dependencies: [
    .package(url: "https://github.com/durellwilson/swift-dji-drone.git", from: "1.0.0")
]

import SwiftDJIDrone

// Connect to drone
let connection = DroneConnection(host: "192.168.10.1", port: 8889)
try await connection.connect()

// Check state
let state = try await connection.getState()
print("Battery: \(state.battery)%")

// Send command
let response = try await connection.sendCommand(.takeoff)

let controller = AutonomousController(connection: connection)

let mission = Mission(
    name: "Survey Mission",
    waypoints: [
        Waypoint(action: .takeoff),
        Waypoint(action: .moveTo(x: 100, y: 0, z: 50, speed: 50)),
        Waypoint(action: .capturePhoto),
        Waypoint(action: .land),
    ]
)

try await controller.executeMission(mission)

let vision = VisionController()

let objects = await vision.detectObjects(in: frame)
for object in objects {
    print("\(object.label): \(object.confidence)")
}

let safety = SafetyController()

// Start monitoring
Task {
    await safety.startMonitoring(connection: connection)
}

// Check if safe to continue
if await safety.shouldAbortMission(state) {
    try await controller.emergencyStop()
}

let mission = Mission(
    name: "Building Inspection",
    waypoints: [
        Waypoint(action: .takeoff),
        Waypoint(action: .moveTo(x: 0, y: 0, z: 100, speed: 30)),
        Waypoint(action: .startVideo),
        Waypoint(action: .moveTo(x: 200, y: 0, z: 100, speed: 20)),
        Waypoint(action: .moveTo(x: 200, y: 200, z: 100, speed: 20)),
        Waypoint(action: .stopVideo),
        Waypoint(action: .land),
    ]
)

let vision = VisionController()

while tracking {
    let objects = await vision.detectObjects(in: currentFrame)
    
    if let target = objects.first(where: { $0.label == "person" }) {
        let tracking = await vision.trackObject(target)
        
        // Adjust drone position to follow
        try await connection.sendCommand(.moveTo(
            x: Int(tracking.position.x),
            y: Int(tracking.position.y),
            z: Int(tracking.position.z)
        ))
    }
}

let mission = Mission(
    name: "Aerial Photography",
    waypoints: [
        Waypoint(action: .takeoff),
        Waypoint(action: .moveTo(x: 0, y: 0, z: 150, speed: 30)),
        Waypoint(action: .rotate(degrees: 360)),
        Waypoint(action: .capturePhoto),
        Waypoint(action: .moveTo(x: 100, y: 100, z: 150, speed: 30)),
        Waypoint(action: .capturePhoto),
        Waypoint(action: .land),
    ]
)

public actor DroneConnection {
    // Thread-safe drone communication
}

public actor AutonomousController {
    // Thread-safe mission execution
}

public actor VisionController {
    // Thread-safe computer vision
}

public enum DroneCommand: String {
    case takeoff
    case land
    case forward
    case back
    // ...
}

// Bridge to DJI Mobile SDK
extension DroneConnection {
    func connectDJISDK() async throws {
        // Initialize DJI SDK
        // Register app
        // Connect to aircraft
    }
}

let obstacles = await vision.detectObstacles(in: frame)

for obstacle in obstacles {
    if obstacle.distance < 2.0 {
        // Stop and reroute
        try await controller.emergencyStop()
    }
}

struct GPSWaypoint {
    let latitude: Double
    let longitude: Double
    let altitude: Double
}

extension AutonomousController {
    func navigateToGPS(_ waypoint: GPSWaypoint) async throws {
        // Convert GPS to relative coordinates
        // Navigate to position
    }
}

actor VideoStream {
    func startStream() async throws {
        // Connect to video port 11111
        // Decode H.264 stream
        // Process frames
    }
}

public struct DroneState: Sendable {
    public let battery: Int          // 0-100%
    public let altitude: Double      // meters
    public let speed: Double         // m/s
    public let temperature: Int      // celsius
    public let isFlying: Bool
    public let gpsSignal: Int        // 0-5 satellites
}