # Start pause timer
            pause_timer = threading.Timer(
                timeout_seconds,
                self._handle_pause_timeout,
                args=(mission_id, drone_id)
            )
            pause_timer.daemon = True
            pause_timer.start()

            # Store timer reference for cleanup
            mission.pause_timer = pause_timer
            
            await self._send_notification({
                'type': 'flight_paused',
                'mission_id': mission_id,
                'drone_id': drone_id,
                'message': f'Flight paused. Drone in LOITER mode. Timeout: {timeout_seconds}s',
                'timeout_seconds': timeout_seconds,
                'timestamp': datetime.now().isoformat()
            })
            
            return {
                'status': 'paused',
                'timeout_seconds': timeout_seconds,
                'message': f'Flight paused successfully. Timeout: {timeout_seconds}s'
            }
            
        except Exception as e:
            return {
                'status': 'error',
                'message': f'Failed to pause flight: {str(e)}'
            }
    
    async def cancel_flight(self, mission_id: str, drone_id: str) -> Dict[str, Any]:
        """Cancel an active flight mission."""
        try:
            mission = self.active_missions.get(mission_id)
            if not mission:
                return {'status': 'error', 'message': 'Mission not found'}
            
            # Cancel any active pause timer
            if hasattr(mission, 'pause_timer') and mission.pause_timer:
                mission.pause_timer.cancel()

            # Update mission state
            mission.state = FlightState.CANCELLED
            mission.completed_at = datetime.now().isoformat()

            # Send RTL command to drone
            await self._send_drone_command(drone_id, {
                'command': 'SET_MODE',
                'mode': DroneMode.RTL.value,
                'reason': 'Mission cancelled by user'
            })
            
            # Stop tracking
            if mission_id in self.tracking_threads:
                # Note: Thread will check mission state and stop naturally
                pass
            
            await self._send_notification({
                'type': 'flight_cancelled',
                'mission_id': mission_id,
                'drone_id': drone_id,
                'message': f'Flight cancelled. Drone returning to launch.',
                'timestamp': datetime.now().isoformat()
            })
            
            return {
                'status': 'cancelled',
                'message': 'Flight cancelled successfully. Drone returning to launch.'
            }
            
        except Exception as e:
            return {
                'status': 'error',
                'message': f'Failed to cancel flight: {str(e)}'
            }
    
    async def update_mission(self, mission_id: str, new_waypoints: List[Dict], reason: str = "User request") -> Dict[str, Any]:
        """Dynamically update mission waypoints during flight."""
        try:
            mission = self.active_missions.get(mission_id)
            if not mission:
                return {'status': 'error', 'message': 'Mission not found'}
            
            # Create new waypoints
            updated_waypoints = []
            for i, wp_data in enumerate(new_waypoints):
                waypoint = Waypoint(
                    id=len(mission.waypoints) + i,
                    lat=wp_data['lat'],
                    lon=wp_data['lon'],
                    alt=wp_data['alt'],
                    hold_time=wp_data.get('hold_time', 0.0),
                    accept_radius=wp_data.get('accept_radius', 2.0)
                )
                updated_waypoints.append(waypoint)
            
            # Safety check with AI reasoning
            safety_check = await self._ai_safety_check(mission.drone_id, updated_waypoints, reason)
            if not safety_check['safe']:
                return {
                    'status': 'unsafe',
                    'message': safety_check['reason'],
                    'recommendations': safety_check.get('recommendations', [])
                }
            
            # Update mission
            mission.waypoints.extend(updated_waypoints)
            
            # Upload new mission to drone
            await self._upload_mission_to_drone(mission.drone_id, updated_waypoints)
            
            # Cancel any active pause timer and resume AUTO mode if paused
            if hasattr(mission, 'pause_timer') and mission.pause_timer:
                mission.pause_timer.cancel()
                mission.pause_timer = None

            if mission.state == FlightState.PAUSED:
                await self._send_drone_command(mission.drone_id, {
                    'command': 'SET_MODE',
                    'mode': DroneMode.AUTO.value,
                    'reason': 'Mission updated, resuming'
                })
                mission.state = FlightState.ACTIVE
            
