from __future__ import annotations
import os
import json
from pathlib import Path
from typing import Any, Dict, List, Tuple

# ================== CONSTANTS / SETTINGS ==================
# Inference / batching
INFER_IMGSZ = 768
DRAW_ALL_ON_PANO = True
ADAPTIVE_BATCH_ENABLE = False
BATCH_MIN = 1 #4
BATCH_MAX = 4 #16
BATCH_TARGET_MS = 8.0
BATCH_UP_SCALE = 1.05
BATCH_DOWN_SCALE = 1.15

# ==== Logging toggles ====
LOG_GEO_CHANGES = True          # писать в лог при заметном изменении bearing/attack
LOG_GEO_DEG_STEP = 2.0          # шаг (°) для логирования bearing
LOG_ATTACK_LOG_STEP = 5.0       # шаг (°) для логирования attack_bearing
LOG_STATUS_BATCH = False        # если True — broadcaster пишет сводку каждые CONTROL_STATUS_INTERVAL

# Preview / video publishing
DROP_DECODE_WHEN_BUSY = True
PUBLISH_ONLY_IF_CLIENTS = True
PREVIEW_JPEG_QUALITY = 80 #60
PREVIEW_TARGET_W = 1280 #896
DEFAULT_CLIENT_FPS = 25
# HUD на превью (азимут/дельта/атака)
PREVIEW_DRAW_HUD = False

VIDEO_MIN_INTERVAL_SLOW = 1.0 / 20.0
VIDEO_MIN_INTERVAL_FAST = max(1.0 / max(1, DEFAULT_CLIENT_FPS), 1.0 / 30.0)

# Detection thresholds
MODEL_CONF = 0.65
DETECT_CONF = 0.55
ALARM_CONF = 0.55

# бэк из твоего примера ждёт массив cameras[], так что лучше БЕЗ {mac}
ALARM_HTTP_ENABLE = True
ALARM_HTTP_MIRROR = True
ALARM_HTTP_BASE = "http://192.168.54.100:3000"
ALARM_HTTP_PATH = "/videodata/10:ff:e0:4f:09:4b" #mac 00%3A11%3A22%3A33%3A44%3A51
ALARM_HTTP_PATH_TMPL = "/videodata/"
ALARM_MAC_ONLY = False
ALARM_WS_FORMAT = "freq"
ALARM_COUNT_ON = 20
ALARM_COUNT_OFF = 80
ALARM_WS_SEND_LEGACY = True
# Компас (направления в логах/OSD)
COMPASS_LANG = "ru"   # пока не используется, но оставим на будущее
COMPASS_POINTS = 8    # 8 румбов: С, СВ, В, ...
# Авто-вычисление ref-азимута preset1 от границ панорамы
AUTO_NORTH_FROM_PANORAMA = True

# Debounce for recording
REC_ON_CONFIRM_SEC = 0.1
REC_OFF_GRACE_SEC = 1.2
REC_MIN_ON_SEC = 4.0
REC_MIN_OFF_SEC = 1.0
REC_MAX_ON_SEC = 45.0


# Record gate
REC_DET_CONF = 0.45
REC_MIN_MARGIN = 0.08
REC_CENTER_MAX = 0.20
REC_W_MIN, REC_W_MAX = 0.04, 0.55

# Recording permissions
RECORD_FROM_PANORAMAS = True
ALLOW_PANORAMA_RECORD = True

# WebSocket / events
CPP_WS_URI = "ws://192.168.54.122:8767"        # incoming video (C++)
CPP_CTRL_WS_URI = "ws://192.168.54.122:8767"   # detection events → C++
VUE_CONTROL_WS_PORT = 8765
VUE_VIDEO_WS_PORT = 8766
ALARM_WS_URL = "ws://192.168.54.100:3000/ws"
CONTROL_STATUS_INTERVAL = 0.25  # сек

# Heartbeat
HEARTBEAT_HOST = "127.0.0.1"
HEARTBEAT_PORT = 55555
HEARTBEAT_INTERVAL = 0.5

# Patrol
PATROL_LEG_SEC = 45.0 #25
HANDOFF_NOTIFY = True
PATROL_ENABLE_ON_START = True
PUBLISH_RAW_BEFORE_INFER = False

# Sweep (smooth pass)
SMOOTH_SWEEP_ENABLE = True
SWEEP_PAN_SPEED = 0.04 #0.08
SWEEP_SETTLE_SEC = 0.20 #0.20
SWEEP_RAMP_SEC = 0.80 #0.60
PATROL_SNAP_TO_END = False
END_DWELL_SEC = 0
SHOT_PAUSE_ENABLE = False
SHOT_INTERVAL_SEC = 0
SHOT_PAUSE_SEC = 0

