from __future__ import annotations

import argparse


def build_parser() -> argparse.ArgumentParser:
    common = argparse.ArgumentParser(add_help=False)
    common.add_argument("--config", default=argparse.SUPPRESS, help="YAML config path, default uses built-in settings")

    parser = argparse.ArgumentParser(description="Industrial geometry measurement workflow")
    parser.add_argument("--config", default=None, help="YAML config path, default uses built-in settings")
    subparsers = parser.add_subparsers(dest="command", required=True)

    cad = subparsers.add_parser("cad2mesh", parents=[common], help="Convert STEP CAD to STL Mesh")
    cad.add_argument("--cad", required=False, help="Input STEP file")
    cad.add_argument("--mesh", required=False, help="Output STL file")
    cad.add_argument("--precision", type=float, default=None, help="Mesh precision in mm")

    denoise = subparsers.add_parser("denoise", parents=[common], help="Add noise and run denoise filters")
    denoise.add_argument("--pointcloud", "-p", default=None, help="Input clean PLY point cloud")
    denoise.add_argument("--noise-std", type=float, default=None, help="Gaussian noise std")
    denoise.add_argument("--no-visualize", action="store_true", help="Disable Open3D windows")

    registration = subparsers.add_parser("registration", parents=[common], help="Run simulated point-cloud registration")
    registration.add_argument("--pointcloud", "-p", default=None, help="Input PLY point cloud")
    registration.add_argument("--mesh", "-m", default=None, help="Reference STL/OBJ/PLY mesh")
    registration.add_argument("--voxel-size", "-v", type=float, default=None, help="Registration voxel size")
    registration.add_argument("--roll", type=float, default=None, help="Rotation around X axis in degrees")
    registration.add_argument("--pitch", type=float, default=None, help="Rotation around Y axis in degrees")
    registration.add_argument("--yaw", type=float, default=None, help="Rotation around Z axis in degrees")
    registration.add_argument("--trans-range", type=float, default=None, help="Random translation range")
    registration.add_argument("--no-visualize", action="store_true", help="Disable Open3D windows")

    contour = subparsers.add_parser(
        "contour",
        parents=[common],
        help="Quick contour/flatness/planarity evaluation against STEP CAD",
    )
    contour.add_argument("--pointcloud", "-p", default=None, help="Input PLY point cloud")
    contour.add_argument("--cad", "-c", default=None, help="Reference STEP CAD file")
    contour.add_argument("--mesh", "-m", default=None, help="Legacy reference STL/OBJ/PLY mesh")
    contour.add_argument(
        "--tasks",
        default=None,
        help="Comma-separated task ids or sample names. Example: 13 expands 13_1/13_2; 13_1 runs that sample only.",
    )
    contour.add_argument("--all", action="store_true", help="Run contour evaluation for all Mesh/CAD ids under data root")
    contour.add_argument("--data-root", default="datasets", help="Dataset root for --tasks/--all batch mode")
    contour.add_argument(
        "--pointcloud-kind",
        choices=["noise", "clean"],
        default="noise",
        help="Point cloud source for batch mode: noise=Noise_PointCloud, clean=PointCloud",
    )
    contour.add_argument("--mesh-deflection", type=float, default=None, help="CAD meshing deflection")
    contour.add_argument("--point-chunk-size", type=int, default=None, help="Point chunk size")
    contour.add_argument("--triangle-chunk-size", type=int, default=None, help="Triangle chunk size")
    contour.add_argument("--save", default=None, help="Optional colored point-cloud output path")
    contour.add_argument(
        "--excel-output",
        nargs="?",
        const="excel/contour.xlsx",
        default=None,
        help="Optional Excel output path; defaults to excel/contour.xlsx when used without a value",
    )
    contour.add_argument(
        "--result-template",
        default="excel/测量结果.xlsx",
        help="Measurement-result template used by --excel-output",
    )
    contour.add_argument(
        "--combined-context-pointcloud",
        default="datasets/train/train_2_10M.ply",
        help="Full point cloud to include in batch combined_contour.ply",
    )
    contour.add_argument("--no-visualize", action="store_true", help="Disable Open3D windows")

    curvature = subparsers.add_parser("curvature", parents=[common], help="Estimate and visualize point-cloud curvature")
    curvature.add_argument("--pointcloud", "-p", default=None, help="Input PLY point cloud")
    curvature.add_argument("--radius", type=float, default=None, help="Neighborhood radius")
    curvature.add_argument("--max-nn", type=int, default=None, help="Max neighbor count")
    curvature.add_argument("--color-scale", type=float, default=None, help="Color scale")
    curvature.add_argument("--save", default=None, help="Optional colored point-cloud output path")
    curvature.add_argument("--no-visualize", action="store_true", help="Disable Open3D windows")

