"""Integration entry point — the contract for the software integrator.

Three input files, one Excel output:

    --roi    ROI JSON      (6-key AABB crop hyper-parameters, in the cloud frame)
    --cloud  full-vehicle point cloud PLY (may be multi-GB; cropped by streaming)
    --stp    theoretical CAD STEP file    (recorded for audit/traceability)
    --out    output directory             (gets eval_report.xlsx + intermediates)

The cloud is cropped to the ROI inside the algorithm (no external
pre-processing needed), the coupler panel is measured, and the two
deflection angles + intermediate values are written to an .xlsx report.

Example::

    python examples/run_integration.py \
        --roi   examples/roi_train2_coupler.json \
        --cloud E:/BaiduNetdiskDownload/pointsCloud_data/train_2_1T.ply \
        --stp   E:/BaiduNetdiskDownload/pointsCloud_data/m000004802418tc01_asm.stp \
        --out   runs/train2_integration \
        --profile train2_coupler
"""

from __future__ import annotations

import argparse
import logging
import math
import time
from pathlib import Path

import numpy as np

from coupler_panel.exceptions import CouplerError
from coupler_panel.pipeline import run_coupler_measurement_pipeline
from coupler_panel.reporting import InspectionItem, write_inspection_report
from coupler_panel.roi_select import load_roi_json


def _build_parser() -> argparse.ArgumentParser:
    p = argparse.ArgumentParser(description=__doc__)
    p.add_argument("--roi",   type=Path, required=True, help="ROI JSON (6-key AABB).")
    p.add_argument("--cloud", type=Path, required=True, help="Full-vehicle point cloud PLY.")
    p.add_argument("--stp",   type=Path, default=None, help="Theoretical CAD STEP (audit).")
    p.add_argument("--out",   type=Path, required=True, help="Output directory.")
    p.add_argument("--profile", type=str, default="train2_coupler",
                   help="Config profile (default: train2_coupler).")
    p.add_argument("--config", type=Path, default=None, help="Optional YAML override.")
    p.add_argument("--gt-theta-right", type=float, default=0.0,
                   help="Known/expected theta_right (deg) for the error column. Default 0.")
    p.add_argument("--gt-theta-ref", type=float, default=0.0,
                   help="Known/expected theta_ref (deg) for the error column. Default 0.")
    p.add_argument("--sample-id", type=str, default=None, help="Row label in the report.")
    return p


def main(argv: list[str] | None = None) -> int:
    logging.basicConfig(level=logging.INFO, format="%(levelname)s %(name)s: %(message)s")
    log = logging.getLogger("run_integration")
    args = _build_parser().parse_args(argv)

    roi_spec = load_roi_json(args.roi)
    log.info("ROI bbox: x[%g,%g] y[%g,%g] z[%g,%g]",
             roi_spec.x_min, roi_spec.x_max, roi_spec.y_min,
             roi_spec.y_max, roi_spec.z_min, roi_spec.z_max)
    log.info("cloud: %s", args.cloud)
    log.info("stp (audit): %s", args.stp)

    sample_id = args.sample_id or args.cloud.stem

    t0 = time.perf_counter()
    try:
        result = run_coupler_measurement_pipeline(
            input_cloud=args.cloud,
            out_dir=args.out,
            config_path=args.config,
            profile=args.profile,
            roi_spec=roi_spec,
            progress=lambda s, f: log.info("[%5.1f%%] %s", f * 100, s),
        )
    except CouplerError as exc:
        log.error("measurement failed: %s", exc)
        return 2
    pipeline_seconds = time.perf_counter() - t0

    # --- Raw (pre-clamp) deflection angles from the fitted plane normal ----
    # Use the un-clamped normal so a tiny non-zero angle is NOT rounded to 0.
    n = np.asarray(result.report["plane"]["normal"], dtype=np.float64)
    theta_right_deg = math.degrees(math.atan2(n[1], n[0]))   # 距纵向中心 (y)
    theta_ref_deg   = math.degrees(math.atan2(n[2], n[0]))   # 距参考面 (z)

    # --- Two inspection-item Excel reports (slope form value/L mm) ---------
    item_ref = InspectionItem(
        name="车钩面板距参考面的右偏转角（头车一位端处车钩）",
        theta_deg=theta_ref_deg,
        baseline_mm=375.0,
        tol_value_mm=0.8,                 # 公差 0.8/375mm
    )
    item_long = InspectionItem(
        name="车钩面板距纵向中心的右偏转角(头车一位端处车钩)",
        theta_deg=theta_right_deg,
        baseline_mm=700.0,
        tol_value_mm=1.0,                 # 公差 1/700mm
    )

    out_ref  = write_inspection_report(item_ref,  args.out / "report_ref_plane.xlsx")
    out_long = write_inspection_report(item_long, args.out / "report_longitudinal.xlsx")

    for it, p in ((item_ref, out_ref), (item_long, out_long)):
        log.info("%s | 测量结果=%s | 公差=%s | %s",
                 it.name, it.measured_str, it.tolerance_str, it.conclusion_str)
    log.info("wrote %s , %s", out_ref, out_long)
    return 0


if __name__ == "__main__":
    raise SystemExit(main())