from __future__ import annotations

import atexit

from .control import ControlAckTracker, ControlArbiter, NativeUdpControlIngress, OmniSocketControlAckReceiver, OmniSocketControlSender
from .telemetry import GpsDataService, HubTelemetryReceiver, NetworkTelemetryService
from .video import OmniSocketVideoReceiver, VideoDisplayProbeStore, VideoFrameService


_video_receiver = OmniSocketVideoReceiver()
_control_ack_tracker = ControlAckTracker()
_control_sender = OmniSocketControlSender(_control_ack_tracker)
_control_ack_receiver = OmniSocketControlAckReceiver(_control_ack_tracker)
_hub_telemetry_receiver = HubTelemetryReceiver()
_video_display_probe_store = VideoDisplayProbeStore()

control_arbiter = ControlArbiter(_control_sender)
native_control_ingress = NativeUdpControlIngress(control_arbiter)

video_service = VideoFrameService(_video_receiver, _video_display_probe_store)
gps_service = GpsDataService(_video_receiver)
network_service = NetworkTelemetryService(
    _video_receiver,
    _control_sender,
    _control_ack_tracker,
    _control_ack_receiver,
    control_arbiter,
    native_control_ingress,
    _hub_telemetry_receiver,
    _video_display_probe_store,
)


def shutdown_monitoring_services() -> None:
    for closer in (
        network_service.close,
        native_control_ingress.close,
        control_arbiter.close,
        _control_ack_receiver.close,
        _control_ack_tracker.close,
        _hub_telemetry_receiver.close,
        _video_display_probe_store.close,
        _video_receiver.close,
        _control_sender.close,
    ):
        try:
            closer()
        except Exception:
            pass


atexit.register(shutdown_monitoring_services)