#!/usr/bin/env python3
"""Fixed-dialogue field deployment wizard for scan calibration."""

from __future__ import annotations

import argparse
from contextlib import redirect_stdout
from datetime import datetime
import io
import json
from pathlib import Path
import re
import select
import subprocess
import sys
import tempfile
import time

import scan_calibrator as core


ROOT = Path(__file__).resolve().parent
CONFIG_PATH = "/smart-cam/config/config.json"
# The grid contact sheet is the final calibration check. Horizontal seams on
# the tested PTZ camera retain more real-world overlap than the center-shift
# model predicts, while vertical seams need a small safety margin. Keep these
# axis-specific targets within the generator's accepted 0%..5% range.
TARGET_OVERLAPS = {"pan": 0.04, "tilt": 0.02}
RED = "\033[31m"
GREEN = "\033[32m"
YELLOW = "\033[33m"
RESET = "\033[0m"


class Cancelled(Exception):
    pass


def say(message: str = "", *, color: str = "") -> None:
    print(f"{color}{message}{RESET if color else ''}", flush=True)


def choose(question: str, choices: set[str]) -> str:
    while True:
        answer = input(f"\n{question}\n> ").strip()
        if answer == "3":
            raise Cancelled
        if answer in choices:
            return answer
        say(f"请输入 {' / '.join(sorted(choices | {'3'}))}。", color=YELLOW)


def confirm_position(question: str) -> None:
    choose(f"{question}\n到位后回复 1；回复 3 随时退出。", {"1"})


def camera_ptz() -> dict[str, int]:
    ptz = core.get_ptz()
    core.print_ptz(ptz, "已读取")
    return ptz


def remove_session_snapshots(paths: set[str]) -> None:
    for path in sorted(paths):
        if not path.startswith("/smart-cam/data/scan/calibration/"):
            continue
        subprocess.run(
            ["docker", "exec", "smart-cam", "rm", "-f", "--", path],
            stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, check=False,
        )


def candidate_deltas(axis: str) -> list[int]:
    if axis == "pan":
        return [150, 250, 350, 450, 600, 800, 1100, 1500, 2100]
    return [80, 120, 170, 220, 280, 350, 450, 600, 850, 1150]


def choose_direction(axis: str, origin: dict[str, int], points: dict) -> int:
    if axis == "pan":
        # Pan is circular. The direction changes only the sign, not the FOV estimate.
        return 1
    low = min(int(points["top-left"]["tilt"]), int(points["bottom-right"]["tilt"]))
    high = max(int(points["top-left"]["tilt"]), int(points["bottom-right"]["tilt"]))
    return 1 if high - origin["tilt"] >= origin["tilt"] - low else -1


def consistent_samples(reliable: list[tuple[int, float, float, dict]]) -> list:
    """Return the largest group that estimates one mutually consistent FOV."""
    if not reliable:
        return []
    clusters = [
        [
            sample for sample in reliable
            if abs(sample[2] - seed[2]) / max(seed[2], 1.0) <= 0.12
        ]
        for seed in reliable
    ]
    return max(
        clusters, key=lambda cluster: (len(cluster), -max(x[2] for x in cluster))
    )


def fov_statistics(samples: list[tuple[int, float, float, dict]]) -> tuple[float, float]:
    fovs = sorted(sample[2] for sample in samples)
    estimated_fov = (
        fovs[len(fovs) // 2] if len(fovs) % 2
        else (fovs[len(fovs) // 2 - 1] + fovs[len(fovs) // 2]) / 2
    )
    return estimated_fov, (max(fovs) - min(fovs)) / estimated_fov