            await self._send_notification({
                'type': 'mission_updated',
                'mission_id': mission_id,
                'drone_id': mission.drone_id,
                'message': f'Mission updated with {len(updated_waypoints)} new waypoints. {reason}',
                'new_waypoints_count': len(updated_waypoints),
                'timestamp': datetime.now().isoformat()
            })
            
            return {
                'status': 'updated',
                'message': f'Mission updated successfully with {len(updated_waypoints)} new waypoints',
                'safety_reasoning': safety_check['reasoning']
            }
            
        except Exception as e:
            return {
                'status': 'error',
                'message': f'Failed to update mission: {str(e)}'
            }
    
    def update_telemetry(self, telemetry_data: Dict[str, Any]) -> None:
        """Update drone telemetry data and trigger AI reasoning."""
        try:
            drone_id = telemetry_data.get('drone_id')
            if not drone_id:
                return
            
            # Create telemetry object
            telemetry = TelemetryData(
                drone_id=drone_id,
                timestamp=datetime.now().isoformat(),
                lat=telemetry_data.get('latitude', 0.0),
                lon=telemetry_data.get('longitude', 0.0),
                alt=telemetry_data.get('altitude', 0.0),
                battery=telemetry_data.get('batteryRemaining', 0),
                mode=telemetry_data.get('mode', 'UNKNOWN'),
                speed=telemetry_data.get('groundSpeed', 0.0),
                heading=telemetry_data.get('heading', 0.0),
                satellites=telemetry_data.get('satellite', 0),
                voltage=telemetry_data.get('voltage', 0.0),
                distance_to_waypoint=telemetry_data.get('distance_to_waypoint', 0.0),
                current_waypoint=telemetry_data.get('current_waypoint', 0),
                mission_progress=telemetry_data.get('mission_progress', 0.0)
            )
            
            # Store telemetry
            self.drone_telemetry[drone_id] = telemetry
            
            # Trigger AI reasoning and notifications
            asyncio.create_task(self._process_telemetry_with_ai(telemetry))
            
        except Exception as e:
            print(f"Error updating telemetry: {e}")
    
    async def get_intelligent_status_report(self, drone_id: str, user_context: str = "") -> str:
        """Generate AI-powered status report with reasoning."""
        try:
            telemetry = self.drone_telemetry.get(drone_id)
            if not telemetry:
                return "❌ No telemetry data available for drone status report."
            
            # Find active mission for this drone
            active_mission = None
            for mission in self.active_missions.values():
                if mission.drone_id == drone_id and mission.state in [FlightState.ACTIVE, FlightState.PAUSED]:
                    active_mission = mission
                    break
            
            # Generate AI reasoning
            if self.ai_reasoning_enabled:
                return await self._generate_ai_status_report(telemetry, active_mission, user_context)
            else:
                return self._generate_basic_status_report(telemetry, active_mission)
                
        except Exception as e:
            return f"❌ Error generating status report: {str(e)}"
    
    def _track_mission(self, mission_id: str) -> None:
        """Background mission tracking thread."""
        print(f"🎯 Started tracking mission: {mission_id}")

        # Create a new event loop for this thread
        loop = asyncio.new_event_loop()
        asyncio.set_event_loop(loop)

        try:
            loop.run_until_complete(self._mission_tracking_loop(mission_id))
        finally:
            loop.close()

    async def _mission_tracking_loop(self, mission_id: str) -> None:
        """Async mission tracking loop."""
        while True:
            try:
                mission = self.active_missions.get(mission_id)
                if not mission or mission.state in [FlightState.COMPLETED, FlightState.CANCELLED]:
                    print(f"✅ Mission tracking ended: {mission_id}")
                    break