    plane = subparsers.add_parser("plane", parents=[common], help="Estimate plane with RANSAC")
    plane.add_argument("--pointcloud", "-p", default=None, help="Optional input PLY point cloud")
    plane.add_argument("--threshold-mm", type=float, default=None, help="RANSAC distance threshold in mm")
    plane.add_argument("--max-iterations", type=int, default=None, help="RANSAC max iterations")
    plane.add_argument("--no-visualize", action="store_true", help="Disable Open3D windows")

    translate_align = subparsers.add_parser(
        "translate-align",
        parents=[common],
        help="Translate-align point cloud to STEP CAD with front/tail centroids",
    )
    translate_align.add_argument("--cad", "-c", default="datasets/CAD/M02.stp", help="Reference STEP CAD file")
    translate_align.add_argument(
        "--pointcloud",
        "-p",
        default="datasets/shift_test_output/",
        help="Input PLY point cloud or a directory containing shifted_whole_pointcloud.ply",
    )
    translate_align.add_argument("--output-dir", "-o", default="results", help="Output directory")
    translate_align.add_argument("--axis", choices=["x", "y", "z"], default="x", help="Train length axis")
    translate_align.add_argument("--crop-ratio", type=float, default=0.01, help="Front/tail crop ratio")
    translate_align.add_argument("--mesh-deflection", type=float, default=0.1, help="CAD meshing deflection")
    translate_align.add_argument("--cad-sample-points", type=int, default=30000, help="Points sampled from CAD mesh")
    translate_align.add_argument("--local-sample-points", type=int, default=1000, help="Points sampled from each end")
    translate_align.add_argument("--scale-pointcloud", type=float, default=1.0, help="Scale factor applied to point cloud")
    translate_align.add_argument("--no-visualize", action="store_true", help="Disable Open3D windows")

    full = subparsers.add_parser("full", parents=[common], help="Run configured full workflow")
    full.add_argument("--no-visualize", action="store_true", help="Disable Open3D windows")

    return parser


def main() -> None:
    parser = build_parser()
    args = parser.parse_args()
    from pipeline import MeasurementPipeline

    pipeline = MeasurementPipeline(config_path=args.config)

    if args.command == "cad2mesh":
        pipeline.run_cad2mesh(cad_path=args.cad, mesh_path=args.mesh, precision=args.precision)
    elif args.command == "denoise":
        pipeline.run_denoise(pointcloud_path=args.pointcloud, noise_std=args.noise_std, no_visualize=args.no_visualize)
    elif args.command == "registration":
        pipeline.run_registration(
            pointcloud_path=args.pointcloud,
            mesh_path=args.mesh,
            voxel_size=args.voxel_size,
            roll=args.roll,
            pitch=args.pitch,
            yaw=args.yaw,
            trans_range=args.trans_range,
            no_visualize=args.no_visualize,
        )
    elif args.command == "contour":
        if args.all or args.tasks:
            pipeline.run_contour_batch(
                task_ids=args.tasks,
                all_tasks=args.all,
                data_root=args.data_root,
                pointcloud_kind=args.pointcloud_kind,
                mesh_deflection=args.mesh_deflection,
                point_chunk_size=args.point_chunk_size,
                triangle_chunk_size=args.triangle_chunk_size,
                save_path=args.save,
                excel_output_path=args.excel_output,
                result_template_path=args.result_template,
                combined_context_pointcloud_path=args.combined_context_pointcloud,
                no_visualize=args.no_visualize,
            )
        else:
            pipeline.run_contour(
                pointcloud_path=args.pointcloud,
                cad_path=args.cad,
                mesh_path=args.mesh,
                mesh_deflection=args.mesh_deflection,
                point_chunk_size=args.point_chunk_size,
                triangle_chunk_size=args.triangle_chunk_size,
                save_path=args.save,
                excel_output_path=args.excel_output,
                result_template_path=args.result_template,
                no_visualize=args.no_visualize,
            )
    elif args.command == "curvature":
        pipeline.run_curvature(
            pointcloud_path=args.pointcloud,
            radius=args.radius,
            max_nn=args.max_nn,
            color_scale=args.color_scale,
            save_path=args.save,
            no_visualize=args.no_visualize,
        )
    elif args.command == "plane":
        pipeline.run_plane(
            pointcloud_path=args.pointcloud,
            threshold_mm=args.threshold_mm,
            max_iterations=args.max_iterations,
            no_visualize=args.no_visualize,
        )
    elif args.command == "translate-align":
        pipeline.run_translate_align_pointcloud_to_cad(
            cad_path=args.cad,
            pointcloud_path=args.pointcloud,
            output_dir=args.output_dir,
            axis=args.axis,
            crop_ratio=args.crop_ratio,
            mesh_deflection=args.mesh_deflection,
            cad_sample_points=args.cad_sample_points,
            local_sample_points=args.local_sample_points,
            scale_pointcloud=args.scale_pointcloud,
            no_visualize=args.no_visualize,
        )
    elif args.command == "full":
        pipeline.run_full(no_visualize=args.no_visualize)
    else:
        parser.error(f"Unsupported command: {args.command}")


if __name__ == "__main__":
    main()