def failure_detail(result: dict) -> str:
    reason = str(result.get("reason") or "unknown")
    labels = {
        "ptz_motion_shortfall": "云台受限，实际移动量不足",
        "not_enough_features": "两张图片可检测特征不足",
        "not_enough_matches": "两张图片的公共特征不足",
        "homography_failed": "公共特征无法形成可靠几何变换",
        "axis_motion_too_small": "匹配到的主轴画面位移过小",
        "axis_motion_inconsistent": "匹配位移方向异常或串轴过大",
    }
    fields = []
    if result.get("actual_axis_motion") is not None:
        fields.append(
            f"实际移动={result['actual_axis_motion']}/"
            f"{result.get('requested_axis_motion', result.get('delta', '?'))}"
        )
    if result.get("good_matches") is not None:
        fields.append(f"公共特征={result['good_matches']}")
    if result.get("inliers") is not None:
        fields.append(f"几何内点={result['inliers']}")
    if result.get("axis_shift") is not None:
        fields.append(f"主轴位移={float(result['axis_shift'])*100:.1f}%")
    if result.get("cross_axis_shift") is not None:
        fields.append(f"串轴位移={float(result['cross_axis_shift'])*100:.1f}%")
    if result.get("phase_response") is not None:
        fields.append(f"相位响应={float(result['phase_response']):.2f}")
    suffix = f"（{'，'.join(fields)}）" if fields else ""
    return f"{labels.get(reason, reason)}{suffix}"


def estimate_axis(axis: str, origin: dict[str, int], points: dict,
                  snapshots: set[str]) -> dict:
    direction = choose_direction(axis, origin, points)
    baseline = core.snapshot()
    snapshots.add(baseline)
    reliable: list[tuple[int, float, float, dict]] = []
    failure_reasons: dict[str, int] = {}
    say(f"\n正在标定 {axis}_step，摄像头会自动移动并回到起点……")

    for delta in candidate_deltas(axis):
        result = core.measure_delta(
            axis, delta, direction, 1.0, baseline=baseline, origin=origin
        )
        snapshots.add(str(result.get("candidate_file", "")))
        if (
            axis == "tilt"
            and not reliable
            and result.get("reason") == "ptz_motion_shortfall"
        ):
            direction *= -1
            say(
                f"  step={delta}: 原方向受云台限位，自动改用相反方向继续标定"
            )
            result = core.measure_delta(
                axis, delta, direction, 1.0, baseline=baseline, origin=origin
            )
            snapshots.add(str(result.get("candidate_file", "")))
        if not result.get("valid"):
            reason = str(result.get("reason") or "unknown")
            failure_reasons[reason] = failure_reasons.get(reason, 0) + 1
            say(f"  step={delta}: {failure_detail(result)}，继续尝试")
            continue
        overlap = float(result["overlap"])
        inliers = int(result.get("inliers") or 0)
        ratio = float(result.get("inlier_ratio") or 0)
        if result.get("match_method") == "phase_correlation":
            quality = f"整图相位响应={float(result.get('phase_response') or 0):.2f}"
        else:
            quality = f"有效特征={inliers}，内点率={ratio*100:.1f}%"
        say(f"  step={delta}: 重叠约 {overlap*100:.1f}%，{quality}")
        feature_reliable = inliers >= 50 and ratio >= 0.45
        phase_reliable = (
            result.get("match_method") == "phase_correlation"
            and float(result.get("phase_response") or 0) >= core.PHASE_MIN_RESPONSE
        )
        if (feature_reliable or phase_reliable) and 0.08 <= overlap <= 0.80:
            reliable.append((delta, overlap, delta / (1.0 - overlap), result))
            if len(reliable) >= 4:
                provisional = consistent_samples(reliable)
                if len(provisional) >= 4:
                    _, provisional_spread = fov_statistics(provisional)
                    if provisional_spread <= 0.08 and min(
                        sample[1] for sample in provisional
                    ) <= 0.55:
                        say(
                            f"  已获得{len(provisional)}个覆盖充分且一致的样本，"
                            "停止测试更大的step"
                        )
                        break

    if len(reliable) < 2:
        core.move(origin)
        summary = "、".join(
            f"{reason}={count}次"
            for reason, count in sorted(failure_reasons.items())
        )
        core.fail(
            f"{axis}方向只得到{len(reliable)}个可靠样本，至少需要2个不同移动量互相验证。"
            f"失败统计：{summary or '无'}。请根据上方每个step的具体原因处理后重试"
        )