                # Check for waypoint completion
                self._check_waypoint_completion(mission)

                # Check mission safety
                self._check_mission_safety(mission)

                await asyncio.sleep(2)  # Check every 2 seconds

            except Exception as e:
                print(f"❌ Error in mission tracking: {e}")
                await asyncio.sleep(5)
    
    def _check_waypoint_completion(self, mission: FlightMission) -> None:
        """Check if current waypoint is completed."""
        telemetry = self.drone_telemetry.get(mission.drone_id)
        if not telemetry:
            return
        
        current_wp_index = mission.current_waypoint_index
        if current_wp_index >= len(mission.waypoints):
            # Mission completed
            mission.state = FlightState.COMPLETED
            mission.completed_at = datetime.now().isoformat()
            # Schedule notification safely
            self._schedule_notification({
                'type': 'mission_completed',
                'mission_id': mission.mission_id,
                'drone_id': mission.drone_id,
                'message': 'Mission completed successfully! All waypoints reached.',
                'timestamp': datetime.now().isoformat()
            })
            return
        
        current_waypoint = mission.waypoints[current_wp_index]
        if current_waypoint.completed:
            return
        
        # Calculate distance to waypoint
        distance = self._calculate_distance(
            telemetry.lat, telemetry.lon,
            current_waypoint.lat, current_waypoint.lon
        )
        
        # Check if waypoint is reached
        if distance <= self.waypoint_completion_radius:
            current_waypoint.completed = True
            current_waypoint.completion_time = datetime.now().isoformat()
            mission.current_waypoint_index += 1
            
            # Schedule waypoint notification safely
            self._schedule_waypoint_notification(mission, current_waypoint, telemetry)
    
    async def _send_waypoint_notification(self, mission: FlightMission, waypoint: Waypoint, telemetry: TelemetryData) -> None:
        """Send intelligent waypoint completion notification."""
        # Generate AI reasoning for waypoint completion
        reasoning = await self._generate_waypoint_reasoning(mission, waypoint, telemetry)
        
        notification = {
            'type': 'waypoint_completed',
            'mission_id': mission.mission_id,
            'drone_id': mission.drone_id,
            'waypoint_id': waypoint.id,
            'waypoint_position': {'lat': waypoint.lat, 'lon': waypoint.lon, 'alt': waypoint.alt},
            'completion_time': waypoint.completion_time,
            'progress': f"{waypoint.id + 1}/{len(mission.waypoints)}",
            'battery_remaining': telemetry.battery,
            'reasoning': reasoning,
            'timestamp': datetime.now().isoformat()
        }
        
        await self._send_notification(notification)
    
    async def _generate_waypoint_reasoning(self, mission: FlightMission, waypoint: Waypoint, telemetry: TelemetryData) -> str:
        """Generate AI reasoning for waypoint completion."""
        remaining_waypoints = len(mission.waypoints) - waypoint.id - 1
        progress_percent = ((waypoint.id + 1) / len(mission.waypoints)) * 100
        
        # Estimate time to completion
        avg_speed = max(telemetry.speed, 5.0)  # Minimum 5 m/s assumption
        remaining_distance = self._estimate_remaining_distance(mission, waypoint.id + 1)
        estimated_time_minutes = (remaining_distance / avg_speed) / 60
        
        if remaining_waypoints == 0:
            return f"🎉 Mission completed! Drone has successfully reached all {len(mission.waypoints)} waypoints. Battery remaining: {telemetry.battery}%. Ready for return to launch."
        elif telemetry.battery < self.min_battery_level:
            return f"⚠️ Waypoint {waypoint.id + 1} reached, but battery critically low at {telemetry.battery}%. Recommend immediate return to launch. {remaining_waypoints} waypoints remaining."
        elif remaining_waypoints <= 2:
            return f"✅ Waypoint {waypoint.id + 1} completed! Almost done - only {remaining_waypoints} waypoints left. Progress: {progress_percent:.1f}%. Battery: {telemetry.battery}%. Estimated completion: {estimated_time_minutes:.1f} minutes."
        else:
            return f"✅ Waypoint {waypoint.id + 1} completed successfully! Progress: {progress_percent:.1f}% ({remaining_waypoints} waypoints remaining). Battery: {telemetry.battery}%. On track for completion in ~{estimated_time_minutes:.1f} minutes."
    
