"""Replay `data_imu.csv` to the FC inbound at 10 Hz.

CSV schema (from `_docs/00_problem/input_data/flight_derkachi/data_imu.csv`):
    timestamp_ms,ax,ay,az,gx,gy,gz,roll_deg,pitch_deg,yaw_deg,baro_m

Owned by AZ-406 (public surface) + AZ-407 (concrete file-driver
implementation). This module commits to the type signatures the
per-scenario tests will import; the actual MAVLink / MSP2 emission is
wired up by the downstream task.
"""

from __future__ import annotations

from dataclasses import dataclass
from pathlib import Path
from typing import Protocol


@dataclass(frozen=True)
class ImuSample:
    """One row of `data_imu.csv` after parsing into native units."""

    timestamp_ms: int
    accel_mss: tuple[float, float, float]
    gyro_rps: tuple[float, float, float]
    attitude_rad: tuple[float, float, float]  # roll, pitch, yaw (radians)
    baro_alt_m: float


class FcInboundEmitter(Protocol):
    """Abstract emitter — concrete impls are MAVLink (AP) or MSP2 (iNav)."""

    def emit(self, sample: ImuSample) -> None:
        ...


class ImuReplayer:
    """Drives an `FcInboundEmitter` from a CSV file at the recorded cadence."""

    def __init__(self, emitter: FcInboundEmitter, rate_hz: float = 10.0) -> None:
        self._emitter = emitter
        self._rate_hz = rate_hz

    def replay(self, csv_path: Path) -> int:
        """Replay the CSV file. Returns the number of samples emitted.

        Concrete implementation is owned by AZ-407 (FT-P-02 derkachi-drift
        + FT-P-04 frame-to-frame registration are the first consumers).
        """
        raise NotImplementedError(
            "ImuReplayer.replay is owned by AZ-407 — AZ-406 supplies only "
            "the public surface."
        )