#!/usr/bin/env python3
#
#  Copyright (c) 2020, The OpenThread Authors.
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import ipaddress
import logging
import re
from collections import Counter
from typing import Callable, List, Collection, Union, Tuple, Optional, Dict, Pattern, Any

from . import connectors
from .command_handlers import OTCommandHandler, OtCliCommandRunner, OtbrSshCommandRunner
from .connectors import Simulator
from .errors import UnexpectedCommandOutput, ExpectLineTimeoutError, CommandError, InvalidArgumentsError
from .types import ChildId, Rloc16, Ip6Addr, ThreadState, PartitionId, DeviceMode, RouterId, SecurityPolicy, Ip6Prefix, \
    RouterTableEntry, NetifIdentifier
from .utils import match_line, constant_property


class OTCI(object):
    """
    This class represents an OpenThread Controller Interface instance that provides versatile interfaces to
    manipulate an OpenThread device.
    """

    DEFAULT_EXEC_COMMAND_RETRY = 4  # A command is retried 4 times if failed.

    __exec_command_retry = DEFAULT_EXEC_COMMAND_RETRY

    def __init__(self, otcmd: OTCommandHandler):
        """
        This method initializes an OTCI instance.

        :param otcmd: An OpenThread Command Handler instance to execute OpenThread CLI commands.
        """
        self.__otcmd: OTCommandHandler = otcmd
        self.__logger = logging.getLogger(name=str(self))

    def __repr__(self):
        """Gets the string representation of the OTCI instance."""
        return repr(self.__otcmd)

    def wait(self, duration: float, expect_line: Union[str, Pattern, Collection[Any]] = None):
        """Wait for a given duration.

        :param duration: The duration (in seconds) wait for.
        :param expect_line: The line expected to output if given.
                            Raise ExpectLineTimeoutError if expect_line is not found within the given duration.
        """
        self.log('info', "wait for %.3f seconds", duration)
        if expect_line is None:
            self.__otcmd.wait(duration)
        else:
            success = False

            while duration > 0:
                output = self.__otcmd.wait(1)
                if any(match_line(line, expect_line) for line in output):
                    success = True
                    break

                duration -= 1

            if not success:
                raise ExpectLineTimeoutError(expect_line)

    def close(self):
        """Close the OTCI instance."""
        self.__otcmd.close()

    def execute_command(self,
                        cmd: str,
                        timeout: float = 10,
                        silent: bool = False,
                        already_is_ok: bool = True) -> List[str]:
        for i in range(self.__exec_command_retry + 1):
            try:
                return self.__execute_command(cmd, timeout, silent, already_is_ok=already_is_ok)
            except Exception:
                if i == self.__exec_command_retry:
                    raise

    def __execute_command(self,
                          cmd: str,
                          timeout: float = 10,
                          silent: bool = False,
                          already_is_ok: bool = True) -> List[str]:
        """Execute the OpenThread CLI command.

        :param cmd: The command to execute.
        :param timeout: The command timeout.
        :param silent: Whether to run the command silent without logging.
        :returns: The command output as a list of lines.
        """
        if not silent:
            self.log('info', '> %s', cmd)

        output = self.__otcmd.execute_command(cmd, timeout)

        if not silent:
            for line in output:
                self.log('info', '%s', line)

        if cmd in ('reset', 'factoryreset'):
            return output

        if output[-1] == 'Done' or (already_is_ok and output[-1] == 'Error 24: Already'):
            output = output[:-1]
            return output
        else:
            raise CommandError(cmd, output)

    def set_execute_command_retry(self, n: int):
        assert n >= 0
        self.__exec_command_retry = n

    def shell(self, cmd: str, timeout: float = 10):
        self.log('info', '# %s', cmd)
        output = self.__otcmd.shell(cmd, timeout=timeout)
        for line in output:
            self.log('info', '%s', line)
        return output

    def set_logger(self, logger: logging.Logger):
        """Set the logger for the OTCI instance, or None to disable logging."""
        self.__logger = logger

    def log(self, level, fmt, *args, **kwargs):
        if self.__logger is not None:
            getattr(self.__logger, level)('(%s) ' + fmt, repr(self), *args, **kwargs)

    def set_line_read_callback(self, callback: Optional[Callable[[str], Any]]):
        """Set the callback that will be called for each line output by the CLI."""
        self.__otcmd.set_line_read_callback(callback)

    #
    # Constant properties
    #
    @constant_property
    def version(self):
        """Returns the firmware version. (e.g. "OPENTHREAD/20191113-01411-gb2d66e424-dirty; SIMULATION; Nov 14 2020 14:24:38")"""
        return self.__parse_str(self.execute_command('version'))

    @constant_property
    def thread_version(self):
        """Get the Thread Version number."""
        return self.__parse_int(self.execute_command('thread version'))

    @constant_property
    def api_version(self):
        """Get API version number."""
        try:
            return self.__parse_int(self.execute_command('version api'))
        except ValueError:
            # If the device does not have `version api` command, it will print the firmware version, which would lead to ValueError.
            return 0

    #
    # Basic device operations
    #
    def ifconfig_up(self):
        """Bring up the IPv6 interface."""
        self.execute_command('ifconfig up')

    def ifconfig_down(self):
        """Bring down the IPv6 interface."""
        self.execute_command('ifconfig down')

    def get_ifconfig_state(self) -> bool:
        """Get the status of the IPv6 interface."""
        return self.__parse_values(self.execute_command('ifconfig'), up=True, down=False)

    def thread_start(self):
        """Enable Thread protocol operation and attach to a Thread network."""
        self.execute_command('thread start')

    def thread_stop(self):
        """Disable Thread protocol operation and detach from a Thread network."""
        self.execute_command('thread stop')

    def reset(self):
        """Signal a platform reset."""
        self.execute_command('reset')

    def factory_reset(self):
        """Delete all stored settings, and signal a platform reset."""
        self.execute_command('factoryreset')

    #
    # Network Operations
    #
    _PING_STATISTICS_PATTERN = re.compile(
        r'^(?P<transmitted>\d+) packets transmitted, (?P<received>\d+) packets received.(?: Packet loss = (?P<loss>\d+\.\d+)%.)?(?: Round-trip min/avg/max = (?P<min>\d+)/(?P<avg>\d+\.\d+)/(?P<max>\d+) ms.)?$'
    )

    def ping(self,
             ip: str,
             size: int = 8,
             count: int = 1,
             interval: float = 1,
             hoplimit: int = 64,
             timeout: float = 3) -> Dict:
        """Send an ICMPv6 Echo Request.
        The default arguments are consistent with https://github.com/openthread/openthread/blob/main/src/core/utils/ping_sender.hpp.

        :param ip: The target IPv6 address to ping.
        :param size: The number of data bytes in the payload. Default is 8.
        :param count: The number of ICMPv6 Echo Requests to be sent. Default is 1.
        :param interval: The interval between two consecutive ICMPv6 Echo Requests in seconds. The value may have fractional form, for example 0.5. Default is 1.
        :param hoplimit: The hoplimit of ICMPv6 Echo Request to be sent. Default is 64. See OPENTHREAD_CONFIG_IP6_HOP_LIMIT_DEFAULT in src/core/config/ip6.h.
        :param timeout: The maximum duration in seconds for the ping command to wait after the final echo request is sent. Default is 3.
        """
        cmd = f'ping {ip} {size} {count} {interval} {hoplimit} {timeout}'

        timeout_allowance = 3
        lines = self.execute_command(cmd, timeout=(count - 1) * interval + timeout + timeout_allowance)

        statistics = {}
        for line in lines:
            m = OTCI._PING_STATISTICS_PATTERN.match(line)
            if m is not None:
                if m.group('transmitted') is not None:
                    statistics['transmitted_packets'] = int(m.group('transmitted'))
                    statistics['received_packets'] = int(m.group('received'))
                if m.group('loss') is not None:
                    statistics['packet_loss'] = float(m.group('loss')) / 100
                if m.group('min') is not None:
                    statistics['round_trip_time'] = {
                        'min': int(m.group('min')),
                        'avg': float(m.group('avg')),
                        'max': int(m.group('max'))
                    }
        return statistics

    def ping_stop(self):
        """Stop sending ICMPv6 Echo Requests."""
        self.execute_command('ping stop')

    def discover(self, channel: int = None) -> List[Dict[str, Any]]:
        """Perform an MLE Discovery operation."""
        return self.__scan_networks('discover', channel)

    def scan(self, channel: int = None) -> List[Dict[str, Any]]:
        """Perform an IEEE 802.15.4 Active Scan."""
        return self.__scan_networks('scan', channel)

    def __scan_networks(self, cmd: str, channel: int = None) -> List[Dict[str, Any]]:
        if channel is not None:
            cmd += f' {channel}'

        output = self.execute_command(cmd, timeout=10)
        if len(output) < 2:
            raise UnexpectedCommandOutput(output)

        networks = []
        for line in output[2:]:
            fields = line.strip().split('|')

            try:
                _, J, netname, extpanid, panid, extaddr, ch, dbm, lqi, _ = fields
            except Exception:
                logging.warning('ignored output: %r', line)
                continue

            networks.append({
                'joinable': bool(int(J)),
                'network_name': netname.strip(),
                'extpanid': extpanid,
                'panid': int(panid, 16),
                'extaddr': extaddr,
                'channel': int(ch),
                'dbm': int(dbm),
                'lqi': int(lqi),
            })

        return networks

    def scan_energy(self, duration: float = None, channel: int = None) -> Dict[int, int]:
        """Perform an IEEE 802.15.4 Energy Scan."""
        cmd = 'scan energy'
        if duration is not None:
            cmd += f' {duration * 1000:d}'

        if channel is not None:
            cmd += f' {channel}'

        output = self.execute_command(cmd, timeout=10)
        if len(output) < 2:
            raise UnexpectedCommandOutput(output)

        channels = {}
        for line in output[2:]:
            fields = line.strip().split('|')

            _, Ch, RSSI, _ = fields
            channels[int(Ch)] = int(RSSI)

        return channels

    def mac_send_data_request(self):
        """Instruct an Rx-Off-When-Idle device to send a Data Request mac frame to its parent."""
        self.execute_command('mac send datarequest')

    def mac_send_empty_data(self):
        """Instruct an Rx-Off-When-Idle device to send a Empty Data mac frame to its parent."""
        self.execute_command('mac send emptydata')

    # TODO: discover
    # TODO: dns resolve <hostname> [DNS server IP] [DNS server port]
    # TODO: fake /a/an <dst-ipaddr> <target> <meshLocalIid>
    # TODO: sntp query

    #
    # Set or get device/network parameters
    #

    def get_mode(self) -> str:
        """Get the Thread Device Mode value.