    def _calculate_distance(self, lat1: float, lon1: float, lat2: float, lon2: float) -> float:
        """Calculate distance between two GPS coordinates in meters."""
        # Haversine formula
        R = 6371000  # Earth's radius in meters
        lat1_rad = math.radians(lat1)
        lat2_rad = math.radians(lat2)
        delta_lat = math.radians(lat2 - lat1)
        delta_lon = math.radians(lon2 - lon1)
        
        a = (math.sin(delta_lat / 2) ** 2 +
             math.cos(lat1_rad) * math.cos(lat2_rad) * math.sin(delta_lon / 2) ** 2)
        c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))
        
        return R * c
    
    def _estimate_remaining_distance(self, mission: FlightMission, start_waypoint_index: int) -> float:
        """Estimate remaining mission distance."""
        if start_waypoint_index >= len(mission.waypoints):
            return 0.0
        
        total_distance = 0.0
        for i in range(start_waypoint_index, len(mission.waypoints) - 1):
            wp1 = mission.waypoints[i]
            wp2 = mission.waypoints[i + 1]
            total_distance += self._calculate_distance(wp1.lat, wp1.lon, wp2.lat, wp2.lon)
        
        return total_distance
    
    async def _send_notification(self, notification: Dict[str, Any]) -> None:
        """Send notification to all connected clients."""
        try:
            message = json.dumps(notification)
            
            # Send to WebSocket clients
            if self.websocket_clients:
                disconnected_clients = []
                for client in self.websocket_clients:
                    try:
                        await client.send(message)
                    except:
                        disconnected_clients.append(client)
                
                # Remove disconnected clients
                for client in disconnected_clients:
                    self.websocket_clients.remove(client)
            
            # Call notification callbacks
            for callback in self.notification_callbacks:
                try:
                    await callback(notification)
                except Exception as e:
                    print(f"Notification callback error: {e}")
            
            print(f"📢 Notification sent: {notification['type']}")
            
        except Exception as e:
            print(f"❌ Error sending notification: {e}")
    
    async def _send_drone_command(self, drone_id: str, command: Dict[str, Any]) -> bool:
        """Send command to drone (integrate with MAVLink or drone API)."""
        try:
            # TODO: Integrate with actual drone API/MAVLink
            print(f"🚁 Sending command to drone {drone_id}: {command}")
            
            # Simulate command sending
            await asyncio.sleep(0.1)
            return True
            
        except Exception as e:
            print(f"❌ Error sending drone command: {e}")
            return False
    
    async def _upload_mission_to_drone(self, drone_id: str, waypoints: List[Waypoint]) -> bool:
        """Upload mission waypoints to drone."""
        try:
            # TODO: Integrate with actual drone mission upload
            print(f"📤 Uploading {len(waypoints)} waypoints to drone {drone_id}")
            
            # Simulate mission upload
            await asyncio.sleep(0.5)
            return True
            
        except Exception as e:
            print(f"❌ Error uploading mission: {e}")
            return False
    
    def _calculate_pause_timeout(self, telemetry: Optional[TelemetryData]) -> int:
        """Calculate appropriate pause timeout based on drone conditions."""
        if not telemetry:
            return 300  # Default 5 minutes
        
        # Calculate based on battery level
        if telemetry.battery > 70:
            return 600  # 10 minutes
        elif telemetry.battery > 40:
            return 300  # 5 minutes
        elif telemetry.battery > 25:
            return 120  # 2 minutes
        else:
            return 60   # 1 minute - critical battery

    def _handle_pause_timeout(self, mission_id: str, drone_id: str) -> None:
        """Handle pause timeout - automatically return to launch."""
        # Create a new event loop for this timeout operation
        loop = asyncio.new_event_loop()
        asyncio.set_event_loop(loop)

        try:
            loop.run_until_complete(self._execute_pause_timeout(mission_id, drone_id))
        finally:
            loop.close()

    async def _execute_pause_timeout(self, mission_id: str, drone_id: str) -> None:
        """Execute pause timeout actions."""
        mission = self.active_missions.get(mission_id)
        if not mission or mission.state != FlightState.PAUSED:
            return

        print(f"⏰ Pause timeout executing for mission {mission_id}")

