from pymisb.common import build_klv_packets
from pymisb.mux import mux_with_ffmpeg

packets = build_klv_packets("telemetry.csv")
mux_with_ffmpeg("drone.mp4", packets, "output.ts")

from pymisb.demux import extract_klv, decode_packets

klv_data = extract_klv("output.ts")
packets = decode_packets(klv_data)
for pkt in packets:
    meta = pkt.MetadataList()
    print(meta[13])  # Sensor Latitude

from pymisb.stream import open_stream

with open_stream("udp://@:5000") as reader:
    for pkt in reader:
        meta = pkt.MetadataList()
        print(meta[13])  # Sensor Latitude in real-time

from pymisb.vmti import parse_vmti, extract_vmti

targets = parse_vmti(extract_vmti("video.ts"))
for t in targets:
    print(t["target_centroid_lat"], t["target_classification"])

from pymisb.common import (
    build_st0601_packet,       # Build a single ST0601 KLV packet
    build_klv_packets,         # Parse DJI CSV -> list of KLV packets
    build_klv_packets_from_txt, # Parse DJI .txt -> list of KLV packets
    default_output,            # Generate default output path
    write_klv_stream,          # Write packets as raw KLV file
)

from pymisb.mux import (
    mux_with_ffmpeg,       # Full mux pipeline (FFmpeg + KLV injection)
    inject_klv_into_ts,    # Low-level: inject KLV into existing TS
)

from pymisb.demux import (
    extract_klv,           # Extract raw KLV bytes from TS via FFmpeg
    decode_packets,        # Decode raw KLV into parsed ST0601 packets
)

from pymisb.stream import open_stream

# Iterator mode — yields packets as they arrive
with open_stream("udp://@:5000") as reader:
    for pkt in reader:
        meta = pkt.MetadataList()
        print(meta[13])

# Callback mode
def on_packet(pkt):
    print(pkt.MetadataList()[13])

reader = open_stream("rtsp://camera.local/stream")
reader.start(callback=on_packet)
reader.stop()

from pymisb.vmti import parse_vmti, extract_vmti, decode_vmti_stream

# From a TS file
targets = parse_vmti(extract_vmti("video.ts"))
for t in targets:
    print(t["target_centroid_lat"], t["target_classification"])

# From raw bytes
targets = decode_vmti_stream(vmti_bytes)

from pymisb.constants import (
    UAS_LS_KEY,            # 16-byte UAS Datalink Local Set universal key
    KLV_HEADER_KEY,        # Shifted key for DJI non-standard headers
    ST0601_VERSION,        # MISB ST0601 version (Tag 65)
    HFOV_DEG, VFOV_DEG,   # Camera field of view (degrees)
    EARTH_MEAN_RADIUS,     # WGS-84 radius in meters
)