            -: no flags set (rx-off-when-idle, minimal Thread device, stable network data)
            r: rx-on-when-idle
            d: Full Thread Device
            n: Full Network Data
        """
        return self.__parse_str(self.execute_command('mode'))

    def set_mode(self, mode: str):
        """Set the Thread Device Mode value.

            -: no flags set (rx-off-when-idle, minimal Thread device, stable network data)
            r: rx-on-when-idle
            d: Full Thread Device
            n: Full Network Data
        """
        self.execute_command(f'mode {DeviceMode(mode)}')

    def get_extaddr(self) -> str:
        """Get the IEEE 802.15.4 Extended Address."""
        return self.__parse_extaddr(self.execute_command('extaddr'))

    def set_extaddr(self, extaddr: str):
        """Set the IEEE 802.15.4 Extended Address."""
        self.__validate_hex64b(extaddr)
        self.execute_command(f'extaddr {extaddr}')

    def get_eui64(self) -> str:
        """Get the factory-assigned IEEE EUI-64."""
        return self.__parse_eui64(self.execute_command('eui64'))

    def set_extpanid(self, extpanid: str):
        """Set the Thread Extended PAN ID value."""
        self.__validate_extpanid(extpanid)
        self.execute_command(f'extpanid {extpanid}')

    def get_extpanid(self) -> str:
        """Get the Thread Extended PAN ID value."""
        return self.__parse_extpanid(self.execute_command('extpanid'))

    def set_channel(self, ch):
        """Set the IEEE 802.15.4 Channel value."""
        self.execute_command('channel %d' % ch)

    def get_channel(self):
        """Get the IEEE 802.15.4 Channel value."""
        return self.__parse_int(self.execute_command('channel'))

    def get_preferred_channel_mask(self) -> int:
        """Get preferred channel mask."""
        return self.__parse_int(self.execute_command('channel preferred'))

    def get_supported_channel_mask(self):
        """Get supported channel mask."""
        return self.__parse_int(self.execute_command('channel supported'))

    def get_panid(self):
        """Get the IEEE 802.15.4 PAN ID value."""
        return self.__parse_int(self.execute_command('panid'), 16)

    def set_panid(self, panid):
        """Get the IEEE 802.15.4 PAN ID value."""
        self.execute_command('panid %d' % panid)

    def set_network_name(self, name):
        """Set network name."""
        self.execute_command('networkname %s' % self.__escape_escapable(name))

    def get_network_name(self):
        """Get network name."""
        return self.__parse_str(self.execute_command('networkname'))

    def get_network_key(self) -> str:
        """Get the network key."""
        return self.__parse_network_key(self.execute_command(self.__detect_networkkey_cmd()))

    def set_network_key(self, networkkey: str):
        """Set the network key."""
        self.__validate_network_key(networkkey)
        cmd = self.__detect_networkkey_cmd()
        self.execute_command(f'{cmd} {networkkey}')

    def get_key_sequence_counter(self) -> int:
        """Get the Thread Key Sequence Counter."""
        return self.__parse_int(self.execute_command('keysequence counter'))

    def set_key_sequence_counter(self, counter: int):
        """Set the Thread Key Sequence Counter."""
        self.execute_command(f'keysequence counter {counter}')

    def get_key_sequence_guard_time(self) -> int:
        """Get Thread Key Switch Guard Time (in hours)."""
        return self.__parse_int(self.execute_command('keysequence guardtime'))

    def set_key_sequence_guard_time(self, hours: int):
        """Set Thread Key Switch Guard Time (in hours) 0 means Thread Key Switch immediately if key index match."""
        self.execute_command(f'keysequence guardtime {hours}')

    def get_cca_threshold(self) -> int:
        """Get the CCA threshold in dBm measured at antenna connector per IEEE 802.15.4 - 2015 section 10.1.4."""
        output = self.execute_command(f'ccathreshold')
        val = self.__parse_str(output)
        if not val.endswith(' dBm'):
            raise UnexpectedCommandOutput(output)

        return int(val[:-4])

    def set_cca_threshold(self, val: int):
        """Set the CCA threshold measured at antenna connector per IEEE 802.15.4 - 2015 section 10.1.4."""
        self.execute_command(f'ccathreshold {val}')

    def get_promiscuous(self) -> bool:
        """Get radio promiscuous property."""
        return self.__parse_Enabled_or_Disabled(self.execute_command('promiscuous'))

    def enable_promiscuous(self):
        """Enable radio promiscuous operation and print raw packet content."""
        self.execute_command('promiscuous enable')

    def disable_promiscuous(self):
        """Disable radio promiscuous operation."""
        self.execute_command('promiscuous disable')

    def get_txpower(self) -> int:
        """Get the transmit power in dBm."""
        line = self.__parse_str(self.execute_command('txpower'))
        if not line.endswith(' dBm'):
            raise UnexpectedCommandOutput([line])

        return int(line.split()[0])

    def set_txpower(self, val: int):
        """Set the transmit power in dBm."""
        self.execute_command(f'txpower {val}')

    # TODO: fem
    # TODO: fem lnagain
    # TODO: fem lnagain <LNA gain>
    # TODO: mac retries direct
    # TODO: mac retries direct
    # TODO: mac retries indirect
    # TODO: mac retries indirect <number>

    #
    # Basic Node states and properties
    #

    def get_state(self) -> ThreadState:
        """Get the current Thread state."""
        return ThreadState(self.__parse_str(self.execute_command('state')))

    def set_state(self, state: str):
        """Try to switch to state detached, child, router or leader."""
        self.execute_command(f'state {state}')

    def get_rloc16(self) -> int:
        """Get the Thread RLOC16 value."""
        return self.__parse_int(self.execute_command('rloc16'), 16)

    def get_router_id(self) -> int:
        """Get the Thread Router ID value."""
        return self.get_rloc16() >> 10

    def prefer_router_id(self, routerid: int):
        """Prefer a Router ID when solicit router id from Leader."""
        self.execute_command(f'preferrouterid {routerid}')

    def is_singleton(self) -> bool:
        return self.__parse_values(self.execute_command('singleton'), true=True, false=False)

    #
    # RCP related utilities
    #

    def get_rcp_version(self):
        return self.__parse_str(self.execute_command('rcp version'))

    #
    # Unsecure port utilities
    #

    def get_unsecure_ports(self) -> List[int]:
        """all ports from the allowed unsecured port list."""
        return self.__parse_int_list(self.execute_command('unsecureport get'))

    def add_unsecure_port(self, port: int):
        """Add a port to the allowed unsecured port list."""
        self.execute_command(f'unsecureport add {port}')

    def remove_unsecure_port(self, port: int):
        """Remove a port from the allowed unsecured port list."""
        self.execute_command(f'unsecureport remove {port}')

    def clear_unsecure_ports(self):
        """Remove all ports from the allowed unsecured port list."""
        self.execute_command('unsecureport remove all')

    #
    # Leader configurations
    #

    def get_preferred_partition_id(self) -> PartitionId:
        """Get the preferred Thread Leader Partition ID."""
        return PartitionId(self.__parse_int(self.execute_command(self.__get_partition_preferred_cmd())))

    def set_preferred_partition_id(self, parid: int):
        """Set the preferred Thread Leader Partition ID."""
        self.execute_command(f'{self.__get_partition_preferred_cmd()} {parid}')

    def __get_partition_preferred_cmd(self) -> str:
        """"""
        return 'partitionid preferred' if self.api_version >= 51 else 'leaderpartitionid'

    def get_leader_weight(self) -> int:
        """Get the Thread Leader Weight."""
        return self.__parse_int(self.execute_command('leaderweight'))

    def set_leader_weight(self, weight: int):
        """Set the Thread Leader Weight."""
        self.execute_command(f'leaderweight {weight}')

    __LEADER_DATA_KEY_MAP = {
        'Partition ID': 'partition_id',
        'Weighting': 'weight',
        'Data Version': 'data_ver',
        'Stable Data Version': 'stable_data_ver',
        'Leader Router ID': 'leader_id',
    }

    def get_leader_data(self) -> Dict[str, int]:
        """Get the Thread Leader Data."""
        data = {}
        output = self.execute_command('leaderdata')

        try:
            for line in output:
                k, v = line.split(': ')
                data[OTCI.__LEADER_DATA_KEY_MAP[k]] = int(v)
        except KeyError:
            raise UnexpectedCommandOutput(output)

        return data

    #
    # Router configurations
    #

    def get_router_selection_jitter(self):
        """Get the ROUTER_SELECTION_JITTER value."""
        return self.__parse_int(self.execute_command('routerselectionjitter'))

    def set_router_selection_jitter(self, jitter):
        """Set the ROUTER_SELECTION_JITTER value."""
        self.execute_command(f'routerselectionjitter {jitter}')

    def get_network_id_timeout(self) -> int:
        """Get the NETWORK_ID_TIMEOUT parameter used in the Router role."""
        return self.__parse_int(self.execute_command('networkidtimeout'))

    def set_network_id_timeout(self, timeout: int):
        """Set the NETWORK_ID_TIMEOUT parameter used in the Router role."""
        self.execute_command(f'networkidtimeout {timeout}')

    def get_parent_priority(self) -> int:
        """Get the assigned parent priority value, -2 means not assigned."""
        return self.__parse_int(self.execute_command('parentpriority'))

    def set_parent_priority(self, priority: int):
        """Set the assigned parent priority value: 1, 0, -1 or -2."""
        self.execute_command(f'parentpriority {priority}')

    def get_router_upgrade_threshold(self) -> int:
        """Get the ROUTER_UPGRADE_THRESHOLD value."""
        return self.__parse_int(self.execute_command('routerupgradethreshold'))

    def set_router_upgrade_threshold(self, threshold: int):
        """Set the ROUTER_UPGRADE_THRESHOLD value."""
        self.execute_command(f'routerupgradethreshold {threshold}')

    def get_router_downgrade_threshold(self):
        """Set the ROUTER_DOWNGRADE_THRESHOLD value."""
        return self.__parse_int(self.execute_command('routerdowngradethreshold'))

    def set_router_downgrade_threshold(self, threshold: int):
        """Get the ROUTER_DOWNGRADE_THRESHOLD value."""
        self.execute_command(f'routerdowngradethreshold {threshold}')

    def get_router_eligible(self) -> bool:
        """Indicates whether the router role is enabled or disabled."""
        return self.__parse_Enabled_or_Disabled(self.execute_command('routereligible'))

    def enable_router_eligible(self):
        """Disable the router role."""
        self.execute_command('routereligible enable')

    def disable_router_eligible(self):
        """Disable the router role."""
        self.execute_command('routereligible disable')

    def get_router_list(self) -> List[RouterId]:
        """Get allocated Router IDs."""
        line = self.__parse_str(self.execute_command('router list'))
        return list(map(RouterId, line.strip().split()))

    def get_router_table(self) -> Dict[RouterId, RouterTableEntry]:
        """table of routers."""
        output = self.execute_command('router table')
        if len(output) < 2:
            raise UnexpectedCommandOutput(output)