        # Send RTL command
        await self._send_drone_command(drone_id, {
            'command': 'SET_MODE',
            'mode': DroneMode.RTL.value,
            'reason': 'Pause timeout exceeded'
        })

        mission.state = FlightState.CANCELLED
        mission.completed_at = datetime.now().isoformat()

        await self._send_notification({
            'type': 'pause_timeout',
            'mission_id': mission_id,
            'drone_id': drone_id,
            'message': 'Pause timeout exceeded. Drone returning to launch automatically.',
            'timestamp': datetime.now().isoformat()
        })
    
    async def _ai_safety_check(self, drone_id: str, waypoints: List[Waypoint], reason: str) -> Dict[str, Any]:
        """AI-powered safety check for mission updates."""
        telemetry = self.drone_telemetry.get(drone_id)
        if not telemetry:
            return {
                'safe': False,
                'reason': 'No telemetry data available for safety check',
                'reasoning': 'Cannot verify drone status without telemetry data'
            }
        
        # Check battery level
        if telemetry.battery < self.min_battery_level:
            return {
                'safe': False,
                'reason': f'Battery too low: {telemetry.battery}%',
                'reasoning': f'Current battery level {telemetry.battery}% is below minimum safe level {self.min_battery_level}%',
                'recommendations': ['Return to launch immediately', 'Charge battery before continuing mission']
            }
        
        # Check waypoint distances
        total_distance = 0.0
        if waypoints:
            # Distance from current position to first new waypoint
            total_distance += self._calculate_distance(
                telemetry.lat, telemetry.lon,
                waypoints[0].lat, waypoints[0].lon
            )
            
            # Distance between waypoints
            for i in range(len(waypoints) - 1):
                total_distance += self._calculate_distance(
                    waypoints[i].lat, waypoints[i].lon,
                    waypoints[i + 1].lat, waypoints[i + 1].lon
                )
        
        # Estimate flight time and battery usage
        avg_speed = max(telemetry.speed, 8.0)  # m/s
        estimated_time_minutes = (total_distance / avg_speed) / 60
        estimated_battery_usage = estimated_time_minutes * 2  # ~2% per minute assumption
        
        if telemetry.battery - estimated_battery_usage < self.min_battery_level:
            return {
                'safe': False,
                'reason': f'Insufficient battery for mission: {estimated_battery_usage:.1f}% needed, {telemetry.battery - self.min_battery_level}% available',
                'reasoning': f'Mission requires ~{estimated_time_minutes:.1f} minutes ({estimated_battery_usage:.1f}% battery). Current: {telemetry.battery}%, minimum reserve: {self.min_battery_level}%',
                'recommendations': ['Reduce mission distance', 'Return to launch and recharge', 'Split mission into multiple flights']
            }
        
        return {
            'safe': True,
            'reason': 'Mission update passed safety checks',
            'reasoning': f'Battery sufficient ({telemetry.battery}% > {estimated_battery_usage:.1f}% needed), distance reasonable ({total_distance:.0f}m), estimated time {estimated_time_minutes:.1f} minutes'
        }
    
    async def _process_telemetry_with_ai(self, telemetry: TelemetryData) -> None:
        """Process telemetry data with AI reasoning for proactive notifications."""
        try:
            # Check for critical conditions
            critical_notifications = []
            
            # Battery warnings (only if battery data is available)
            if telemetry.battery is not None:
                if telemetry.battery <= 20:
                    critical_notifications.append({
                        'type': 'critical_battery',
                        'severity': 'high',
                        'message': f'Critical battery warning: {telemetry.battery}% remaining. Immediate action required.',
                        'recommendation': 'Return to launch immediately'
                    })
                elif telemetry.battery <= 30:
                    critical_notifications.append({
                        'type': 'low_battery',
                        'severity': 'medium',
                        'message': f'Low battery warning: {telemetry.battery}% remaining. Consider returning soon.',
                        'recommendation': 'Plan return to launch'
                    })
            
            # GPS quality warnings
            if telemetry.satellites is not None and telemetry.satellites < 6:
                critical_notifications.append({
                    'type': 'poor_gps',
                    'severity': 'medium',
                    'message': f'Poor GPS signal: Only {telemetry.satellites} satellites. Navigation accuracy reduced.',
                    'recommendation': 'Monitor position closely, consider pausing mission'
                })
            