# Bounded patrol dynamics
PATROL_PAN_GAIN_DEG = 120.0 #30
PATROL_SPEED_SCALE = 0.70 #0.90
PATROL_OFFSECTOR_GRACE_SEC = 2.0
# Starting direction per camera (PTZ only)
PATROL_START_DIR: Dict[int, int] = {0: +1, 2: +1, 4: +1, 6: -1, 8: -1, 10: -1}

# Sector
SECTOR_PATROL_ENABLE = False
USE_PRESET_EDGES_FOR_SECTOR = True
SECTOR_MARGIN_DEG = 2.0      # было 0.0 — маленький запас вокруг сектора
EDGE_EPS_HARD = 0.35         # было 0.0 — жёсткий край
EDGE_EPS_SOFT = 1         # было 0.0 — мягкая зона замедления у края

# Classes
CLASS_NAMES = {0: "Fighter", 1: "drone"}
TARGET_CLASSES = [0, 1]

# Auto strategy
AUTO_STRATEGY = True
SHORT_LOSS_SEC = 5 #1.2
LONG_LOSS_SEC = 4.0
ABS_MIN_FALLBACK = 25.0
ABS_MAX_FALLBACK = 40.0
FALLBACK_PRESET_CAP: float | None = None

# Loss/Return
TRACK_END_LOSS_SEC = 0.6
LOSS_TO_PRESET_SEC = 6.0
EDGE_LOSS_MARGIN = 0.015
VERT_LOSS_MARGIN = 0.050
PRESET_AFTER_LOSS = True
EDGE_LOSS_GRACE_SEC = 1.0

# Возврат к пресету, если камера ушла вручную/дрейфует без детекции
IDLE_DRIFT_RETURN_SEC = 4.0      # сколько секунд можно быть вне пресета по панораме
IDLE_TILT_RETURN_SEC  = 2.0      # сколько секунд можно быть вне допустимого диапазона по наклону
IDLE_NEAR_TOL_PAN_DEG = 1.2      # допуск «рядом с пресетом» по pan
IDLE_NEAR_TOL_TILT_DEG = 2.5     # допуск «рядом с пресетом» по tilt

# PID / Zoom / Track
DEAD_ZONE = 0.012
SMOOTHING_FACTOR = 0.35
MOVE_GAIN = 1.85
KI = 0.06
INTEGRAL_CLAMP = 0.20
KD = 0.14
VEL_SMOOTH = 0.75
BASE_LEAD = 0.14
LEAD_GAIN = 0.38
LEAD_MAX = 0.36
CENTER_TOL = 0.040
DECAY_FACTOR = 0.85
MIN_FRAMES_TO_TRACK = 3

TRACK_P = 1.25
TRACK_I = 0.03
TRACK_D = 0.08
TRACK_SCALE = 0.75
TRACK_DEAD_ZONE = 0.022

TRACK_EDGE_SLOWDOWN_DEG = 8.0
TRACK_EDGE_MIN_SCALE = 0.18
TRACK_OFFSECTOR_GRACE_SEC = 4.0
IDLE_OFFPRESET_GRACE_SEC = 7.0

Z_TARGET_SLOW = 0.16
Z_TARGET_FAST = 0.12
Z_VEL_REF = 0.45
Z_DELTA_IN = 0.008
Z_DELTA_OUT = 0.060
Z_DEADBAND = 0.012 #0.010
Z_P = 2.4
Z_I = 0.16
Z_INT_CLAMP = 0.15
Z_FF_GAIN = 0.55
Z_SPEED_LIMIT_IN = 0.45
Z_SPEED_LIMIT_OUT = -0.45 #-0.65
Z_MIN_CMD = 0.05
Z_RAMP_TIME = 0.45
Z_PAN_BOOST = 1.18
Z_CENTER_GATE_BASE = 0.06
Z_CENTER_GATE_SCALE = 0.20
Z_CENTER_STRICT = 0.030
Z_VELOCITY_GATE = 0.45
Z_OUT_EDGE = 0.07
Z_SAFETY_EDGE = 0.05
Z_SAFETY_TOP_BONUS = 0.50
Z_MIN_SWITCH_INTERVAL = 0.80 #0.50
Z_MOTION_THR = 0.015
Z_HOVER_THR = 0.030
Z_FREEZE_GROWTH_THR = 0.005 #0.004
Z_LOCK_ENABLE = True
Z_LOCK_ARM_SECS = 1.2 #0.8
Z_UNLOCK_VEL_THR = 0.070 #0.060
Z_UNLOCK_GROWTH_THR = 0.018 #0.015
Z_UNLOCK_CENTER_THR = 0.12 #0.10
Z_UNLOCK_EDGE = 0.050