        #
        # Example output:
        #
        # | ID | RLOC16 | Next Hop | Path Cost | LQ In | LQ Out | Age | Extended MAC     |
        # +----+--------+----------+-----------+-------+--------+-----+------------------+
        # | 21 | 0x5400 |       21 |         0 |     3 |      3 |   5 | d28d7f875888fccb |
        # | 56 | 0xe000 |       56 |         0 |     0 |      0 | 182 | f2d92a82c8d8fe43 |
        # Done
        #

        headers = self.__split_table_row(output[0])

        table = {}
        for line in output[2:]:
            line = line.strip()
            if not line:
                continue

            fields = self.__split_table_row(line)
            if len(fields) != len(headers):
                raise UnexpectedCommandOutput(output)

            col = lambda colname: self.__get_table_col(colname, headers, fields)
            id = col('ID')

            table[RouterId(id)] = router = RouterTableEntry({
                'id': RouterId(id),
                'rloc16': Rloc16(col('RLOC16'), 16),
                'next_hop': int(col('Next Hop')),
                'path_cost': int(col('Path Cost')),
                'lq_in': int(col('LQ In')),
                'lq_out': int(col('LQ Out')),
                'age': int(col('Age')),
                'extaddr': col('Extended MAC'),
            })

            if 'Link' in headers:
                router['link'] = int(col('Link'))
            else:
                # support older version of OT which does not output `Link` field
                router['link'] = self.get_router_info(router['id'], silent=True)['link']

        return table

    def get_router_info(self, id: int, silent: bool = False) -> RouterTableEntry:
        cmd = f'router {id}'
        info = {}
        output = self.execute_command(cmd, silent=silent)
        items = [line.strip().split(': ') for line in output]

        headers = [h for h, _ in items]
        fields = [f for _, f in items]
        col = lambda colname: self.__get_table_col(colname, headers, fields)

        return RouterTableEntry({
            'id': RouterId(id),
            'rloc16': Rloc16(col('Rloc'), 16),
            'alloc': int(col('Alloc')),
            'next_hop': int(col('Next Hop'), 16) >> 10,  # convert RLOC16 to Router ID
            'link': int(col('Link')),
        })

    #
    # Router utilities: Child management
    #

    def get_child_table(self) -> Dict[ChildId, Dict[str, Any]]:
        """Get the table of attached children."""
        output = self.execute_command('child table')
        if len(output) < 2:
            raise UnexpectedCommandOutput(output)

        #
        # Example output:
        # | ID  | RLOC16 | Timeout    | Age        | LQ In | C_VN |R|D|N|Ver|CSL|QMsgCnt| Extended MAC     |
        # +-----+--------+------------+------------+-------+------+-+-+-+---+---+-------+------------------+
        # |   1 | 0xc801 |        240 |         24 |     3 |  131 |1|0|0|  3| 0 |     0 | 4ecede68435358ac |
        # |   2 | 0xc802 |        240 |          2 |     3 |  131 |0|0|0|  3| 1 |     0 | a672a601d2ce37d8 |
        # Done
        #

        headers = self.__split_table_row(output[0])

        table = {}
        for line in output[2:]:
            line = line.strip()
            if not line:
                continue

            fields = self.__split_table_row(line)
            col = lambda colname: self.__get_table_col(colname, headers, fields)

            id = int(col("ID"))
            r, d, n = int(col("R")), int(col("D")), int(col("N"))
            mode = DeviceMode(f'{"r" if r else ""}{"d" if d else ""}{"n" if n else ""}')

            child = {
                'id': ChildId(id),
                'rloc16': Rloc16(col('RLOC16'), 16),
                'timeout': int(col('Timeout')),
                'age': int(col('Age')),
                'lq_in': int(col('LQ In')),
                'c_vn': int(col('C_VN')),
                'mode': mode,
                'extaddr': col('Extended MAC')
            }

            if 'Ver' in headers:
                child['ver'] = int(col('Ver'))

            if 'CSL' in headers:
                child['csl'] = bool(int(col('CSL')))

            if 'QMsgCnt' in headers:
                child['qmsgcnt'] = int(col('QMsgCnt'))

            table[ChildId(id)] = child

        return table

    #
    # DNS server & client utilities
    #

    _IPV6_SERVER_PORT_PATTERN = re.compile(r'\[(.*)\]:(\d+)')

    def dns_get_config(self):
        """Get DNS client query config."""
        output = self.execute_command('dns config')
        config = {}
        for line in output:
            k, v = line.split(': ')
            if k == 'Server':
                ip, port = re.match(OTCI._IPV6_SERVER_PORT_PATTERN, v).groups()
                config['server'] = (Ip6Addr(ip), int(port))
            elif k == 'ResponseTimeout':
                config['response_timeout'] = int(v[:-3])
            elif k == 'MaxTxAttempts':
                config['max_tx_attempts'] = int(v)
            elif k == 'RecursionDesired':
                config['recursion_desired'] = (v == 'yes')
            else:
                logging.warning("dns config ignored: %s", line)

        return config

    def dns_set_config(self,
                       server: Tuple[Union[str, ipaddress.IPv6Address], int],
                       response_timeout: int = None,
                       max_tx_attempts: int = None,
                       recursion_desired: bool = None):
        """Set DNS client query config."""
        cmd = f'dns config {str(server[0])} {server[1]}'
        if response_timeout is not None:
            cmd += f' {response_timeout}'

        assert max_tx_attempts is None or response_timeout is not None, "must specify `response_timeout` if `max_tx_attempts` is specified."
        if max_tx_attempts is not None:
            cmd += f' {max_tx_attempts}'

        assert recursion_desired is None or max_tx_attempts is not None, 'must specify `max_tx_attempts` if `recursion_desired` is specified.'
        if recursion_desired is not None:
            cmd += f' {1 if recursion_desired else 0}'

        self.execute_command(cmd)

    def dns_get_compression(self) -> bool:
        """Get DNS compression mode."""
        return self.__parse_Enabled_or_Disabled(self.execute_command('dns compression'))

    def dns_enable_compression(self):
        """Enable DNS compression mode."""
        self.execute_command('dns compression enable')

    def dns_disable_compression(self):
        """Disable DNS compression mode."""
        self.execute_command('dns compression disable')

    def dns_browse(self, service: str) -> List[Dict]:
        """Browse DNS service instances."""
        cmd = f'dns browse {service}'
        output = '\n'.join(self.execute_command(cmd, 30.0))

        result = []
        for ins, port, priority, weight, srv_ttl, hostname, address, aaaa_ttl, txt_data, txt_ttl in re.findall(
                r'(.*?)\s+Port:(\d+), Priority:(\d+), Weight:(\d+), TTL:(\d+)\s*Host:(\S+)\s+HostAddress:(\S+) TTL:(\d+)\s+TXT:(\[.*?\]) TTL:(\d+)',
                output):
            result.append({
                'instance': ins,
                'service': service,
                'port': int(port),
                'priority': int(priority),
                'weight': int(weight),
                'host': hostname,
                'address': Ip6Addr(address),
                'txt': self.__parse_srp_server_service_txt(txt_data),
                'srv_ttl': int(srv_ttl),
                'txt_ttl': int(txt_ttl),
                'aaaa_ttl': int(aaaa_ttl),
            })

        return result

    def dns_resolve(self, hostname: str) -> List[Dict]:
        """Resolve a DNS host name."""
        cmd = f'dns resolve {hostname}'
        output = self.execute_command(cmd, 30.0)
        dns_resp = output[0]
        addrs = dns_resp.strip().split(' - ')[1].split(' ')
        ips = [Ip6Addr(item.strip()) for item in addrs[::2]]
        ttls = [int(item.split('TTL:')[1]) for item in addrs[1::2]]

        return [{
            'address': ip,
            'ttl': ttl,
        } for ip, ttl in zip(ips, ttls)]

    def dns_resolve_service(self, instance: str, service: str) -> Dict:
        """Resolves aservice instance."""
        instance = self.__escape_escapable(instance)
        cmd = f'dns service {instance} {service}'
        output = self.execute_command(cmd, 30.0)

        m = re.match(
            r'.*Port:(\d+), Priority:(\d+), Weight:(\d+), TTL:(\d+)\s+Host:(.*?)\s+HostAddress:(\S+) TTL:(\d+)\s+TXT:(\[.*?\]) TTL:(\d+)',
            '\t'.join(output))
        if m:
            port, priority, weight, srv_ttl, hostname, address, aaaa_ttl, txt_data, txt_ttl = m.groups()
            return {
                'instance': instance,
                'service': service,
                'port': int(port),
                'priority': int(priority),
                'weight': int(weight),
                'host': hostname,
                'address': Ip6Addr(address),
                'txt': self.__parse_srp_server_service_txt(txt_data),
                'srv_ttl': int(srv_ttl),
                'txt_ttl': int(txt_ttl),
                'aaaa_ttl': int(aaaa_ttl),
            }
        else:
            raise CommandError(cmd, output)