            # Send critical notifications
            for notification in critical_notifications:
                notification.update({
                    'drone_id': telemetry.drone_id,
                    'timestamp': datetime.now().isoformat()
                })
                await self._send_notification(notification)
                
        except Exception as e:
            print(f"❌ Error processing telemetry with AI: {e}")
    
    async def _generate_ai_status_report(self, telemetry: TelemetryData, mission: Optional[FlightMission], user_context: str) -> str:
        """Generate AI-powered intelligent status report."""
        try:
            # Import Gemini AI for intelligent reasoning
            from .ai import Gemini2FlashAI
            
            ai = Gemini2FlashAI()
            if not ai.enabled:
                return self._generate_basic_status_report(telemetry, mission)
            
            # Prepare context for AI
            mission_context = ""
            if mission:
                completed_waypoints = sum(1 for wp in mission.waypoints if wp.completed)
                total_waypoints = len(mission.waypoints)
                progress = (completed_waypoints / total_waypoints) * 100 if total_waypoints > 0 else 0
                
                mission_context = f"""
ACTIVE MISSION:
- Mission ID: {mission.mission_id}
- State: {mission.state.value}
- Progress: {completed_waypoints}/{total_waypoints} waypoints ({progress:.1f}%)
- Current waypoint: {mission.current_waypoint_index}
- Mission type: Based on waypoint pattern"""
            
            prompt = f"""You are DroneBot, providing an intelligent drone status report. 
Analyze the telemetry data and provide insights, not just raw numbers.

DRONE TELEMETRY:
- Battery: {telemetry.battery}% ({telemetry.voltage:.1f}V)
- Position: {telemetry.lat:.6f}, {telemetry.lon:.6f} at {telemetry.alt:.1f}m
- Speed: {telemetry.speed:.1f} m/s, Heading: {telemetry.heading:.0f}°
- GPS: {telemetry.satellites} satellites
- Mode: {telemetry.mode}
- Distance to waypoint: {telemetry.distance_to_waypoint:.1f}m

{mission_context}

USER CONTEXT: {user_context}

Provide a concise, insightful status report that:
- Analyzes the drone's condition and performance
- Explains what the drone is currently doing
- Identifies any concerns or recommendations
- Shows understanding of the mission progress
- Is conversational and easy to understand

Focus on insights, not just data. Be helpful and proactive."""

            try:
                api_key = ai.get_current_api_key()
                headers = {'Content-Type': 'application/json', 'x-goog-api-key': api_key}
                
                payload = {
                    "contents": [{"parts": [{"text": prompt}]}],
                    "generationConfig": {
                        "temperature": 0.6,
                        "topK": 40,
                        "topP": 0.95,
                        "maxOutputTokens": 1024
                    }
                }
                
                import aiohttp
                async with aiohttp.ClientSession() as session:
                    async with session.post(ai.api_endpoint, json=payload, headers=headers) as response:
                        if response.status == 200:
                            result = await response.json()
                            ai_report = result['candidates'][0]['content']['parts'][0]['text']
                            return f"🧠 **AI Status Analysis:**\n\n{ai_report}"
                            
            except Exception as e:
                print(f"AI status report failed: {e}")
            
            # Fallback to basic report
            return self._generate_basic_status_report(telemetry, mission)
            
        except Exception as e:
            return f"❌ Error generating AI status report: {str(e)}"
    
    def _generate_basic_status_report(self, telemetry: TelemetryData, mission: Optional[FlightMission]) -> str:
        """Generate basic status report without AI."""
        status_parts = []
        
        status_parts.append("🚁 **Drone Status Report**")
        status_parts.append("")
        
        # Battery status with emoji
        battery_emoji = "🔋" if telemetry.battery > 50 else "🪫" if telemetry.battery > 25 else "🔴"
        status_parts.append(f"{battery_emoji} **Battery:** {telemetry.battery}% ({telemetry.voltage:.1f}V)")
        