    # Fixed OSD text and repeated scenery can yield a convincing false
    # homography. A real optical FOV must agree across different PTZ deltas.
    consistent = consistent_samples(reliable)
    if len(consistent) < 2:
        core.move(origin)
        values = ", ".join(f"{sample[2]:.0f}" for sample in reliable)
        core.fail(
            f"{axis}方向不同移动量反算的视场不一致（{values}），疑似重复图案误匹配；"
            "本次结果不写入配置，请更换标定画面"
        )

    estimated_fov, spread = fov_statistics(consistent)
    if len(consistent) == 2:
        strong_pair = all(
            (
                int(sample[3].get("inliers") or 0) >= 100
                and float(sample[3].get("inlier_ratio") or 0) >= 0.65
            )
            or (
                sample[3].get("match_method") == "phase_correlation"
                and float(sample[3].get("phase_response") or 0) >= 0.35
            )
            for sample in consistent
        )
        allowed_spread = 0.08
        if not strong_pair:
            core.move(origin)
            core.fail(
                f"{axis}方向目前只有2个一致样本，但特征质量不足以使用双样本规则；"
                "需要第3个可靠样本，请更换标定画面"
            )
    else:
        allowed_spread = 0.15
    if spread > allowed_spread:
        core.move(origin)
        core.fail(
            f"{axis}方向视场样本离散度为{spread*100:.1f}%，"
            f"超过{allowed_spread*100:.0f}%；"
            "本次结果不写入配置，请更换标定画面"
        )

    target_overlap = TARGET_OVERLAPS[axis]
    step = max(1, round(estimated_fov * (1.0 - target_overlap)))
    visual_direction = None
    if axis == "pan":
        # Interactive pan probes always use a positive PTZ delta. The signed
        # image displacement reveals the real pan direction of this exact
        # camera/firmware; mount style is not a reliable substitute.
        signed_shifts = [
            float(sample[3].get("center_dx", 0.0))
            for sample in consistent
            if abs(float(sample[3].get("center_dx", 0.0))) >= 0.02
        ]
        if len(signed_shifts) < 2:
            core.move(origin)
            core.fail(
                "pan方向缺少至少2个可靠的带符号位移样本；"
                "请更换纹理分布更均匀的位置重新执行第四步"
            )
        positive = sum(shift > 0 for shift in signed_shifts)
        negative = sum(shift < 0 for shift in signed_shifts)
        agreement = max(positive, negative) / len(signed_shifts)
        if agreement < 0.75:
            core.move(origin)
            core.fail(
                f"pan方向样本符号不一致（一致率{agreement*100:.1f}%），"
                "疑似重复图案或近距离视差；本次不生成扫描弧段"
            )
        # center_dx < 0 means positive numeric pan advances the camera view
        # toward visual right, so left-to-right is numerically increasing.
        visual_direction = "increasing" if negative > positive else "decreasing"
    measured_step, measured_overlap, _, detail = max(
        consistent, key=lambda sample: int(sample[3].get("inliers") or 0)
    )
    core.move(origin)
    say(
        f"  {axis}视场一致性通过：{len(consistent)}个样本，"
        f"估算视场={estimated_fov:.0f}，离散度={spread*100:.1f}%"
    )
    if visual_direction is not None:
        say(
            f"  已自动识别该摄像头：画面左→右时pan数值"
            f"{'递增' if visual_direction == 'increasing' else '递减'}"
        )
    return {
        "value": step,
        "direction": direction,
        "overlap": target_overlap,
        "target_overlap": target_overlap,
        "overlap_method": "axis_shift_v1_retargeted",
        "zoom": origin["zoom"],
        "measured_at": origin,
        **({"visual_direction": visual_direction} if visual_direction else {}),
        "good_matches": detail.get("good_matches"),
        "inliers": detail.get("inliers"),
        "inlier_ratio": detail.get("inlier_ratio"),
        "match_method": detail.get("match_method", "orb_homography"),
        "phase_response": detail.get("phase_response"),
        "derived_from": {
            "value": measured_step,
            "overlap": measured_overlap,
            "estimated_fov": round(estimated_fov, 4),
            "samples": [
                {
                    "value": sample[0],
                    "overlap": round(sample[1], 6),
                    "estimated_fov": round(sample[2], 4),
                    "inliers": sample[3].get("inliers"),
                    "inlier_ratio": sample[3].get("inlier_ratio"),
                    "match_method": sample[3].get("match_method", "orb_homography"),
                    "phase_response": sample[3].get("phase_response"),
                }
                for sample in consistent
            ],
            "spread": round(spread, 6),
        },
    }