    #
    # SRP server & client utilities
    #

    def srp_server_get_state(self):
        """Get the SRP server state"""
        return self.__parse_str(self.execute_command('srp server state'))

    def srp_server_enable(self):
        """Enable SRP server."""
        self.execute_command('srp server enable')

    def srp_server_disable(self):
        """Disable SRP server."""
        self.execute_command('srp server disable')

    def srp_server_get_domain(self) -> str:
        """Get the SRP server domain."""
        return self.__parse_str(self.execute_command('srp server domain'))

    def srp_server_set_domain(self, domain: str):
        """Set the SRP server domain."""
        self.execute_command(f'srp server domain {domain}')

    def srp_server_get_hosts(self) -> List[Dict]:
        """Get SRP server registered hosts."""
        return self.__parse_srp_server_hosts(self.execute_command('srp server host'))

    def srp_server_get_services(self) -> List[Dict]:
        """Get SRP server registered services."""
        output = self.execute_command('srp server service')
        return self.__parse_srp_server_services(output)

    def __parse_srp_server_hosts(self, output: List[str]) -> List[Dict]:
        result = []
        info = None
        for line in output:
            if not line.startswith(' '):
                info = {'host': line}
                result.append(info)
            else:
                k, v = line.strip().split(': ')
                if k == 'deleted':
                    if v not in ('true', 'false'):
                        raise UnexpectedCommandOutput(output)

                    info['deleted'] = (v == 'true')

                elif k == 'addresses':
                    if not v.startswith('[') or not v.endswith(']'):
                        raise UnexpectedCommandOutput(output)

                    v = v[1:-1]
                    info['addresses'] = list(map(Ip6Addr, v.split(', ')))
                else:
                    raise UnexpectedCommandOutput(output)

        return result

    def __parse_srp_server_services(self, output: List[str]) -> List[Dict]:
        result = []
        info = None
        for line in output:
            if not line.startswith(' '):
                info = {'instance': line}
                result.append(info)
            else:
                k, v = line.strip().split(': ')
                if k == 'deleted':
                    if v not in ('true', 'false'):
                        raise UnexpectedCommandOutput(output)

                    info['deleted'] = (v == 'true')

                elif k == 'addresses':
                    if not v.startswith('[') or not v.endswith(']'):
                        raise UnexpectedCommandOutput(output)

                    v = v[1:-1]
                    info['addresses'] = list(map(Ip6Addr, v.split(', ')))
                elif k == 'subtypes':
                    info[k] = list() if v == '(null)' else list(v.split(','))
                elif k in ('port', 'weight', 'priority'):
                    info[k] = int(v)
                elif k in ('host',):
                    info[k] = v
                elif k == 'TXT':
                    info['txt'] = self.__parse_srp_server_service_txt(v)
                else:
                    raise UnexpectedCommandOutput(output)

        return result

    def __parse_srp_server_service_txt(self, txt: str) -> Dict[str, Union[bytes, bool]]:
        # example value: [txt11=76616c3131, txt12=76616c3132]
        assert txt.startswith('[') and txt.endswith(']')
        txt_dict = {}
        for entry in txt[1:-1].split(', '):
            if not entry:
                continue

            equal_pos = entry.find('=')

            if equal_pos != -1:
                k, v = entry[:equal_pos], entry[equal_pos + 1:]
                txt_dict[k] = bytes(int(v[i:i + 2], 16) for i in range(0, len(v), 2))
            else:
                txt_dict[entry] = True

        return txt_dict

    def srp_server_get_lease(self) -> Tuple[int, int, int, int]:
        """Get SRP server LEASE & KEY-LEASE range (in seconds)."""
        lines = self.execute_command(f'srp server lease')
        return tuple([int(line.split(':')[1].strip()) for line in lines])

    def srp_server_set_lease(self, min_lease: int, max_lease: int, min_key_lease: int, max_key_lease: int):
        """Configure SRP server LEASE & KEY-LEASE range (in seconds)."""
        self.execute_command(f'srp server lease {min_lease} {max_lease} {min_key_lease} {max_key_lease}')

    def srp_client_get_state(self) -> bool:
        """Get SRP client state."""
        return self.__parse_Enabled_or_Disabled(self.execute_command('srp client state'))

    def srp_client_start(self, server_ip: Union[str, ipaddress.IPv6Address], server_port: int):
        """Start SRP client."""
        self.execute_command(f'srp client start {str(server_ip)} {server_port}')

    def srp_client_stop(self):
        """Stop SRP client."""
        self.execute_command('srp client stop')

    def srp_client_get_autostart(self) -> bool:
        """Get SRP client autostart mode."""
        return self.__parse_Enabled_or_Disabled(self.execute_command('srp client autostart'))

    def srp_client_enable_autostart(self):
        """Enable SRP client autostart mode."""
        self.execute_command('srp client autostart enable')

    def srp_client_disable_autostart(self):
        """Disable SRP client autostart mode."""
        self.execute_command('srp client autostart disable')

    def srp_client_get_callback(self) -> bool:
        """Get SRP client callback mode."""
        return self.__parse_Enabled_or_Disabled(self.execute_command('srp client callback'))

    def srp_client_enable_callback(self):
        """Enable SRP client callback mode."""
        self.execute_command('srp client callback enable')

    def srp_client_disable_callback(self):
        """Disable SRP client callback mode."""
        self.execute_command('srp client callback disable')

    def srp_client_set_host_name(self, name: str):
        """Set SRP client host name."""
        self.execute_command(f'srp client host name {name}')

    def srp_client_get_host(self) -> Dict:
        """Get SRP client host."""
        output = self.__parse_str(self.execute_command('srp client host'))
        return self.__parse_srp_client_host(output)

    _SRP_CLIENT_HOST_PATTERN = re.compile(r'name:("(.*)"|(\(null\))), state:(\S+), addrs:\[(.*)\]')

    def __parse_srp_client_host(self, line: str) -> Dict:
        m = re.match(OTCI._SRP_CLIENT_HOST_PATTERN, line)
        if not m:
            raise UnexpectedCommandOutput([line])

        _, host, _, state, addrs = m.groups()
        return {
            'host': host or '',
            'state': state,
            'addresses': [Ip6Addr(ip) for ip in addrs.split(', ')] if addrs else [],
        }

    def srp_client_get_host_name(self) -> str:
        """Get SRP client host name."""
        name = self.__parse_str(self.execute_command('srp client host name'))
        return name if name != '(null)' else ''

    def srp_client_get_host_addresses(self) -> List[Ip6Addr]:
        """Get SRP client host addresses."""
        return self.__parse_ip6addr_list(self.execute_command('srp client host address'))

    def srp_client_set_host_addresses(self, *addrs: Union[str, ipaddress.IPv6Address]):
        """Set SRP client host addresses."""
        self.execute_command(f'srp client host address {" ".join(map(str, addrs))}')

    def srp_client_get_host_state(self):
        """Get SRP client host state."""
        return self.__parse_str(self.execute_command('srp client host state'))

    def srp_client_remove_host(self, remove_key_lease=False):
        """Remove SRP client host."""
        cmd = 'srp client host remove'
        if remove_key_lease:
            cmd += ' 1'

        self.execute_command(cmd)

    def srp_client_get_services(self) -> List[Dict]:
        """Get SRP client services."""
        output = self.execute_command('srp client service')
        return [self.__parse_srp_client_service(line) for line in output]

    _SRP_CLIENT_SERVICE_PATTERN = re.compile(
        r'instance:"(.*)", name:"(.*)", state:(\S+), port:(\d+), priority:(\d+), weight:(\d+)')

    def __parse_srp_client_service(self, line: str) -> Dict:
        # e.g. instance:"ins2", name:"_meshcop._udp", state:ToAdd, port:2000, priority:2, weight:2
        m = OTCI._SRP_CLIENT_SERVICE_PATTERN.match(line)
        if m is None:
            raise UnexpectedCommandOutput([line])

        instance, service, state, port, priority, weight = m.groups()
        port, priority, weight = int(port), int(priority), int(weight)
        return {
            'instance': instance,
            'service': service,
            'state': state,
            'port': port,
            'priority': priority,
            'weight': weight,
        }

    def srp_client_add_service(self,
                               instance: str,
                               service: str,
                               port: int,
                               priority: int = 0,
                               weight: int = 0,
                               txt: Dict[str, Union[str, bytes, bool]] = None):
        instance = self.__escape_escapable(instance)
        cmd = f'srp client service add {instance} {service} {port} {priority} {weight}'
        if txt:
            cmd += f' {self.__txt_to_hex(txt)}'
        self.execute_command(cmd)

    def srp_client_remove_service(self, instance: str, service: str):
        """Remove a service from SRP client."""
        self.execute_command(f'srp client service remove {instance} {service}')

    def srp_client_clear_service(self, instance: str, service: str):
        """Remove a service from SRP client without notifying the SRP server."""
        self.execute_command(f'srp client service clear {instance} {service}')

    def srp_client_get_key_lease_interval(self) -> int:
        """Get SRP client key lease interval (in seconds)."""
        return self.__parse_int(self.execute_command('srp client keyleaseinterval'))

    def srp_client_set_key_lease_interval(self, interval: int):
        """Set SRP client key lease interval (in seconds)."""
        self.execute_command(f'srp client keyleaseinterval {interval}')

    def srp_client_get_lease_interval(self) -> int:
        """Get SRP client lease interval (in seconds)."""
        return self.__parse_int(self.execute_command('srp client leaseinterval'))

    def srp_client_set_lease_interval(self, interval: int):
        """Set SRP client lease interval (in seconds)."""
        self.execute_command(f'srp client leaseinterval {interval}')

    def srp_client_get_server(self) -> Tuple[Ip6Addr, int]:
        """Get the SRP server (IP, port)."""
        result = self.__parse_str(self.execute_command('srp client server'))
        ip, port = re.match(OTCI._IPV6_SERVER_PORT_PATTERN, result).groups()
        return Ip6Addr(ip), int(port)

    def srp_client_get_service_key(self) -> bool:
        """Get SRP client "service key record inclusion" mode."""
        return self.__parse_Enabled_or_Disabled(self.execute_command('srp client service key'))

    def srp_client_enable_service_key(self):
        """Enable SRP client "service key record inclusion" mode."""
        self.execute_command('srp client service key enable')

    def srp_client_disable_service_key(self):
        """Disable SRP client "service key record inclusion" mode."""
        self.execute_command('srp client service key disable')

    def __split_table_row(self, row: str) -> List[str]:
        if not (row.startswith('|') and row.endswith('|')):
            raise ValueError(row)

        fields = row.split('|')
        fields = [x.strip() for x in fields[1:-1]]
        return fields

    def __get_table_col(self, colname: str, headers: List[str], fields: List[str]) -> str:
        return fields[headers.index(colname)]

    def get_child_list(self) -> List[ChildId]:
        """Get attached Child IDs."""
        line = self.__parse_str(self.execute_command(f'child list'))
        return [ChildId(id) for id in line.strip().split()]

    def get_child_info(self, child: Union[ChildId, Rloc16]) -> Dict[str, Any]:
        output = self.execute_command(f'child {child}')

        info = {}

        for line in output:
            k, v = line.split(': ')
            if k == 'Child ID':
                info['id'] = int(v)
            elif k == 'Rloc':
                info['rloc16'] = int(v, 16)
            elif k == 'Ext Addr':
                info['extaddr'] = v
            elif k == 'Mode':
                info['mode'] = DeviceMode(v)
            elif k == 'Net Data':
                info['c_vn'] = int(v)
            elif k == 'Timeout':
                info['timeout'] = int(v)
            elif k == 'Age':
                info['age'] = int(v)
            elif k == 'Link Quality In':
                info['lq_in'] = int(v)
            elif k == 'RSSI':
                info['rssi'] = int(v)
            else:
                self.log('warning', "Child info %s: %s ignored", k, v)

        return info

    def get_child_ipaddrs(self) -> Dict[Rloc16, List[Ip6Addr]]:
        """Get the list of IP addresses stored for MTD children.

