"""vehicle-registration 整车配准适配器 (v1.3)。

调用 alg/整车配准v1.3 的 translate_align_by_front_tail：
  - 输入：整车点云 PLY + 标准 STEP CAD
  - 原理：车头/车尾各采样少量点算质心差，融合成整体平移矩阵
  - v1.3 新增：ICP 精配准、CAD 采样缓存、配准误差统计（RMSE/p95/p99）
  - 输出：
      aligned_pointcloud_translation_only.ply  配准后的完整点云
      T_translation_only.txt                   4x4 平移矩阵

result.json 额外约定 derivedPointClouds 字段：runner 会把列出的 PLY
回写为该任务的新点云记录（source='registered'），供后续测量算法选用。
"""

from __future__ import annotations

import os
import sys
import traceback
from pathlib import Path

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


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:
        emit_progress(0.05, "加载整车配准算法包 v1.3")
        from translate_align_pointcloud_to_cad import translate_align_by_front_tail  # type: ignore

        pc_path = first_pointcloud(payload)
        cad_path = inputs.get("cadPath")
        if not cad_path:
            raise RuntimeError("整车配准需要 STEP CAD 文件，请在任务下上传并选中 CAD。")

        axis = str(config.get("axis") or "x")
        crop_ratio = float(config.get("cropRatio") or 0.01)
        mesh_deflection = float(config.get("meshDeflection") or 0.1)
        cad_sample_points = int(config.get("cadSamplePoints") or 30000)
        local_sample_points = int(config.get("localSamplePoints") or 1000)
        scale_pointcloud = float(config.get("scalePointcloud") or 1.0)

        # v1.3 新增参数
        use_icp = bool(config.get("useIcp") if config.get("useIcp") is not None else True)
        icp_sample_points = int(config.get("icpSamplePoints") or 200000)
        compute_error_stats = bool(config.get("computeErrorStats") if config.get("computeErrorStats") is not None else True)
        use_cad_cache = bool(config.get("useCadCache") if config.get("useCadCache") is not None else True)

        emit_progress(
            0.15,
            f"开始配准：{os.path.basename(pc_path)} ← {os.path.basename(str(cad_path))}"
            + (" + ICP" if use_icp else ""),
        )

        result = translate_align_by_front_tail(
            cad_path=str(cad_path),
            pointcloud_path=pc_path,
            output_dir=str(out_dir),
            axis=axis,
            crop_ratio=crop_ratio,
            mesh_deflection=mesh_deflection,
            cad_sample_points=cad_sample_points,
            local_sample_points=local_sample_points,
            scale_pointcloud=scale_pointcloud,
            visualize=False,
            use_cad_cache=use_cad_cache,
            use_icp=use_icp,
            icp_sample_points=icp_sample_points,
            compute_error_stats=compute_error_stats,
            save_debug_samples=False,
        )

        emit_progress(0.92, "整理结果")

        t_final = [float(v) for v in result["translation"]]
        ft_diff = float(result["front_tail_translation_difference"])
        elapsed = float(result.get("elapsed_seconds") or 0)

        measurements = [
            {"name": "最终平移量 Tx", "value": t_final[0], "unit": "mm", "status": "info"},
            {"name": "最终平移量 Ty", "value": t_final[1], "unit": "mm", "status": "info"},
            {"name": "最终平移量 Tz", "value": t_final[2], "unit": "mm", "status": "info"},
            {
                "name": "前后端平移差",
                "value": ft_diff,
                "unit": "mm",
                "tolerance": 50.0,
                "status": "pass" if ft_diff <= 50.0 else "warning",
            },
        ]

        # ICP 结果指标
        icp_stats = result.get("icp_stats")
        if icp_stats:
            measurements.append({
                "name": "ICP fitness",
                "value": float(icp_stats.get("fitness", 0)),
                "unit": "",
                "status": "pass" if float(icp_stats.get("fitness", 0)) >= 0.9 else "warning",
            })
            measurements.append({
                "name": "ICP inlier RMSE",
                "value": float(icp_stats.get("inlier_rmse", 0)),
                "unit": "mm",
                "status": "info",
            })

        # 配准误差统计
        error_stats = result.get("error_stats")
        if error_stats:
            rmse = float(error_stats.get("rmse", 0))
            p95 = float(error_stats.get("p95", 0))
            measurements += [
                {"name": "配准 RMSE", "value": rmse, "unit": "mm",
                 "status": "pass" if rmse <= 5.0 else "warning"},
                {"name": "配准误差 p95", "value": p95, "unit": "mm", "status": "info"},
                {"name": "配准误差 p99", "value": float(error_stats.get("p99", 0)), "unit": "mm", "status": "info"},
            ]

        aligned_name = Path(result["aligned_path"]).name
        src_stem = Path(pc_path).stem

        # 下载文件：矩阵 + 误差统计（如有）
        files = [Path(result["matrix_path"]).name]
        error_stats_path = result.get("error_stats_path")
        if error_stats_path and Path(error_stats_path).exists():
            files.append(Path(error_stats_path).name)

        payload_out = {
            "schemaVersion": 1,
            "status": "completed",
            "message": (
                f"整车配准完成（{'平移 + ICP' if use_icp else '仅平移'}，耗时 {elapsed:.1f}s）。"
                "配准后的点云已加入任务点云列表，请在后续算法中选用。"
            ),
            "measurements": measurements,
            "overlay3d": {"kind": "none"},
            "files": files,
            "derivedPointClouds": [
                {"file": aligned_name, "name": f"{src_stem}_已配准.ply"}
            ],
            "extra": {
                "initialTranslation": [float(v) for v in result.get("initial_translation", result["translation"])],
                "finalTranslation": t_final,
                "tFront": [float(v) for v in result["t_front"]],
                "tTail": [float(v) for v in result["t_tail"]],
                "matrix": [[float(v) for v in row] for row in result["T_final"]],
                "icpStats": icp_stats,
                "elapsedSeconds": elapsed,
                "sourcePointCloud": os.path.basename(pc_path),
                "cad": os.path.basename(str(cad_path)),
            },
        }
        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"整车配准失败：{exc}",
            extra={"traceback": traceback.format_exc()},
        )
        return 1


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