def calculate_steps(points: dict, snapshots: set[str], mount: str) -> None:
    origin = camera_ptz()
    zooms = [int(points[name]["zoom"]) for name in ("top-left", "bottom-right")]
    if max(zooms + [origin["zoom"]]) - min(zooms + [origin["zoom"]]) > 10:
        core.fail("三个位置的zoom不一致；请固定焦段后重新开始")
    top_left = points["top-left"]
    bottom_right = points["bottom-right"]
    # This check is only advisory and runs before signed pan direction has
    # been measured. Use the shorter arc solely to decide whether the chosen
    # calibration scene is plausibly between the two recorded corners.
    top_left_pan = int(top_left["pan"]) % 36000
    bottom_right_pan = int(bottom_right["pan"]) % 36000
    increasing_span = (bottom_right_pan - top_left_pan) % 36000
    if increasing_span <= 18000:
        pan_start, pan_span = top_left_pan, increasing_span
    else:
        pan_start, pan_span = bottom_right_pan, 36000 - increasing_span
    pan_inside = (origin["pan"] - pan_start) % 36000 <= pan_span
    tilt_low = min(int(top_left["tilt"]), int(bottom_right["tilt"]))
    tilt_high = max(int(top_left["tilt"]), int(bottom_right["tilt"]))
    tilt_inside = tilt_low <= origin["tilt"] <= tilt_high
    if not pan_inside or not tilt_inside:
        say(
            "警告：当前标定位置不在刚才选择的扫描区域内。"
            f"当前pan={origin['pan']}、tilt={origin['tilt']}；"
            f"扫描区域tilt={tilt_low}～{tilt_high}。"
            "同zoom下仍可尝试，但优先选择扫描区域内部的远处纹理。",
            color=YELLOW,
        )
    state = core.load_state()
    state["steps"]["pan"] = estimate_axis("pan", origin, points, snapshots)
    state["steps"]["tilt"] = estimate_axis("tilt", origin, points, snapshots)
    core.save_state(state)


def generate(mount: str) -> tuple[dict, Path, str]:
    before = set((ROOT / "result").glob("scan_config_*.json"))
    output = io.StringIO()
    with redirect_stdout(output):
        core.command_generate(argparse.Namespace(mount=mount))
    after = set((ROOT / "result").glob("scan_config_*.json"))
    created = sorted(after - before, key=lambda path: path.stat().st_mtime)
    if not created:
        core.fail("没有找到本次生成的配置文件")
    result_file = created[-1]
    scan = json.loads(result_file.read_text(encoding="utf-8"))["scan"]
    return scan, result_file, output.getvalue()


def deploy_config(scan: dict) -> None:
    raw = subprocess.run(
        ["docker", "exec", "smart-cam", "cat", CONFIG_PATH],
        text=True, capture_output=True, check=True,
    ).stdout
    config = json.loads(raw)
    if not isinstance(config.get("scan"), dict):
        raise RuntimeError(f"{CONFIG_PATH}缺少scan对象")

    config["scan"].update(scan)

    with tempfile.NamedTemporaryFile(
        mode="w", encoding="utf-8", suffix=".json", delete=False
    ) as temporary:
        json.dump(config, temporary, ensure_ascii=False, indent=2)
        temporary.write("\n")
        local_temp = Path(temporary.name)
    try:
        subprocess.run(
            ["docker", "cp", str(local_temp), f"smart-cam:{CONFIG_PATH}.new"],
            check=True,
        )
        subprocess.run(
            ["docker", "exec", "smart-cam", "python3", "-m", "json.tool",
             f"{CONFIG_PATH}.new"],
            stdout=subprocess.DEVNULL, check=True,
        )
        subprocess.run(
            ["docker", "exec", "smart-cam", "mv", f"{CONFIG_PATH}.new", CONFIG_PATH],
            check=True,
        )
    finally:
        local_temp.unlink(missing_ok=True)