        Note: Each MTD child might has multiple IP addresses.
        """
        output = self.execute_command('childip')

        ipaddrs = {}

        for line in output:
            rloc16, ip = line.split(': ')
            rloc16 = Rloc16(rloc16, 16)
            ipaddrs.setdefault(rloc16, []).append(Ip6Addr(ip.strip()))

        return ipaddrs

    #
    # Child configurations
    #

    def get_max_children(self) -> int:
        """Get the Thread maximum number of allowed children."""
        return self.__parse_int(self.execute_command('childmax'))

    def set_max_children(self, val: int):
        """Set the Thread maximum number of allowed children."""
        self.execute_command(f'childmax {val}')

    def get_child_ip_max(self) -> int:
        """Get the maximum number of IP addresses that each MTD child may register with this device as parent."""
        return self.__parse_int(self.execute_command('childip max'))

    def set_child_ip_max(self, val: int):
        """Get the maximum number of IP addresses that each MTD child may register with this device as parent."""
        self.execute_command(f'childip max {val}')

    def get_child_timeout(self):
        """Get the Thread Child Timeout value."""
        return self.__parse_int(self.execute_command('childtimeout'))

    def set_child_timeout(self, timeout):
        """Set the Thread Child Timeout value."""
        self.execute_command('childtimeout %d' % timeout)

    def get_child_supervision_interval(self) -> int:
        """Get the Child Supervision Check Timeout value."""
        return self.__parse_int(self.execute_command('childsupervision interval'))

    def set_child_supervision_interval(self, val: int):
        """Set the Child Supervision Interval value.
        This command can only be used with FTD devices.
        """
        self.execute_command(f'childsupervision interval {val}')

    def get_child_supervision_check_timeout(self) -> int:
        """Get the Child Supervision Check Timeout value."""
        return self.__parse_int(self.execute_command('childsupervision checktimeout'))

    def set_child_supervision_check_timeout(self, val: int):
        """Set the Child Supervision Check Timeout value."""
        self.execute_command(f'childsupervision checktimeout {val}')

    #
    # Neighbor management
    #

    def get_neighbor_list(self) -> List[Rloc16]:
        """Get a list of RLOC16 of neighbors"""
        line = self.__parse_str(self.execute_command('neighbor list')).strip()
        return [Rloc16(id, 16) for id in line.split()]

    def get_neighbor_table(self) -> Dict[Rloc16, Dict[str, Any]]:
        output = self.execute_command('neighbor table')
        if len(output) < 2:
            raise UnexpectedCommandOutput(output)

        #
        # Example output:
        #
        # | Role | RLOC16 | Age | Avg RSSI | Last RSSI |R|D|N| Extended MAC     |
        # +------+--------+-----+----------+-----------+-+-+-+------------------+
        # |   C  | 0xcc01 |  96 |      -46 |       -46 |1|1|1| 1eb9ba8a6522636b |
        # |   R  | 0xc800 |   2 |      -29 |       -29 |1|1|1| 9a91556102c39ddb |
        # |   R  | 0xf000 |   3 |      -28 |       -28 |1|1|1| 0ad7ed6beaa6016d |
        # Done
        #

        headers = self.__split_table_row(output[0])

        table = {}
        for line in output[2:]:
            line = line.strip()
            if not line:
                continue

            fields = self.__split_table_row(line)
            col = lambda colname: self.__get_table_col(colname, headers, fields)

            role = col('Role')
            is_router = role == 'R'
            r, d, n = int(col('R')), int(col('D')), int(col('N'))
            mode = DeviceMode(f'{"r" if r else ""}{"d" if d else ""}{"n" if n else ""}')

            rloc16 = Rloc16(col('RLOC16'), 16)

            table[rloc16] = {
                'is_router': is_router,
                'rloc16': rloc16,
                'age': int(col('Age')),
                'avg_rssi': int(col('Avg RSSI')),
                'last_rssi': int(col('Last RSSI')),
                'mode': mode,
                'extaddr': col('Extended MAC'),
            }

        return table

    #
    # SED/SSED configuration
    #

    def get_poll_period(self) -> int:
        """Get the customized data poll period of sleepy end device (milliseconds).
        Only for Reference Device."""
        return self.__parse_int(self.execute_command('pollperiod'))

    def set_poll_period(self, poll_period: int):
        """Set the customized data poll period (in milliseconds) for sleepy end device.

        Only for Reference Device."""
        self.execute_command(f'pollperiod {poll_period}')

    # TODO: csl
    # TODO: csl channel <channel>
    # TODO: csl period <period>
    # TODO: csl timeout <timeout>

    _CSL_PERIOD_PATTERN = re.compile(r'(\d+)\(in units of 10 symbols\), \d+ms')
    _CSL_TIMEOUT_PATTERN = re.compile(r'(\d+)s')

    def get_csl_config(self) -> Dict[str, int]:
        """Get the CSL configuration."""
        output = self.execute_command('csl')

        cfg = {}
        for line in output:
            k, v = line.split(': ')
            if k == 'Channel':
                cfg['channel'] = int(v)
            elif k == 'Timeout':
                cfg['timeout'] = int(OTCI._CSL_TIMEOUT_PATTERN.match(v).group(1))
            elif k == 'Period':
                cfg['period'] = int(OTCI._CSL_PERIOD_PATTERN.match(v).group(1))
            else:
                logging.warning("Ignore unknown CSL parameter: %s: %s", k, v)

        return cfg

    def config_csl(self, channel: int = None, period: int = None, timeout: int = None):
        """Configure CSL parameters.

        :param channel: Set CSL channel.
        :param period: Set CSL period in units of 10 symbols. Disable CSL by setting this parameter to 0.
        :param timeout: Set the CSL timeout in seconds.
        """

        if channel is None and period is None and timeout is None:
            raise InvalidArgumentsError("Please specify at least 1 parameter to configure.")

        if channel is not None:
            self.execute_command(f'csl channel {channel}')

        if period is not None:
            self.execute_command(f'csl period {period}')

        if timeout is not None:
            self.execute_command(f'csl timeout {timeout}')

    #
    # Leader utilities
    #

    def get_context_id_reuse_delay(self) -> int:
        """Get the CONTEXT_ID_REUSE_DELAY value."""
        return self.__parse_int(self.execute_command('contextreusedelay'))

    def set_context_id_reuse_delay(self, val: int):
        """Set the CONTEXT_ID_REUSE_DELAY value."""
        self.execute_command(f'contextreusedelay {val}')

    def release_router_id(self, routerid: int):
        """Release a Router ID that has been allocated by the device in the Leader role."""
        self.execute_command(f'releaserouterid {routerid}')

    # Time Sync utilities
    # TODO: networktime
    # TODO: networktime <timesyncperiod> <xtalthreshold>
    # TODO: delaytimermin
    # TODO: delaytimermin <delaytimermin>

    #
    # Commissioniner operations
    #

    def commissioner_start(self):
        """Start the Commissioner role."""
        self.execute_command('commissioner start')

    def commissioner_stop(self):
        """Stop the Commissioner role."""
        self.execute_command('commissioner stop')

    def get_commissioiner_state(self) -> str:
        """Get current Commissioner state (active or petitioning or disabled)."""
        return self.__parse_str(self.execute_command('commissioner state'))

    def get_commissioner_session_id(self) -> int:
        """Get current commissioner session id."""
        return self.__parse_int(self.execute_command('commissioner sessionid'))

    def commissioner_add_joiner(self, pskd, eui64=None, discerner=None, timeout=None):
        """Add a Joiner entry.

        :param pskd: Pre-Shared Key for the Joiner.
        :param eui64: The IEEE EUI-64 of the Joiner or '*' to match any Joiner
        :param discerner: The Joiner discerner in format number/length.
        :param timeout: Joiner timeout in seconds.
        """
        if (eui64 is not None) == (discerner is not None):
            raise InvalidArgumentsError("Please specify eui64 or discerner, but not both.")

        if eui64 is not None and eui64 != '*':
            self.__validate_extaddr(eui64)

        cmd = f'commissioner joiner add {eui64 or discerner} {pskd}'

        if timeout is not None:
            cmd += f' {timeout}'

        self.execute_command(cmd)

    def commissioner_remove_jointer(self, eui64=None, discerner=None):
        if (eui64 is not None) == (discerner is not None):
            raise InvalidArgumentsError("Please specify eui64 or discerner, but not both.")

        if eui64 is not None and eui64 != '*':
            self.__validate_extaddr(eui64)

        self.execute_command(f'commissioner joiner remove {eui64 or discerner}')

    def set_commissioner_provisioning_url(self, url: str):
        self.execute_command(f'commissioner provisioningurl {url}')

    # TODO: commissioner announce
    # TODO: commissioner energy
    # TODO: commissioner mgmtget
    # TODO: commissioner mgmtset
    # TODO: commissioner panid

    #
    # Joiner operations
    #
    def joiner_start(self, psk: str, provisioning_url: str = None):
        """Start the Joiner."""
        cmd = f'joiner start {psk}'
        if provisioning_url is not None:
            cmd += f' {provisioning_url}'

        self.execute_command(cmd)

    def joiner_stop(self):
        """Stop the Joiner role."""
        self.execute_command('joiner stop')

    def get_joiner_id(self) -> str:
        """Get the Joiner ID."""
        return self.__parse_joiner_id(self.execute_command('joiner id'))

    def get_joiner_port(self) -> int:
        """Get the Joiner port."""
        return self.__parse_int(self.execute_command(f'joinerport'))

    def set_joiner_port(self, port: int):
        """Set the Joiner port."""
        self.execute_command(f'joinerport {port}')