SCAN_AMPL = 0.12
SCAN_STEP = 0.08
RECOVER_ZOOM_OUT = -0.35

PTZ_EPS = 0.008
PTZ_QUANT = 0.005

# Faster aim / zoom
AIM_SMOOTH = 0.40
AIM_P = 2.30
AIM_I = 0.06
AIM_D = 0.22
RECOVER_ZOOM_OUT_SHORT = 0.0

W_EMA_ALPHA = 0.30
CENTER_GATE_IN = 0.06
Z_PAN_BOOST_WHEN_IN = 1.35
Z_LEAD_DURING_IN = 0.65

# Video broadcast
SEND_DUPLICATES_WHEN_IDLE = False
ANN_MIN_INTERVAL = 0.0

# Sync patrol
SYNC_PATROL_ENABLE = False
SYNC_COHORTS = {"A": {"plus": [0, 2, 4], "minus": [6, 8, 10]}}
SYNC_USE_BOUNDED = False
SYNC_BARRIER_SEC = 0.8
SYNC_DWELL_SEC = END_DWELL_SEC

#====================#
PTZ_MIN_INTERVAL_SEC = 0.04
PTZ_MAX_PAN_I = 8
PTZ_MAX_TILT_I = 10
PTZ_MAX_ZOOM_I = 8
GOTO_SETTLE_SEC = 2.5
PATROL_MAX_SPEED = 0.14

# ================== CAMERA LOADER (TOML/JSON) ==================

DEFAULT_SECOND_PRESET = "2"

def _load_cameras_from_file() -> Dict[int, Dict[str, Any]]:
    """
    Загружает конфиг камер из TOML/JSON.
    - Путь можно задать переменной окружения CAMERAS_FILE.
    - По умолчанию ищется 'cameras.toml' рядом с этим модулем.
    Ожидается массив объектов с полем `id`.
    """
    here = Path(__file__).resolve().parent
    path = Path(os.getenv("CAMERAS_FILE", here / "cameras.toml"))

    if not path.exists():
        # fallback: попробуем cameras.json
        json_path = here / "cameras.json"
        if json_path.exists():
            path = json_path
        else:
            return {}

    data: Any
    if path.suffix.lower() == ".toml":
        try:
            import tomllib  # py311+
        except Exception as e:  # pragma: no cover
            raise RuntimeError("Для TOML нужен Python 3.11+ (модуль tomllib)") from e
        with open(path, "rb") as f:
            data = tomllib.load(f)
        arr = data.get("camera") or data.get("cameras") or []
    elif path.suffix.lower() == ".json":
        with open(path, "r", encoding="utf-8") as f:
            data = json.load(f)
        arr = data.get("camera") or data.get("cameras") or data
        if isinstance(arr, dict):
            arr = [{"id": int(k), **v} for k, v in arr.items()]
    else:
        raise RuntimeError(f"Неподдерживаемое расширение файла камер: {path.suffix}")

    if not isinstance(arr, list):
        raise RuntimeError("Файл камер должен содержать список объектов")

    cfg_by_id: Dict[int, Dict[str, Any]] = {}
    for item in arr:
        if not isinstance(item, dict):
            continue
        if "id" not in item:
            raise RuntimeError("Каждая камера должна иметь поле 'id'")
        cid = int(item["id"])
        cfg = dict(item)  # copy

        # Back-compat: если указали единый preset — дополнить вторым
        if "preset" in cfg and cfg.get("preset") not in (None, "None"):
            cfg.setdefault("preset1", cfg["preset"])
            cfg.setdefault("preset2", DEFAULT_SECOND_PRESET)

