"""
DroneKit/MAVLink integration plugin for MorphGuard.
"""
import os
from dronekit import connect
from pymavlink import mavutil

class DroneKitClient:
    """Client to send MorphGuard results via MAVLink to a Pix4/PX4 or ArduPilot autopilot."""
    def __init__(self, conn_str: str = None):
        self.conn_str = conn_str or os.getenv('DRONEKIT_CONNECT', 'udp:127.0.0.1:14550')
        try:
            # Connect to vehicle without blocking on parameters
            self.vehicle = connect(self.conn_str, wait_ready=False)
        except Exception as e:
            raise RuntimeError(f"Failed to connect to vehicle at {self.conn_str}: {e}")

    def send_status_text(self, severity: int, text: str):
        """Send a STATUSTEXT MAVLink message."""
        msg = self.vehicle.message_factory.statustext_encode(
            severity, text.encode('utf-8')
        )
        self.vehicle.send_mavlink(msg)
        self.vehicle.flush()

    def send_detection(self, is_morphed: bool, confidence: float):
        """Broadcast detection result."""
        severity = mavutil.mavlink.MAV_SEVERITY_ALERT if is_morphed else mavutil.mavlink.MAV_SEVERITY_INFO
        text = f"MorphGuard: morphed={is_morphed}, confidence={confidence:.2f}"
        self.send_status_text(severity, text)

    def send_demorph(self, success: bool):
        """Broadcast demorphing completion."""
        severity = mavutil.mavlink.MAV_SEVERITY_INFO
        text = f"Demorph completed: success={success}"
        self.send_status_text(severity, text)