        # Location and altitude
        status_parts.append(f"📍 **Position:** {telemetry.lat:.6f}, {telemetry.lon:.6f}")
        status_parts.append(f"🛩️ **Altitude:** {telemetry.alt:.1f}m")
        status_parts.append(f"🧭 **Heading:** {telemetry.heading:.0f}° at {telemetry.speed:.1f} m/s")
        
        # GPS and mode
        gps_emoji = "📡" if telemetry.satellites >= 8 else "📶" if telemetry.satellites >= 6 else "⚠️"
        status_parts.append(f"{gps_emoji} **GPS:** {telemetry.satellites} satellites")
        status_parts.append(f"🎯 **Mode:** {telemetry.mode}")
        
        # Mission progress
        if mission:
            completed = sum(1 for wp in mission.waypoints if wp.completed)
            total = len(mission.waypoints)
            progress = (completed / total) * 100 if total > 0 else 0
            status_parts.append("")
            status_parts.append(f"🎯 **Mission:** {mission.state.value.title()}")
            status_parts.append(f"📊 **Progress:** {completed}/{total} waypoints ({progress:.1f}%)")
            
            if telemetry.distance_to_waypoint > 0:
                status_parts.append(f"🎯 **Next waypoint:** {telemetry.distance_to_waypoint:.1f}m away")
        
        return "\n".join(status_parts)
    
    def _schedule_notification(self, notification: Dict[str, Any]) -> None:
        """Schedule notification safely from synchronous context."""
        try:
            # Try to get running loop
            loop = asyncio.get_running_loop()
            # Create task in the running loop
            loop.create_task(self._send_notification(notification))
        except RuntimeError:
            # No running loop, schedule for later
            print(f"📢 Notification queued: {notification['type']}")
    
    def _schedule_waypoint_notification(self, mission: FlightMission, waypoint: Waypoint, telemetry: TelemetryData) -> None:
        """Schedule waypoint notification safely from synchronous context."""
        try:
            loop = asyncio.get_running_loop()
            loop.create_task(self._send_waypoint_notification(mission, waypoint, telemetry))
        except RuntimeError:
            print(f"📢 Waypoint notification queued: {waypoint.id}")
    
    def _check_mission_safety(self, mission: FlightMission) -> None:
        """Check mission safety conditions."""
        telemetry = self.drone_telemetry.get(mission.drone_id)
        if not telemetry:
            return
        
        # Check for emergency conditions
        emergency_conditions = []

        if telemetry.battery is not None and telemetry.battery <= 15:
            emergency_conditions.append("Critical battery level")

        if telemetry.satellites is not None and telemetry.satellites < 4:
            emergency_conditions.append("GPS signal lost")

        if telemetry.voltage is not None and telemetry.voltage < 10.0:
            emergency_conditions.append("Critical voltage level")
        
        if emergency_conditions:
            mission.state = FlightState.EMERGENCY
            self._schedule_emergency_handling(mission, emergency_conditions)
    
    def _schedule_emergency_handling(self, mission: FlightMission, conditions: List[str]) -> None:
        """Schedule emergency handling safely from synchronous context."""
        try:
            loop = asyncio.get_running_loop()
            loop.create_task(self._handle_emergency(mission, conditions))
        except RuntimeError:
            print(f"🚨 Emergency queued: {', '.join(conditions)}")
    
    async def _handle_emergency(self, mission: FlightMission, conditions: List[str]) -> None:
        """Handle emergency conditions."""
        # Send emergency RTL command
        await self._send_drone_command(mission.drone_id, {
            'command': 'SET_MODE',
            'mode': DroneMode.RTL.value,
            'reason': f'Emergency: {", ".join(conditions)}'
        })
        
        # Send emergency notification
        await self._send_notification({
            'type': 'emergency',
            'mission_id': mission.mission_id,
            'drone_id': mission.drone_id,
            'conditions': conditions,
            'message': f'EMERGENCY: {", ".join(conditions)}. Drone commanded to return immediately.',
            'timestamp': datetime.now().isoformat()
        })


# Global flight manager instance
flight_manager = FlightManager()