        # Значения по умолчанию
        cfg.setdefault("ptz_channel", 1)
        cfg.setdefault("preset1", None)
        cfg.setdefault("preset2", None)

        cfg_by_id[cid] = cfg

    return cfg_by_id

# === Загрузка и пост-обработка ===
CAMERA_CONFIG: Dict[int, Dict[str, Any]] = _load_cameras_from_file()

# Перекрытие паролей через переменные окружения CAM_<ID>_PASSWORD
for cid, cfg in CAMERA_CONFIG.items():
    env_pw = os.getenv(f"CAM_{cid}_PASSWORD")
    if env_pw:
        cfg["password"] = env_pw

# Список PTZ-камер (есть preset1 и preset2)
PTZ_CAM_IDS: List[int] = [cid for cid, cfg in CAMERA_CONFIG.items() if cfg.get("preset1") and cfg.get("preset2")]
PTZ_CAM_IDS.sort()

# Значения по умолчанию для PTZ
for cam_id in PTZ_CAM_IDS:
    cfg = CAMERA_CONFIG[cam_id]
    cfg.setdefault("preset1_deg", None)
    cfg.setdefault("preset2_deg", None)
    cfg.setdefault("preset1_tilt_deg", None)
    cfg.setdefault("preset2_tilt_deg", None)
    cfg.setdefault("sector_min_deg", None)
    cfg.setdefault("sector_max_deg", None)
    cfg.setdefault("pan_sign", cfg.get("sweep_sign", 1))
    cfg.setdefault("tilt_sign", -1)
    cfg.setdefault("pan_offset_deg", 0.0)
    cfg.setdefault("tilt_offset_deg", 0.0)
    # Гео-поля для привязки к северу и UI
    cfg.setdefault("north_offset_deg", None)
    cfg.setdefault("preset1_deg_geo", None)
    cfg.setdefault("preset2_deg_geo", None)
    cfg.setdefault("sector_min_deg_geo", None)
    cfg.setdefault("sector_max_deg_geo", None)

# Значения по умолчанию для «пуль»/панорам (без PTZ-пресетов)
for cid, cfg in CAMERA_CONFIG.items():
    if not (cfg.get("preset1") and cfg.get("preset2")):
        # Для DS-2SF8C442MXS-DL(14F1)(P3) панорама (канал 2) ~= 85–86°.
        # Явно прописывай в cameras.toml: bullet_hfov_deg = 85.5
        cfg.setdefault("bullet_hfov_deg", 90.0)
        cfg.setdefault("bullet_vfov_deg", 65.0)

# Panorama ↔ PTZ pairing по IP и каналам
PAN_TO_PTZ: Dict[int, int] = {}
PTZ_TO_PAN: Dict[int, int] = {}
_by_ip: Dict[str, Dict[int, int]] = {}
for cam_id, cfg in CAMERA_CONFIG.items():
    ip = cfg["ip"]; ch = int(cfg.get("ptz_channel", 1))
    _by_ip.setdefault(ip, {})[ch] = cam_id
for ip, chmap in _by_ip.items():
    ptz_id = chmap.get(1)
    pano_id = chmap.get(2)
    if ptz_id is not None and pano_id is not None:
        PAN_TO_PTZ[pano_id] = ptz_id
        PTZ_TO_PAN[ptz_id] = pano_id

# PTZ order (circular)
PTZ_ORDER: List[int] = PTZ_CAM_IDS[:]
NEXT_FWD: Dict[int, int] = {}
NEXT_REV: Dict[int, int] = {}
if PTZ_ORDER:
    n = len(PTZ_ORDER)
    for i, cam in enumerate(PTZ_ORDER):
        NEXT_FWD[cam] = PTZ_ORDER[(i + 1) % n]
        NEXT_REV[cam] = PTZ_ORDER[(i - 1) % n]

# Cohorts config → static maps (runtime sync_state lives in state.py)
sync_group_by_cam: Dict[int, str] = {}
cohort_sign_by_cam: Dict[int, int] = {}
for gname, coh in (SYNC_COHORTS or {}).items():
    for cid in coh.get("plus", []):
        sync_group_by_cam[cid] = gname
        cohort_sign_by_cam[cid] = +1
    for cid in coh.get("minus", []):
        sync_group_by_cam[cid] = gname
        cohort_sign_by_cam[cid] = -1

