"""flatness-suite 算法适配器 (v1.5)。

v1.5 变更：
  - 算法目录从 alg/point_porj → alg/平整度、平面度、轮廓测量v1.5
  - 新增 car_part_v1/ 多车型 STEP CAD 模板
  - run_contour 新增 Excel 报表输出（excel_output_path）
  - pipeline 新增 result_template_path / combined_context_pointcloud_path 参数

约定：
  - module=all：plane + curvature（contour 需要 CAD STL，缺失时跳过）
  - module=plane：只跑平面拟合
  - module=curvature：只跑曲率估计
  - module=contour：需要 CAD STL，缺失时报错
"""

from __future__ import annotations

import copy
import os
import sys
import traceback
from pathlib import Path
from typing import Any

sys.path.insert(0, str(Path(__file__).parent))
from _plugin_io import (
    emit_progress,
    first_pointcloud,
    load_input,
    write_error_result,
    write_result,
)


def _safe_float(v: object) -> float | None:
    try:
        return float(v)  # type: ignore[arg-type]
    except (TypeError, ValueError):
        return None


def _find_alg_dir(alg_root: str) -> Path:
    """定位平整度算法目录，支持多个历史版本路径，优先使用最新版。"""
    candidates = [
        Path(alg_root) / "平整度、平面度、轮廓测量v1.5",
        Path(alg_root) / "point_porj",
        Path(alg_root) / "平整度、平面度、轮廓测量v1.2" / "point_porj",
        Path(alg_root) / "平整度、平面度、轮廓测量" / "point_porj",
    ]
    for c in candidates:
        if c.is_dir() and (c / "pipeline.py").exists():
            return c
    raise RuntimeError(
        f"找不到平整度算法目录，已尝试：\n"
        + "\n".join(f"  {c}" for c in candidates)
        + "\n请确认 alg/ 下已解压 平整度、平面度、轮廓测量v1.5/。"
    )


def _build_pipeline(alg_dir: Path, pc_path: str, out_dir: Path, params: dict) -> Any:
    """初始化 MeasurementPipeline，注入点云路径和输出路径。"""
    # 把 alg_dir 加到 sys.path，让 pipeline.py 能 import 同级模块
    alg_dir_str = str(alg_dir)
    if alg_dir_str not in sys.path:
        sys.path.insert(0, alg_dir_str)

    from pipeline import MeasurementPipeline  # type: ignore

    # 加载内置 config.yaml，然后覆盖关键路径
    pipeline = MeasurementPipeline(config_path=None)

    # 注入点云路径
    pipeline.config["paths"]["pointcloud"] = pc_path

    # 注入输出路径（curvature_output 写到 outDir）
    pipeline.config["paths"]["curvature_output"] = str(out_dir / "curvature.ply")

    # 关闭可视化（无显示器）
    pipeline.config["visualization"]["enabled"] = False

    # 用户参数覆盖
    voxel_size = _safe_float(params.get("voxelSizeMm"))
    if voxel_size is not None:
        pipeline.config["filters"]["voxel_size"] = voxel_size / 1000.0  # mm → m

    threshold_mm = _safe_float(params.get("thresholdMm"))
    if threshold_mm is not None:
        pipeline.config["plane"]["threshold_mm"] = threshold_mm

    return pipeline


def main() -> int:
    payload = load_input(sys.argv)
    inputs = payload.get("inputs") or {}
    config = inputs.get("config") or {}
    out_dir = Path(payload["outDir"])
    out_dir.mkdir(parents=True, exist_ok=True)

    try:
        alg_root = os.environ.get("ALG_ROOT") or os.environ.get("ALG_ROOT_HOST") or "/alg"
        emit_progress(0.05, "定位 point_porj 算法目录")
        alg_dir = _find_alg_dir(alg_root)

        pc_path_raw = first_pointcloud(payload)
        emit_progress(0.10, f"读取点云：{os.path.basename(pc_path_raw)}")

        # ── ROI 裁剪（整车点云场景下必须填写，否则算法极慢）──────────────────────
        def _f(key: str) -> float | None:
            v = config.get(key)
            try:
                return float(v) if v is not None and str(v).strip() != "" else None
            except (TypeError, ValueError):
                return None

        x_min, x_max = _f("roiXMin"), _f("roiXMax")
        y_min, y_max = _f("roiYMin"), _f("roiYMax")
        z_min, z_max = _f("roiZMin"), _f("roiZMax")
        has_roi = any(v is not None for v in (x_min, x_max, y_min, y_max, z_min, z_max))

        if has_roi:
            emit_progress(0.12, "ROI 裁剪中…")
            import numpy as np
            import open3d as o3d  # type: ignore

            pcd = o3d.io.read_point_cloud(pc_path_raw)
            pts = np.asarray(pcd.points)
            mask = np.ones(len(pts), dtype=bool)
            if x_min is not None: mask &= pts[:, 0] >= x_min
            if x_max is not None: mask &= pts[:, 0] <= x_max
            if y_min is not None: mask &= pts[:, 1] >= y_min
            if y_max is not None: mask &= pts[:, 1] <= y_max
            if z_min is not None: mask &= pts[:, 2] >= z_min
            if z_max is not None: mask &= pts[:, 2] <= z_max
            n_total, n_crop = len(pts), int(mask.sum())
            if n_crop == 0:
                raise RuntimeError(
                    f"ROI 裁剪后无点（原始 {n_total} 点），请检查坐标范围是否正确。"
                )
            cropped = pcd.select_by_index(np.where(mask)[0])
            roi_ply = out_dir / "_roi_cropped.ply"
            # 二进制写出，算法用 o3d 读所以支持二进制，比 ASCII 快很多
            o3d.io.write_point_cloud(str(roi_ply), cropped, write_ascii=False)
            pc_path_raw = str(roi_ply)
            emit_progress(0.14, f"ROI 裁剪完成：{n_total} → {n_crop} 点")

