#!/usr/bin/env python3
'''Three-start, no-prior joint free-lever solve on fixed P0.5 motion windows.'''
from __future__ import annotations
import argparse,json,sys
from dataclasses import asdict
from pathlib import Path
import numpy as np
from scipy.spatial.transform import Rotation
ROOT=Path(__file__).resolve().parents[1]
if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
from imu_lidar.rtk_imu_engineering import _height_reference
from imu_lidar.rtk_imu_multisource import load_unified_sessions
from imu_lidar.rtk_imu_node_graph import build_problem,solve_free_lever_many
from tools.audit_rtk_imu_factor_consistency import MECHANICAL_L_I_M,_jsonable
from tools.run_rtk_imu_node_graph_fixed_lever import _select_window


def main():
    parser=argparse.ArgumentParser(description=__doc__)
    parser.add_argument('--manifest',type=Path,required=True)
    parser.add_argument('--output',type=Path,required=True)
    parser.add_argument('--circle-session',required=True)
    parser.add_argument('--left-right-session',required=True)
    parser.add_argument('--slope-session',required=True)
    parser.add_argument('--sample-period-s',type=float,default=1.)
    parser.add_argument('--target-duration-s',type=float,default=15.)
    parser.add_argument('--max-nfev',type=int,default=120)
    parser.add_argument('--hpr-direct-sigma-rad',type=float,default=.006)
    parser.add_argument('--rotation-rpy-deg',nargs=3,type=float,
                        default=[.4543066225,-.0026392019,.0122384129])
    parser.add_argument('--mechanical-l-I-m',nargs=3,type=float,
                        default=MECHANICAL_L_I_M.tolist())
    parser.add_argument('--large-perturbation-m',nargs=3,type=float,
                        default=[.5,-.5,.5])
    args=parser.parse_args()
    categories={'circle':args.circle_session,'left_right':args.left_right_session,
                'slope':args.slope_session}
    sessions=load_unified_sessions(
        args.manifest,selected_session_ids=set(categories.values()))
    reference=_height_reference(sessions)
    rotation=Rotation.from_euler('xyz',args.rotation_rpy_deg,degrees=True).as_matrix()
    mechanical=np.asarray(args.mechanical_l_I_m,dtype=float)
    problems,selections=[],{}
    for motion,session_id in categories.items():
        segment,selection=_select_window(
            [s for s in sessions if s.session_id==session_id],reference,
            args.sample_period_s,args.target_duration_s)
        problems.append(build_problem(
            segment,rotation,mechanical,args.hpr_direct_sigma_rad))
        selections[motion]=selection
    starts={'zero':np.zeros(3),'mechanical':mechanical,
            'mechanical_large_perturbation':mechanical+args.large_perturbation_m}
    results={name:asdict(solve_free_lever_many(problems,value,args.max_nfev))
             for name,value in starts.items()}
    for result in results.values():
        covariance=np.asarray(result['lever_covariance_m2'])
        result['lever_std_m']=np.sqrt(np.maximum(np.diag(covariance),0.))
        result['delta_to_mechanical_m']=np.asarray(result['final_l_I_m'])-mechanical
    solutions=np.asarray([value['final_l_I_m'] for value in results.values()])
    spread=float(max(np.linalg.norm(a-b) for a in solutions for b in solutions))
    gates={name:{'optimizer_converged':value['success'],
        'lever_marginal_std':bool(np.all(np.asarray(value['lever_std_m'])<=[.15,.15,.20])),
        'lever_information_rank':value['lever_precision_rank']==3,
        'lever_information_condition':value['lever_information_condition_number']<=1e6,
        'lever_min_information':min(value['lever_information_singular_values'])>=1e-3}
        for name,value in results.items()}
    observable=bool(all(all(gate.values()) for gate in gates.values()))
    payload={'scope':'three-motion joint no-prior three-start free lever',
        'translation_variable_enabled':True,'manual_prior_used':False,
        'loo_bootstrap_sensitivity_called':False,'selections':selections,
        'fixed_rotation_rpy_deg':args.rotation_rpy_deg,
        'hpr_direct_sigma_rad':args.hpr_direct_sigma_rad,
        'mechanical_reference_m':mechanical,'solutions':results,
        'maximum_solution_spread_m':spread,'observability_gates':gates,
        'joint_data_only_translation_observable':observable,
        'manual_prior_started':False,'covariance_postfit_scaled':False}
    args.output.parent.mkdir(parents=True,exist_ok=True)
    args.output.write_text(json.dumps(_jsonable(payload),ensure_ascii=False,indent=2,
                                      allow_nan=False)+'\n',encoding='utf-8')
    print(json.dumps(_jsonable(payload),ensure_ascii=False,indent=2))
    return 0


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