    subprocess.run(["docker", "restart", "smart-cam"], check=True,
                   stdout=subprocess.DEVNULL)
    deadline = time.monotonic() + 90
    while time.monotonic() < deadline:
        try:
            core.api("GET", "/api/v1/scan/status", timeout=5)
            return
        except (SystemExit, subprocess.SubprocessError):
            time.sleep(2)
    raise RuntimeError("smart-cam重启后90秒内scan HTTP服务未就绪")


def run_test_scan() -> dict:
    core.api("POST", "/api/v1/scan/start", timeout=20)
    say("已启动测试扫描。", color=GREEN)
    say("\n扫图日志：")
    since = datetime.now().astimezone().isoformat(timespec="seconds")
    saved_pattern = re.compile(r"\[scan\]\s+saved\b.*\bprogress=(\d+)/(\d+)\b")
    last_progress: tuple[int, int] | None = None
    process = subprocess.Popen(
        ["docker", "logs", "-f", "--since", since, "smart-cam"],
        stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True,
    )
    try:
        while True:
            line = ""
            if process.stdout:
                readable, _, _ = select.select([process.stdout], [], [], 1.0)
                if readable:
                    line = process.stdout.readline()
                    match = saved_pattern.search(line)
                    if match:
                        progress = (int(match.group(1)), int(match.group(2)))
                        if progress != last_progress:
                            say(f"已保存第 {progress[0]}/{progress[1]} 张图")
                            last_progress = progress
            status = core.api("GET", "/api/v1/scan/status", timeout=5).get("scan", {})
            if status.get("state") in {"completed", "failed", "stopped"}:
                if status.get("state") == "completed":
                    say(
                        f"\n扫描完成，共保存 {status.get('completed', status.get('total', 0))} 张图。"
                        f"\n保存目录：{status.get('output_dir', '')}",
                        color=GREEN,
                    )
                else:
                    message = (
                        "扫描已停止。"
                        if status.get("state") == "stopped"
                        else f"扫描失败：{status.get('error') or '未知错误'}"
                    )
                    say(f"\n{message}", color=YELLOW if status.get("state") == "stopped" else RED)
                return status
    except KeyboardInterrupt:
        say("\n收到中断，正在通知smart-cam停止本次扫描……", color=YELLOW)
        try:
            core.api("POST", "/api/v1/scan/stop", timeout=10)
        except (SystemExit, subprocess.SubprocessError):
            say("停止接口调用失败，请检查scan状态。", color=RED)
        raise Cancelled
    finally:
        process.terminate()
        try:
            process.wait(timeout=3)
        except subprocess.TimeoutExpired:
            process.kill()


def run_panorama(scan_status: dict, mount: str, pan_direction: str) -> Path:
    scan_dir = str(scan_status.get("output_dir") or "")
    scan_id = str(scan_status.get("scan_id") or "")
    # stitch_scan.py runs on the host. A scan_id resolves beneath
    # /userdata/data/scan, while output_dir reported by the API is the
    # container-side /smart-cam/data/scan path.
    source = scan_id or scan_dir
    if not source:
        raise RuntimeError("扫描状态中没有output_dir或scan_id，无法确定拼图来源")
    stitch = ROOT / "scan-panorama" / "stitch.sh"
    result = subprocess.run(
        [
            str(stitch), source,
            "--mount", mount,
            "--pan-direction", pan_direction,
        ],
        text=True, capture_output=True,
    )
    if result.returncode:
        raise RuntimeError(result.stderr.strip() or result.stdout.strip() or "拼图失败")
    match = re.search(r"^结果：(.+)$", result.stdout, flags=re.MULTILINE)
    if not match:
        raise RuntimeError(f"拼图完成但没有返回结果路径：\n{result.stdout}")
    output = Path(match.group(1).strip())
    if not output.is_file() or output.stat().st_size == 0:
        raise RuntimeError(f"拼图结果不存在或为空：{output}")
    return output


def main() -> None:
    original_state = core.STATE_FILE.read_bytes() if core.STATE_FILE.exists() else None
    snapshots: set[str] = set()
    generated: Path | None = None
    success = False
    try:
        say("您好！我们现在开始配置扫图参数！", color=GREEN)
        say("在接下来的对话中，回复 3 会立即结束，并清理本次向导产生的标定痕迹。")