    # TODO: joiner discerner

    #
    # Network Data utilities
    #
    def get_local_prefixes(self) -> List[Tuple[Ip6Prefix, str, str, Rloc16]]:
        """Get prefixes from local Network Data."""
        output = self.execute_command('prefix')
        return self.__parse_prefixes(output)

    def __parse_prefixes(self, output: List[str]) -> List[Tuple[Ip6Prefix, str, str, Rloc16]]:
        prefixes = []

        for line in output:
            if line.startswith('- '):
                line = line[2:]

            prefix, flags, prf, rloc16 = line.split()[:4]
            prefixes.append((Ip6Prefix(prefix), flags, prf, Rloc16(rloc16, 16)))

        return prefixes

    def add_prefix(self, prefix: str, flags='paosr', prf='med'):
        """Add a valid prefix to the Network Data."""
        self.execute_command(f'prefix add {prefix} {flags} {prf}')

    def remove_prefix(self, prefix: str):
        """Invalidate a prefix in the Network Data."""
        self.execute_command(f'prefix remove {prefix}')

    def register_network_data(self):
        self.execute_command('netdata register')

    def get_network_data(self) -> Dict[str, List]:
        output = self.execute_command('netdata show')

        netdata = {}
        if output.pop(0) != 'Prefixes:':
            raise UnexpectedCommandOutput(output)

        prefixes_output = []
        while True:
            line = output.pop(0)
            if line == 'Routes:':
                break
            else:
                prefixes_output.append(line)

        netdata['prefixes'] = self.__parse_prefixes(prefixes_output)

        routes_output = []
        while True:
            line = output.pop(0)
            if line == 'Services:':
                break
            else:
                routes_output.append(line)

        netdata['routes'] = self.__parse_routes(routes_output)
        netdata['services'] = self.__parse_services(output)

        return netdata

    def get_prefixes(self) -> List[Tuple[Ip6Prefix, str, str, Rloc16]]:
        """Get network prefixes from Thread Network Data."""
        network_data = self.get_network_data()
        return network_data['prefixes']

    def get_routes(self) -> List[Tuple[str, bool, str, Rloc16]]:
        """Get routes from Thread Network Data."""
        network_data = self.get_network_data()
        return network_data['routes']

    def get_services(self) -> List[Tuple[int, bytes, bytes, bool, Rloc16]]:
        """Get services from Thread Network Data"""
        network_data = self.get_network_data()
        return network_data['services']

    def __parse_services(self, output: List[str]) -> List[Tuple[int, bytes, bytes, bool, Rloc16]]:
        services = []
        for line in output:
            line = line.split()

            enterprise_number, service_data, server_data = line[:3]
            if line[3] == 's':
                stable, rloc16 = True, line[4]
            else:
                stable, rloc16 = False, line[3]

            enterprise_number = int(enterprise_number)
            service_data = self.__hex_to_bytes(service_data)
            server_data = self.__hex_to_bytes(server_data)
            rloc16 = Rloc16(rloc16, 16)

            services.append((enterprise_number, service_data, server_data, stable, rloc16))

        return services

    def get_network_data_bytes(self) -> bytes:
        """Get the raw Network Data."""
        hexstr = self.__parse_str(self.execute_command('netdata show -x'))
        return bytes(int(hexstr[i:i + 2], 16) for i in range(0, len(hexstr), 2))

    def get_local_routes(self) -> List[Tuple[str, bool, str, Rloc16]]:
        """Get routes from local Network Data."""
        return self.__parse_routes(self.execute_command('route'))

    def __parse_routes(self, output: List[str]) -> List[Tuple[str, bool, str, Rloc16]]:
        routes = []
        for line in output:
            line = line.split()
            if line[1] == 's':
                prefix, _, prf, rloc16 = line
                stable = True
            else:
                prefix, prf, rloc16 = line
                stable = False

            rloc16 = Rloc16(rloc16, 16)
            routes.append((prefix, stable, prf, rloc16))

        return routes

    def add_route(self, prefix: str, stable=True, prf='med'):
        """Add a valid external route to the Network Data."""
        cmd = f'route add {prefix}'
        if stable:
            cmd += ' s'

        cmd += f' {prf}'
        self.execute_command(cmd)

    def remove_route(self, prefix: str):
        """Invalidate a external route in the Network Data."""
        self.execute_command(f'route remove {prefix}')

    def add_service(self, enterprise_number: int, service_data: Union[str, bytes], server_data: Union[str, bytes]):
        """Add service to the Network Data.

        enterpriseNumber: IANA enterprise number
        serviceData: hex-encoded binary service data
        serverData: hex-encoded binary server data
        """
        service_data = self.__validate_hex_or_bytes(service_data)
        server_data = self.__validate_hex_or_bytes(server_data)
        self.execute_command(f'service add {enterprise_number} {service_data} {server_data}')

    def remove_service(self, enterprise_number, service_data):
        """Remove service from Network Data.

        enterpriseNumber: IANA enterprise number
        serviceData: hext-encoded binary service data
        """
        service_data = self.__validate_hex_or_bytes(service_data)
        self.execute_command(f'service remove {enterprise_number} {service_data}')

    #
    # Dataset management
    #

    def dataset_init_buffer(self, get_active_dataset=False, get_pending_dataset=False):
        """Initialize operational dataset buffer."""
        if get_active_dataset and get_pending_dataset:
            raise InvalidArgumentsError("Can not specify both `get_active_dataset` and `get_pending_dataset`.")

        if get_active_dataset:
            self.execute_command(f'dataset init active')
        elif get_pending_dataset:
            self.execute_command(f'dataset init pending')
        else:
            self.execute_command(f'dataset init new')

    def dataset_commit_buffer(self, dataset: str):
        if dataset in ('active', 'pending'):
            cmd = f'dataset commit {dataset}'
        else:
            raise InvalidArgumentsError(f'Unkonwn dataset: {dataset}')

        self.execute_command(cmd)

    def dataset_clear_buffer(self):
        """Reset operational dataset buffer."""
        self.execute_command('dataset clear')

    def get_dataset(self, dataset: str = 'buffer'):
        if dataset in ('active', 'pending'):
            cmd = f'dataset {dataset}'
        elif dataset == 'buffer':
            cmd = 'dataset'
        else:
            raise InvalidArgumentsError(f'Unkonwn dataset: {dataset}')

        output = self.execute_command(cmd)
        return self.__parse_dataset(output)

    def __parse_dataset(self, output: List[str]) -> Dict[str, Any]:
        # Example output:
        #
        # Active Timestamp: 1
        # Channel: 22
        # Channel Mask: 0x07fff800
        # Ext PAN ID: 5c93ae980ff22d35
        # Mesh Local Prefix: fdc7:55fe:6363:bd01::/64
        # Network Key: d1a8348d59fb1fac1d6c4f95007d487a
        # Network Name: OpenThread-7caa
        # PAN ID: 0x7caa
        # PSKc: 167d89fd169e439ca0b8266de248090f
        # Security Policy: 0, onrc

        dataset = {}

        for line in output:
            line = line.split(': ')
            key, val = line[0], ': '.join(line[1:])

            if key == 'Active Timestamp':
                dataset['active_timestamp'] = int(val)
            elif key == 'Channel':
                dataset['channel'] = int(val)
            elif key == 'Channel Mask':
                dataset['channel_mask'] = int(val, 16)
            elif key == 'Ext PAN ID':
                dataset['extpanid'] = val
            elif key == 'Mesh Local Prefix':
                dataset['mesh_local_prefix'] = val
            elif key in ('Network Key', 'Master Key'):
                dataset['networkkey'] = val
            elif key == 'Network Name':
                dataset['network_name'] = val
            elif key == 'PAN ID':
                dataset['panid'] = int(val, 16)
            elif key == 'PSKc':
                dataset['pskc'] = val
            elif key == 'Security Policy':
                rotation_time, flags = val.split(', ') if ', ' in val else val.split(' ')
                rotation_time = int(rotation_time)
                dataset['security_policy'] = SecurityPolicy(rotation_time, flags)
            else:
                raise UnexpectedCommandOutput(output)

        return dataset

    def get_dataset_bytes(self, dataset: str) -> bytes:
        if dataset in ('active', 'pending'):
            cmd = f'dataset {dataset} -x'
        else:
            raise InvalidArgumentsError(f'Unkonwn dataset: {dataset}')

        hexstr = self.__parse_str(self.execute_command(cmd))
        return self.__hex_to_bytes(hexstr)

    def set_dataset_bytes(self, dataset: str, data: bytes) -> None:
        if dataset in ('active', 'pending'):
            cmd = f'dataset set {dataset} {self.__bytes_to_hex(data)}'
        else:
            raise InvalidArgumentsError(f'Unkonwn dataset: {dataset}')

        self.execute_command(cmd)

    def dataset_set_buffer(self,
                           active_timestamp: int = None,
                           channel: int = None,
                           channel_mask: int = None,
                           extpanid: str = None,
                           mesh_local_prefix: str = None,
                           network_key: str = None,
                           network_name: str = None,
                           panid: int = None,
                           pskc: str = None,
                           security_policy: tuple = None,
                           pending_timestamp: int = None):
        if active_timestamp is not None:
            self.execute_command(f'dataset activetimestamp {active_timestamp}')

        if channel is not None:
            self.execute_command(f'dataset channel {channel}')

        if channel_mask is not None:
            self.execute_command(f'dataset channelmask {channel_mask}')

        if extpanid is not None:
            self.execute_command(f'dataset extpanid {extpanid}')

        if mesh_local_prefix is not None:
            self.execute_command(f'dataset meshlocalprefix {mesh_local_prefix}')

        if network_key is not None:
            nwk_cmd = self.__detect_networkkey_cmd()
            self.execute_command(f'dataset {nwk_cmd} {network_key}')

        if network_name is not None:
            self.execute_command(f'dataset networkname {self.__escape_escapable(network_name)}')

        if panid is not None:
            self.execute_command(f'dataset panid {panid}')

        if pskc is not None:
            self.execute_command(f'dataset pskc {pskc}')

        if security_policy is not None:
            rotation_time, flags = security_policy
            self.execute_command(f'dataset securitypolicy {rotation_time} {flags}')

        if pending_timestamp is not None:
            self.execute_command(f'dataset pendingtimestamp {pending_timestamp}')

    # TODO: dataset mgmtgetcommand
    # TODO: dataset mgmtsetcommand
    # TODO: dataset set <active|pending> <dataset>

    #
    # Allowlist management
    #

    def enable_allowlist(self):
        self.execute_command(f'macfilter addr {self.__detect_allowlist_cmd()}')

    def disable_allowlist(self):
        self.execute_command('macfilter addr disable')

    def add_allowlist(self, addr: str, rssi: int = None):
        cmd = f'macfilter addr add {addr}'

        if rssi is not None:
            cmd += f' {rssi}'

        self.execute_command(cmd)

    def remove_allowlist(self, addr: str):
        self.execute_command(f'macfilter addr remove {addr}')

    def clear_allowlist(self):
        self.execute_command('macfilter addr clear')

    def set_allowlist(self, allowlist: Collection[Union[str, Tuple[str, int]]]):
        self.clear_allowlist()

        if allowlist is None:
            self.disable_allowlist()
        else:
            self.enable_allowlist()
            for item in allowlist:
                if isinstance(item, str):
                    self.add_allowlist(item)
                else:
                    addr, rssi = item[0], item[1]
                    self.add_allowlist(addr, rssi)