        # v1.5 用 o3d.io.read_point_cloud 读取，直接支持二进制 PLY，无需转 ASCII
        pc_path = pc_path_raw

        module = str(config.get("module") or "all")
        emit_progress(0.15, f"初始化 MeasurementPipeline（module={module}）")

        pipeline = _build_pipeline(alg_dir, pc_path, out_dir, config)

        measurements: list[dict] = []
        extra: dict[str, Any] = {"module": module}
        skipped: list[str] = []

        # ── plane ──────────────────────────────────────────────────────────────
        if module in ("all", "plane"):
            emit_progress(0.30, "平面拟合 (RANSAC)")
            try:
                res = pipeline.run_plane(
                    pointcloud_path=pc_path,
                    threshold_mm=_safe_float(config.get("thresholdMm")),
                    no_visualize=True,
                )
                pr = res.get("plane_result")
                if pr is not None:
                    rmse_mm = float(pr.rmse) * 1000.0  # m → mm
                    measurements += [
                        {
                            "name": "平面 RMSE",
                            "value": round(rmse_mm, 4),
                            "unit": "mm",
                            "status": "pass" if rmse_mm <= 1.0 else "warning" if rmse_mm <= 2.0 else "fail",
                        },
                        {
                            "name": "内点率",
                            "value": round(float(pr.inlier_ratio), 2),
                            "unit": "%",
                            "status": "pass" if pr.inlier_ratio >= 80 else "warning" if pr.inlier_ratio >= 60 else "fail",
                        },
                        {
                            "name": "法向角误差",
                            "value": round(float(pr.normal_angle_deg), 4),
                            "unit": "deg",
                            "status": "info",
                        },
                    ]
                    extra["planeModel"] = list(pr.model) if pr.model else None
            except Exception as exc:
                skipped.append(f"plane: {exc}")

        # ── curvature ──────────────────────────────────────────────────────────
        if module in ("all", "curvature"):
            emit_progress(0.55, "曲率估计")
            try:
                res = pipeline.run_curvature(
                    pointcloud_path=pc_path,
                    no_visualize=True,
                )
                curvatures = res.get("curvatures")
                if curvatures is not None:
                    import numpy as np
                    measurements += [
                        {
                            "name": "曲率均值",
                            "value": round(float(np.mean(curvatures)), 6),
                            "unit": "1/mm",
                            "status": "info",
                        },
                        {
                            "name": "曲率最大值",
                            "value": round(float(np.max(curvatures)), 6),
                            "unit": "1/mm",
                            "status": "info",
                        },
                    ]
                # 保存曲率点云路径
                curv_ply = out_dir / "curvature.ply"
                if curv_ply.exists():
                    extra["curvaturePly"] = "curvature.ply"
            except Exception as exc:
                skipped.append(f"curvature: {exc}")

        # ── contour ────────────────────────────────────────────────────────────
        if module in ("all", "contour"):
            emit_progress(0.75, "轮廓-平整度（需 CAD STL）")
            cad_path = inputs.get("cadPath") or None
            mesh_path = inputs.get("meshPath") or None
            if not cad_path and not mesh_path:
                skipped.append("contour: 未提供 CAD STL/STEP，跳过")
            else:
                try:
                    save_path = str(out_dir / "contour.ply")
                    excel_path = str(out_dir / "contour.xlsx")
                    res = pipeline.run_contour(
                        pointcloud_path=pc_path,
                        cad_path=cad_path,
                        mesh_path=mesh_path,
                        save_path=save_path,
                        excel_output_path=excel_path,
                        no_visualize=True,
                    )
                    stats = res.get("distance_stats")
                    for key, label, unit in [
                        ("mean", "轮廓偏差均值", "mm"),
                        ("max", "轮廓偏差最大值", "mm"),
                        ("std", "轮廓偏差标准差", "mm"),
                    ]:
                        v = _safe_float(getattr(stats, key, None) if stats is not None else None)
                        if v is not None:
                            measurements.append({
                                "name": label,
                                "value": round(v, 4),
                                "unit": unit,
                                "status": "info",
                            })
                    if Path(save_path).exists():
                        extra["contourPly"] = "contour.ply"
                except Exception as exc:
                    skipped.append(f"contour: {exc}")

        emit_progress(0.95, "整理结果")

        # 3D 叠加层：优先 contour PLY，其次 curvature PLY
        overlay3d: dict = {"kind": "none"}
        for ply_key in ("contourPly", "curvaturePly"):
            if ply_key in extra:
                overlay3d = {"kind": "vertexColors", "url": extra[ply_key]}
                break

        if skipped:
            extra["skipped"] = skipped

        status_vals = [m.get("status") for m in measurements]
        overall = (
            "fail" if "fail" in status_vals
            else "warning" if "warning" in status_vals
            else "completed"
        )

        payload_out = {
            "schemaVersion": 1,
            "status": overall,
            "message": (
                f"完成 {len(measurements)} 项测量。"
                + (f" 跳过：{'; '.join(skipped)}" if skipped else "")
            ),
            "measurements": measurements,
            "overlay3d": overlay3d,
            "extra": extra,
        }
        write_result(out_dir, payload_out)
        emit_progress(1.0, "完成")
        return 0

    except Exception as exc:
        traceback.print_exc()
        write_error_result(
            out_dir,
            f"flatness-suite 计算失败：{exc}",
            extra={"traceback": traceback.format_exc()},
        )
        return 1


if __name__ == "__main__":
    sys.exit(main())