        stage = choose(
            "① 当前是【野外部署阶段】（回复 1）还是"
            "【办公室测试阶段】（回复 2）？",
            {"1", "2"},
        )
        mount = "hanging" if stage == "1" else "desktop"

        confirm_position(
            "② 请在Web界面中固定本次扫描使用的zoom，"
            "再手动把摄像头移到扫描区域的【左上角】。"
        )
        top_left = camera_ptz()
        state = core.load_state()
        state["points"]["top-left"] = top_left
        core.save_state(state)

        confirm_position(
            "③ 请保持zoom不变，手动把摄像头移到扫描区域的【右下角】。"
        )
        bottom_right = camera_ptz()
        if abs(top_left["zoom"] - bottom_right["zoom"]) > 10:
            core.fail("左右角的zoom不一致，请固定焦段后重新运行")
        state = core.load_state()
        state["points"]["bottom-right"] = bottom_right
        core.save_state(state)

        points = core.load_state()["points"]
        while True:
            confirm_position(
                "④ 这一步用于测量当前zoom下的水平/垂直视场。\n"
                "请保持zoom不变，优先把摄像头移到扫描区域内部、"
                "距离较远且纹理分布在整幅画面的位置。\n"
                "请避开纯天空、纯墙面、水面、玻璃、近距离物体和重复图案；"
                "回复1后不要再操作Web云台，程序会自动移动、拍照并返回起点。"
            )
            say("\n正在计算，请不要操作摄像头或Web控制页面……")
            try:
                calculate_steps(points, snapshots, mount)
                break
            except SystemExit as exc:
                say(f"\n本次视场标定没有通过：{exc}", color=RED)
                choose(
                    "请根据上方逐项失败原因调整位置后重试第四步，两个角点无需重录。\n"
                    "重新尝试回复 1；结束对话回复 3。",
                    {"1"},
                )
        scan, generated, detail = generate(mount)
        say("\n⑤ 本次得到的扫图参数：", color=GREEN)
        say(json.dumps(scan, ensure_ascii=False, indent=2))
        say(detail.strip())

        install = choose(
            "⑥ 是否替换 smart-cam 容器内的"
            "/smart-cam/config/config.json？\n"
            "替换并重启回复 1；不替换并结束回复 3。",
            {"1"},
        )
        if install == "1":
            deploy_config(scan)
            say("替换完成，smart-cam已重启。", color=GREEN)

        test = choose(
            "⑦ 是否现在进行一次完整扫图测试？\n"
            "开始测试回复 1；不测试并结束回复 3。",
            {"1"},
        )
        if test == "1":
            scan_status = run_test_scan()
            if scan_status.get("state") != "completed":
                raise RuntimeError("本次扫描没有成功完成，因此不进入拼图测试")
            stitch = choose(
                "⑧ 本次扫描已完成，是否立即进行拼图测试？\n"
                "开始拼图回复 1；不拼图并结束回复 3。",
                {"1"},
            )
            if stitch == "1":
                pan_direction = str(
                    core.load_state()
                    .get("steps", {})
                    .get("pan", {})
                    .get("visual_direction", "")
                )
                if pan_direction not in {"increasing", "decreasing"}:
                    raise RuntimeError("缺少本次实测pan方向，无法可靠排列拼图左右顺序")
                panorama = run_panorama(scan_status, mount, pan_direction)
                say(f"\n拼图完成。\n大图存储位置：{panorama}", color=GREEN)
        success = True
        say("\n配置向导已完成，对话结束。", color=GREEN)
    except Cancelled:
        say("\n已结束对话，正在清理本次向导痕迹……", color=YELLOW)
    except (KeyboardInterrupt, EOFError):
        say("\n对话被中断，正在清理本次向导痕迹……", color=YELLOW)
    except Exception as exc:
        say(f"\n向导失败：{exc}", color=RED)
    finally:
        remove_session_snapshots(snapshots)
        if not success:
            if original_state is None:
                core.STATE_FILE.unlink(missing_ok=True)
            else:
                current_state = (
                    core.STATE_FILE.read_bytes() if core.STATE_FILE.exists() else None
                )
                if current_state != original_state:
                    core.STATE_FILE.write_bytes(original_state)
            if generated is not None:
                generated.unlink(missing_ok=True)


if __name__ == "__main__":
    main()