    # TODO: denylist
    # TODO: macfilter rss
    # TODO: macfilter rss add <extaddr> <rss>
    # TODO: macfilter rss add-lqi <extaddr> <lqi>
    # TODO: macfilter rss remove <extaddr>
    # TODO: macfilter rss clear

    def __detect_allowlist_cmd(self):
        if self.api_version >= 28:
            return 'allowlist'
        else:
            return '\x77\x68\x69\x74\x65\x6c\x69\x73\x74'

    def __detect_networkkey_cmd(self) -> str:
        return 'networkkey' if self.api_version >= 126 else 'masterkey'

    #
    # Unicast Addresses management
    #
    def add_ipaddr(self, ip: Union[str, ipaddress.IPv6Address]):
        """Add an IPv6 address to the Thread interface."""
        self.execute_command(f'ipaddr add {ip}')

    def del_ipaddr(self, ip: Union[str, ipaddress.IPv6Address]):
        """Delete an IPv6 address from the Thread interface."""
        self.execute_command(f'ipaddr del {ip}')

    def get_ipaddrs(self) -> Tuple[Ip6Addr]:
        """Get all IPv6 addresses assigned to the Thread interface."""
        return tuple(map(Ip6Addr, self.execute_command('ipaddr')))

    def has_ipaddr(self, ip: Union[str, ipaddress.IPv6Address]):
        """Check if a IPv6 address was added to the Thread interface."""
        return ip in self.get_ipaddrs()

    def get_ipaddr_mleid(self) -> Ip6Addr:
        """Get Thread Mesh Local EID address."""
        return self.__parse_ip6addr(self.execute_command('ipaddr mleid'))

    def get_ipaddr_linklocal(self) -> Ip6Addr:
        """Get Thread link-local IPv6 address."""
        return self.__parse_ip6addr(self.execute_command('ipaddr linklocal'))

    def get_ipaddr_rloc(self) -> Ip6Addr:
        """Get Thread Routing Locator (RLOC) address."""
        return self.__parse_ip6addr(self.execute_command('ipaddr rloc'))

    #
    # Multicast Addresses management
    #

    def add_ipmaddr(self, ip: Union[str, ipaddress.IPv6Address]):
        """Subscribe the Thread interface to the IPv6 multicast address."""
        self.execute_command(f'ipmaddr add {ip}')

    def del_ipmaddr(self, ip: Union[str, ipaddress.IPv6Address]):
        """Unsubscribe the Thread interface to the IPv6 multicast address."""
        self.execute_command(f'ipmaddr del {ip}')

    def get_ipmaddrs(self) -> Tuple[Ip6Addr]:
        """Get all IPv6 multicast addresses subscribed to the Thread interface."""
        return tuple(map(Ip6Addr, self.execute_command('ipmaddr')))

    def has_ipmaddr(self, ip: Union[str, ipaddress.IPv6Address]):
        """Check if a IPv6 multicast address was subscribed by the Thread interface."""
        return ip in self.get_ipmaddrs()

    def get_ipmaddr_promiscuous(self) -> bool:
        """Get multicast promiscuous mode."""
        return self.__parse_Enabled_or_Disabled(self.execute_command("ipmaddr promiscuous"))

    def enable_ipmaddr_promiscuous(self):
        """Enable multicast promiscuous mode."""
        self.execute_command('ipmaddr promiscuous enable')

    def disable_ipmaddr_promiscuous(self):
        """Disable multicast promiscuous mode."""
        self.execute_command('ipmaddr promiscuous disable')

    def get_ipmaddr_llatn(self) -> Ip6Addr:
        """Get Link Local All Thread Nodes Multicast Address"""
        return self.__parse_ip6addr(self.execute_command('ipmaddr llatn'))

    def get_ipmaddr_rlatn(self) -> Ip6Addr:
        """Get Realm Local All Thread Nodes Multicast Address"""
        return self.__parse_ip6addr(self.execute_command('ipmaddr rlatn'))

    #
    # Backbone Router Utilities
    #

    # TODO: bbr mgmt ...

    def enable_backbone_router(self):
        """Enable Backbone Router Service for Thread 1.2 FTD.

        SRV_DATA.ntf would be triggerred for attached device if there is no Backbone Router Service in Thread Network Data.
        """
        self.execute_command('bbr enable')

    def disable_backbone_router(self):
        """Disable Backbone Router Service for Thread 1.2 FTD.

        SRV_DATA.ntf would be triggerred if Backbone Router is Primary state.
        """
        self.execute_command('bbr disable')

    def get_backbone_router_state(self) -> str:
        """Get local Backbone state (Disabled or Primary or Secondary) for Thread 1.2 FTD."""
        return self.__parse_str(self.execute_command('bbr state'))

    def get_primary_backbone_router_info(self) -> Optional[dict]:
        """Show current Primary Backbone Router information for Thread 1.2 device."""
        output = self.execute_command('bbr')

        if len(output) < 1:
            raise UnexpectedCommandOutput(output)

        line = output[0]
        if line == 'BBR Primary: None':
            return None

        if line != 'BBR Primary:':
            raise UnexpectedCommandOutput(output)

        # Example output:
        # BBR Primary:
        # server16: 0xE400
        # seqno:    10
        # delay:    120 secs
        # timeout:  300 secs

        dataset = {}

        for line in output[1:]:
            key, val = line.split(':')
            key, val = key.strip(), val.strip()
            if key == 'server16':
                dataset[key] = int(val, 16)
            elif key == 'seqno':
                dataset[key] = int(val)
            elif key == 'delay':
                if not val.endswith(' secs'):
                    raise UnexpectedCommandOutput(output)
                dataset[key] = int(val.split()[0])
            elif key == 'timeout':
                if not val.endswith(' secs'):
                    raise UnexpectedCommandOutput(output)
                dataset[key] = int(val.split()[0])
            else:
                raise UnexpectedCommandOutput(output)

        return dataset

    def register_backbone_router_dataset(self):
        """Register Backbone Router Service for Thread 1.2 FTD.

        SRV_DATA.ntf would be triggerred for attached device.
        """
        self.execute_command('bbr register')

    def get_backbone_router_config(self) -> dict:
        """Show local Backbone Router configuration for Thread 1.2 FTD."""
        output = self.execute_command('bbr config')
        # Example output:
        # seqno:    10
        # delay:    120 secs
        # timeout:  300 secs

        config = {}

        for line in output:
            key, val = line.split(':')
            key, val = key.strip(), val.strip()
            if key == 'seqno':
                config[key] = int(val)
            elif key in ('delay', 'timeout'):
                if not line.endswith(' secs'):
                    raise UnexpectedCommandOutput(output)
                config[key] = int(val.split()[0])
            else:
                raise UnexpectedCommandOutput(output)

        return config

    def set_backbone_router_config(self, seqno: int = None, delay: int = None, timeout: int = None):
        """Configure local Backbone Router configuration for Thread 1.2 FTD.

        Call register_backbone_router_dataset() to explicitly register Backbone Router service to Leader for Secondary Backbone Router.
        """
        if seqno is None and delay is None and timeout is None:
            raise InvalidArgumentsError("Please specify seqno or delay or timeout")

        cmd = 'bbr config'
        if seqno is not None:
            cmd += f' seqno {seqno}'

        if delay is not None:
            cmd += f' delay {delay}'

        if timeout is not None:
            cmd += f' timeout {timeout}'

        self.execute_command(cmd)

    def get_backbone_router_jitter(self) -> int:
        """Get jitter (in seconds) for Backbone Router registration for Thread 1.2 FTD."""
        return self.__parse_int(self.execute_command('bbr jitter'))

    def set_backbone_router_jitter(self, val: int):
        """Set jitter (in seconds) for Backbone Router registration for Thread 1.2 FTD."""
        self.execute_command(f'bbr jitter {val}')

    def backbone_router_get_multicast_listeners(self) -> List[Tuple[Ip6Addr, int]]:
        """Get Backbone Router Multicast Listeners."""
        listeners = []
        for line in self.execute_command('bbr mgmt mlr listener'):
            ip, timeout = line.split()
            listeners.append((Ip6Addr(ip), int(timeout)))

        return listeners

    #
    # Thread 1.2 and DUA/MLR utilities
    #

    def get_domain_name(self) -> str:
        """Get the Thread Domain Name for Thread 1.2 device."""
        return self.__parse_str(self.execute_command('domainname'))

    def set_domain_name(self, name: str):
        """Set the Thread Domain Name for Thread 1.2 device."""
        self.execute_command('domainname %s' % self.__escape_escapable(name))

    # TODO: dua iid
    # TODO: dua iid <iid>
    # TODO: dua iid clear
    # TODO: mlr reg <ipaddr> ... [timeout]

    #
    # Link metrics management
    #
    # TODO: linkmetrics mgmt <ipaddr> forward <seriesid> [ldraX][pqmr]
    # TODO: linkmetrics probe <ipaddr> <seriesid> <length>
    # TODO: linkmetrics query <ipaddr> single [pqmr]
    # TODO: linkmetrics query <ipaddr> forward <seriesid>
    # TODO: linkquality <extaddr>
    # TODO: linkquality <extaddr> <linkquality>
    #

    #
    # Logging
    #

    def get_log_level(self) -> int:
        """Get the log level."""
        return self.__parse_int(self.execute_command('log level'))

    def set_log_level(self, level: int):
        """Set the log level."""
        self.execute_command(f'log level {level}')

    #
    # Device performance related information
    #

    def get_message_buffer_info(self) -> dict:
        """Get the current message buffer information."""
        output = self.execute_command('bufferinfo')

        info = {}

        def _parse_val(val):
            vals = val.split()
            return int(vals[0]) if len(vals) == 1 else tuple(map(int, vals))

        for line in output:
            key, val = line.split(':')
            key, val = key.strip(), val.strip()
            info[key.replace(' ', '_')] = _parse_val(val)

        return info

    @constant_property
    def counter_names(self):
        """Get the supported counter names."""
        return tuple(self.execute_command('counters'))

    def get_counter(self, name: str) -> Counter:
        """Reset the counter value."""
        output = self.execute_command(f'counters {name}')

        counter = Counter()
        for line in output:
            k, v = line.strip().split(': ')
            counter[k] = int(v)

        return counter

    def reset_counter(self, name: str):
        """Reset the counter value."""
        self.execute_command(f'counters {name} reset')

    def get_eidcache(self) -> Dict[Ip6Addr, Rloc16]:
        """Get the EID-to-RLOC cache entries."""
        output = self.execute_command('eidcache')
        cache = {}

        for line in output:
            ip, rloc16, _ = line.split(" ", 2)

            cache[Ip6Addr(ip)] = Rloc16(rloc16, 16)

        return cache

    #
    # UDP utilities
    #

    def udp_open(self):
        """Opens the example socket."""
        self.execute_command('udp open')

    def udp_close(self):
        """Opens the example socket."""
        self.execute_command('udp close')

    def udp_bind(self, ip: str, port: int, netif: NetifIdentifier = NetifIdentifier.THERAD):
        """Assigns a name (i.e. IPv6 address and port) to the example socket.