# ========= Утилита для hot-reload =========
def reload_cameras() -> None:
    """Перечитать cameras.toml/JSON и обновить производные структуры."""
    global CAMERA_CONFIG, PTZ_CAM_IDS, PAN_TO_PTZ, PTZ_TO_PAN, PTZ_ORDER, NEXT_FWD, NEXT_REV
    global sync_group_by_cam, cohort_sign_by_cam

    cfg = _load_cameras_from_file()

    # env override паролей
    for cid, c in cfg.items():
        env_pw = os.getenv(f"CAM_{cid}_PASSWORD")
        if env_pw:
            c["password"] = env_pw

    CAMERA_CONFIG = cfg

    PTZ_CAM_IDS = [cid for cid, c in CAMERA_CONFIG.items() if c.get("preset1") and c.get("preset2")]
    PTZ_CAM_IDS.sort()

    for cam_id in PTZ_CAM_IDS:
        c = CAMERA_CONFIG[cam_id]
        c.setdefault("preset1_deg", None)
        c.setdefault("preset2_deg", None)
        c.setdefault("preset1_tilt_deg", None)
        c.setdefault("preset2_tilt_deg", None)
        c.setdefault("sector_min_deg", None)
        c.setdefault("sector_max_deg", None)
        c.setdefault("pan_sign", c.get("sweep_sign", 1))
        c.setdefault("tilt_sign", 1)
        c.setdefault("pan_offset_deg", 0.0)
        c.setdefault("tilt_offset_deg", 0.0)
        c.setdefault("north_offset_deg", None)
        c.setdefault("preset1_deg_geo", None)
        c.setdefault("preset2_deg_geo", None)
        c.setdefault("sector_min_deg_geo", None)
        c.setdefault("sector_max_deg_geo", None)

    for cid, c in CAMERA_CONFIG.items():
        if not (c.get("preset1") and c.get("preset2")):
            c.setdefault("bullet_hfov_deg", 90.0)
            c.setdefault("bullet_vfov_deg", 65.0)

    PAN_TO_PTZ = {}
    PTZ_TO_PAN = {}
    by_ip: Dict[str, Dict[int, int]] = {}
    for cam_id, c in CAMERA_CONFIG.items():
        ip = c["ip"]; ch = int(c.get("ptz_channel", 1))
        by_ip.setdefault(ip, {})[ch] = cam_id
    for ip, chmap in by_ip.items():
        ptz_id = chmap.get(1)
        pano_id = chmap.get(2)
        if ptz_id is not None and pano_id is not None:
            PAN_TO_PTZ[pano_id] = ptz_id
            PTZ_TO_PAN[ptz_id] = pano_id

    PTZ_ORDER = PTZ_CAM_IDS[:]
    NEXT_FWD = {}
    NEXT_REV = {}
    if PTZ_ORDER:
        n = len(PTZ_ORDER)
        for i, cam in enumerate(PTZ_ORDER):
            NEXT_FWD[cam] = PTZ_ORDER[(i + 1) % n]
            NEXT_REV[cam] = PTZ_ORDER[(i - 1) % n]

# ===== Helpers for compass-bearing (used by postprocess.py) =====

def get_cam_base_azimuth_deg(cam_id: int) -> float:
    """
    Базовый азимут камеры (0°=С, 90°=В). Это направление центрального пикселя
    (для PTZ — при текущем pan=az_deg, для панорамы — просто «куда смотрит» середина кадра).
    Берётся из cameras.toml: north_offset_deg.
    """
    cfg = CAMERA_CONFIG.get(cam_id, {})
    north = cfg.get("north_offset_deg")
    if not isinstance(north, (int, float)):
        return 0.0

    is_ptz = bool(cfg.get("preset1")) and cfg.get("preset2")
    if not is_ptz:
        return float(north)

    try:
        from . import state
        st = state.ptz_states.get(cam_id, {})
        pan = st.get("az_deg")
        if isinstance(pan, (int, float)):
            return (float(north) + float(pan)) % 360.0
    except Exception:
        pass
    return float(north)

def get_cam_hfov_deg(cam_id: int) -> float:
    """
    Горизонтальный FOV камеры. Для панорамы/«пули» — bullet_hfov_deg (или hfov_deg).
    Для PTZ тоже можно прописать hfov_deg, если хотим считать bearing по x.
    """
    cfg = CAMERA_CONFIG.get(cam_id, {})
    for key in ("bullet_hfov_deg", "hfov_deg"):
        v = cfg.get(key)
        if isinstance(v, (int, float)) and v > 0:
            return float(v)
    return 90.0