        :param ip: the IPv6 address or the unspecified IPv6 address (::).
        :param port: the UDP port
        """
        bindarg = ''
        if netif == NetifIdentifier.UNSPECIFIED:
            bindarg += ' -u'
        elif netif == NetifIdentifier.BACKBONE:
            bindarg += ' -b'

        self.execute_command(f'udp bind{bindarg} {ip} {port}')

    def udp_connect(self, ip: str, port: int):
        """Specifies the peer with which the socket is to be associated.

        ip: the peer's IPv6 address.
        port: the peer's UDP port.
        """
        self.execute_command(f'udp connect {ip} {port}')

    def udp_send(self, ip: str = None, port: int = None, text: str = None, random_bytes: int = None, hex: str = None):
        """Send a few bytes over UDP.

        ip: the IPv6 destination address.
        port: the UDP destination port.
        type: the type of the message: _ -t: text payload in the value, same as without specifying the type. _ -s: autogenerated payload with specified length indicated in the value.
        * -x: binary data in hexadecimal representation in the value.
        """
        if (ip is None) != (port is None):
            raise InvalidArgumentsError("Please specify both `ip` and `port`.")

        if (text is not None) + (random_bytes is not None) + (hex is not None) != 1:
            raise InvalidArgumentsError("Please specify `text` or `random_bytes` or `hex`.")

        cmd = 'udp send'

        if ip is not None:
            cmd += f' {ip} {port}'

        if text is not None:
            cmd += f' -t {text}'
        elif random_bytes is not None:
            cmd += f' -s {random_bytes}'
        elif hex is not None:
            self.__validate_hex(hex)
            cmd += f' -x {hex}'

        self.execute_command(cmd)

    def udp_get_link_security(self) -> bool:
        """Gets whether the link security is enabled or disabled."""
        return self.__parse_Enabled_or_Disabled(self.execute_command('udp linksecurity'))

    def udp_enable_link_security(self):
        """Enable link security."""
        self.execute_command('udp linksecurity enable')

    def udp_disable_link_security(self):
        """Disable link security."""
        self.execute_command('udp linksecurity disable')

    def netstat(self) -> List[Tuple[Tuple[Ip6Addr, int], Tuple[Ip6Addr, int]]]:
        cmd = 'netstat'
        output = self.execute_command(cmd)
        if len(output) < 2:
            raise UnexpectedCommandOutput(output)

        socks = []
        for line in output[2:]:
            _, sock_addr, peer_addr = line.strip().split('|')[:3]
            sock_addr = self.__parse_socket_addr(sock_addr.strip())
            peer_addr = self.__parse_socket_addr(peer_addr.strip())
            socks.append((sock_addr, peer_addr))

        return socks

    @staticmethod
    def __parse_socket_addr(addr: str) -> Tuple[Ip6Addr, int]:
        addr, port = addr.rsplit(':', 1)
        if addr.startswith('[') and addr.endswith(']'):
            addr = addr[1:-1]

        return Ip6Addr(addr), int(port) if port != '*' else 0

    #
    # CoAP CLI (test) utilities
    #
    def coap_start(self):
        """Starts the application coap service."""
        self.execute_command('coap start')

    def coap_stop(self):
        """Stops the application coap service."""
        self.execute_command('coap stop')

    def coap_get(self, addr: str, uri_path: str, type: str = "con"):
        cmd = f'coap get {addr} {uri_path} {type}'
        self.execute_command(cmd)

    def coap_put(self, addr: str, uri_path: str, type: str = "con", payload: str = None):
        cmd = f'coap put {addr} {uri_path} {type}'

        if payload is not None:
            cmd += f' {payload}'

        self.execute_command(cmd)

    def coap_post(self, addr: str, uri_path: str, type: str = "con", payload: str = None):
        cmd = f'coap post {addr} {uri_path} {type}'

        if payload is not None:
            cmd += f' {payload}'

        self.execute_command(cmd)

    def coap_delete(self, addr: str, uri_path: str, type: str = "con", payload: str = None):
        cmd = f'coap delete {addr} {uri_path} {type}'

        if payload is not None:
            cmd += f' {payload}'

        self.execute_command(cmd)

    def coap_get_test_resource_path(self) -> str:
        """Gets the URI path for the test resource."""
        return self.__parse_str(self.execute_command('coap resource'))

    def coap_set_test_resource_path(self, path: str):
        """Sets the URI path for the test resource."""
        self.execute_command(f'coap resource {path}')

    def coap_test_set_resource_content(self, content: str):
        """Sets the content sent by the test resource. If a CoAP client is observing the resource, a notification is sent to that client."""
        self.execute_command(f'coap set {content}')

    # TODO: coap observe <address> <uri-path> [type]
    # TODO: coap cancel
    # TODO: coap parameters <type> ["default"|<ack_timeout> <ack_random_factor_numerator> <ack_random_factor_denominator> <max_retransmit>]
    # TODO: CoAP Secure utilities

    #
    # Other TODOs
    #
    # TODO: netstat
    # TODO: networkdiagnostic get <addr> <type> ..
    # TODO: networkdiagnostic reset <addr> <type> ..
    # TODO: parent
    # TODO: pskc [-p] <key>|<passphrase>
    #

    #
    # Private methods
    #

    def __parse_str(self, output: List[str]) -> str:
        if len(output) != 1:
            raise UnexpectedCommandOutput(output)

        return output[0]

    def __parse_int_list(self, output: List[str]) -> List[int]:
        line = self.__parse_str(output)
        return list(map(int, line.strip().split()))

    def __parse_ip6addr(self, output: List[str]) -> Ip6Addr:
        return Ip6Addr(self.__parse_str(output))

    def __parse_ip6addr_list(self, output: List[str]) -> List[Ip6Addr]:
        return [Ip6Addr(line) for line in output]

    def __parse_int(self, output: List[str], base=10) -> int:
        if len(output) != 1:
            raise UnexpectedCommandOutput(output)

        return int(output[0], base)

    def __parse_network_key(self, output: List[str]) -> str:
        networkkey = self.__parse_str(output)

        try:
            self.__validate_network_key(networkkey)
        except ValueError:
            raise UnexpectedCommandOutput(output)

        return networkkey

    def __validate_network_key(self, networkkey: str):
        if len(networkkey) != 32:
            raise ValueError(networkkey)

        int(networkkey, 16)

    def __parse_hex64b(self, output: List[str]) -> str:
        extaddr = self.__parse_str(output)

        try:
            self.__validate_hex64b(extaddr)
        except ValueError:
            raise UnexpectedCommandOutput(output)

        return extaddr

    __parse_extaddr = __parse_hex64b
    __parse_extpanid = __parse_hex64b
    __parse_eui64 = __parse_hex64b
    __parse_joiner_id = __parse_hex64b

    def __validate_hex64b(self, extaddr: str):
        if len(extaddr) != 16:
            raise ValueError(extaddr)

        self.__validate_hex(extaddr)

    def __validate_hex(self, hexstr: str):
        if len(hexstr) % 2 != 0:
            raise ValueError(hexstr)

        for i in range(0, len(hexstr), 2):
            int(hexstr[i:i + 2], 16)

    __validate_extaddr = __validate_hex64b
    __validate_extpanid = __validate_hex64b

    def __parse_Enabled_or_Disabled(self, output: List[str]) -> bool:
        return self.__parse_values(output, Enabled=True, Disabled=False)

    def __parse_values(self, output: List[str], **vals) -> Any:
        val = self.__parse_str(output)
        if val not in vals:
            raise UnexpectedCommandOutput(output)

        return vals[val]

    def __validate_hex_or_bytes(self, data: Union[str, bytes]) -> str:
        if isinstance(data, bytes):
            return ''.join('%02x' % c for c in data)
        else:
            self.__validate_hex(data)
            return data

    def __hex_to_bytes(self, hexstr: str) -> bytes:
        self.__validate_hex(hexstr)
        return bytes(int(hexstr[i:i + 2], 16) for i in range(0, len(hexstr), 2))

    def __bytes_to_hex(self, data: bytes) -> str:
        return ''.join('%02x' % b for b in data)

    def __escape_escapable(self, s: str) -> str:
        """Escape CLI escapable characters in the given string.
        """
        escapable_chars = '\\ \t\r\n'
        for char in escapable_chars:
            s = s.replace(char, '\\%s' % char)
        return s

    def __txt_to_hex(self, txt: Dict[str, Union[str, bytes, bool]]) -> str:
        txt_bin = b''
        for k, v in txt.items():
            assert '=' not in k, 'TXT key must not contain `=`'

            if isinstance(v, str):
                entry = f'{k}={v}'.encode('utf8')
            elif isinstance(v, bytes):
                entry = f'{k}='.encode('utf8') + v
            else:
                assert v is True, 'TXT val must be str or bytes or True'
                entry = k.encode('utf8')

            assert len(entry) <= 255, 'TXT entry is too long'

            txt_bin += bytes([len(entry)])
            txt_bin += entry

        return ''.join('%02x' % b for b in txt_bin)


def connect_cli_sim(executable: str, nodeid: int, simulator: Optional[Simulator] = None) -> OTCI:
    cli_handler = connectors.OtCliSim(executable, nodeid, simulator=simulator)
    cmd_handler = OtCliCommandRunner(cli_handler)
    return OTCI(cmd_handler)


def connect_cli_serial(dev: str, baudrate=115200) -> OTCI:
    cli_handler = connectors.OtCliSerial(dev, baudrate)
    cmd_handler = OtCliCommandRunner(cli_handler)
    return OTCI(cmd_handler)


def connect_ncp_sim(executable: str, nodeid: int, simulator: Optional[Simulator] = None) -> OTCI:
    ncp_handler = connectors.OtNcpSim(executable, nodeid, simulator=simulator)
    cmd_handler = OtCliCommandRunner(ncp_handler, is_spinel_cli=True)
    return OTCI(cmd_handler)


def connect_otbr_ssh(host: str, port: int = 22, username='pi', password='raspberry', sudo=True):
    cmd_handler = OtbrSshCommandRunner(host, port, username, password, sudo=sudo)
    return OTCI(cmd_handler)


def connect_cmd_handler(cmd_handler: OTCommandHandler) -> OTCI:
    return OTCI(cmd_handler)