#!/usr/bin/env python3
"""生成 2026042802-1 抓包中触发偏移 6/7/8 周期的对照表。"""

from __future__ import annotations

import csv
import json
import math
from pathlib import Path


REPO_ROOT = Path(__file__).resolve().parents[1]
OUTPUT_DIR = REPO_ROOT / "analysis" / "2026042802-1"
CONFIG_PATH = REPO_ROOT / "Config" / "RobotConfig.json"
ACTUAL_SEND_CSV = OUTPUT_DIR / "2026042802-1_j519_actual_send_all_with_io.csv"
TRIGGER_CSV = OUTPUT_DIR / "2026042802-1_j519_trigger_frames.csv"
OUTPUT_CSV = OUTPUT_DIR / "2026042802-1_trigger_offset_6_7_8_compare.csv"
OUTPUT_JSON = OUTPUT_DIR / "2026042802-1_trigger_offset_6_7_8_summary.json"


def load_rows(path: Path) -> list[dict]:
    with path.open(encoding="utf-8") as handle:
        return list(csv.DictReader(handle))


def to_float_list(record: dict, prefix: str = "j") -> list[float]:
    return [float(record[f"{prefix}{index}_deg"]) for index in range(1, 7)]


def compute_diff_metrics(actual_deg: list[float], teach_deg: list[float]) -> tuple[list[float], float, float, str]:
    diffs = [actual_deg[index] - teach_deg[index] for index in range(6)]
    abs_diffs = [abs(value) for value in diffs]
    max_error = max(abs_diffs)
    rms_error = math.sqrt(sum(value * value for value in diffs) / 6.0)
    max_axis = f"J{abs_diffs.index(max_error) + 1}"
    return diffs, max_error, rms_error, max_axis


def main() -> None:
    actual_rows = load_rows(ACTUAL_SEND_CSV)
    trigger_rows = load_rows(TRIGGER_CSV)
    config = json.loads(CONFIG_PATH.read_text(encoding="utf-8"))["flying_shots"]["UTTC_MS11"]
    trigger_waypoint_indices = [index for index, flag in enumerate(config["shot_flags"]) if flag]

    actual_index_by_frame = {int(row["frame_number"]): row for row in actual_rows}
    actual_order_by_frame = {int(row["frame_number"]): idx for idx, row in enumerate(actual_rows)}

    output_rows: list[dict] = []
    offset_win_counts = {6: 0, 7: 0, 8: 0}

    for trigger_no, (trigger_row, waypoint_index) in enumerate(zip(trigger_rows, trigger_waypoint_indices), start=1):
        trigger_frame = int(trigger_row["frame_number"])
        trigger_order = actual_order_by_frame[trigger_frame]
        teach_deg = [math.degrees(value) for value in config["traj_waypoints"][waypoint_index]]

        window_start = max(0, trigger_order - 20)
        window_end = min(len(actual_rows) - 1, trigger_order + 20)
        best_order = trigger_order
        best_rms = float("inf")
        best_max = float("inf")

        for candidate_order in range(window_start, window_end + 1):
            candidate = actual_rows[candidate_order]
            _, max_error, rms_error, _ = compute_diff_metrics(to_float_list(candidate), teach_deg)
            score = (rms_error, max_error, abs(candidate_order - trigger_order))
            if (best_rms, best_max, abs(best_order - trigger_order)) > score:
                best_order = candidate_order
                best_rms = rms_error
                best_max = max_error

        row = {
            "trigger_no": trigger_no,
            "waypoint_index": waypoint_index,
            "best_sample_order": best_order,
            "best_frame_number": int(actual_rows[best_order]["frame_number"]),
            "best_sequence": int(actual_rows[best_order]["sequence"]),
            "best_time_relative_s": float(actual_rows[best_order]["time_relative_s"]),
        }

        for joint_index in range(6):
            row[f"teach_j{joint_index + 1}_deg"] = teach_deg[joint_index]

        for offset in (6, 7, 8):
            target_order = min(len(actual_rows) - 1, best_order + offset)
            target = actual_rows[target_order]
            actual_deg = to_float_list(target)
            diffs, max_error, rms_error, max_axis = compute_diff_metrics(actual_deg, teach_deg)

            row[f"offset_{offset}_frame_number"] = int(target["frame_number"])
            row[f"offset_{offset}_sequence"] = int(target["sequence"])
            row[f"offset_{offset}_time_relative_s"] = float(target["time_relative_s"])
            row[f"offset_{offset}_max_error_axis"] = max_axis
            row[f"offset_{offset}_max_error_deg"] = max_error
            row[f"offset_{offset}_rms_error_deg"] = rms_error
            row[f"offset_{offset}_delta_from_best_ms"] = (
                float(target["time_relative_s"]) - float(actual_rows[best_order]["time_relative_s"])
            ) * 1000.0
            for joint_index in range(6):
                joint_no = joint_index + 1
                row[f"offset_{offset}_j{joint_no}_actual_deg"] = actual_deg[joint_index]
                row[f"offset_{offset}_diff_j{joint_no}_deg"] = diffs[joint_index]

        best_offset = min(
            (6, 7, 8),
            key=lambda offset: (
                row[f"offset_{offset}_rms_error_deg"],
                row[f"offset_{offset}_max_error_deg"],
            ),
        )
        row["best_of_6_7_8_offset"] = best_offset
        offset_win_counts[best_offset] += 1
        output_rows.append(row)

    OUTPUT_DIR.mkdir(parents=True, exist_ok=True)
    with OUTPUT_CSV.open("w", newline="", encoding="utf-8") as handle:
        writer = csv.DictWriter(handle, fieldnames=list(output_rows[0].keys()))
        writer.writeheader()
        writer.writerows(output_rows)

    summary = {
        "rows": len(output_rows),
        "best_offset_win_counts": offset_win_counts,
        "average_max_error_deg": {
            str(offset): sum(row[f"offset_{offset}_max_error_deg"] for row in output_rows) / len(output_rows)
            for offset in (6, 7, 8)
        },
        "average_rms_error_deg": {
            str(offset): sum(row[f"offset_{offset}_rms_error_deg"] for row in output_rows) / len(output_rows)
            for offset in (6, 7, 8)
        },
    }
    OUTPUT_JSON.write_text(json.dumps(summary, ensure_ascii=False, indent=2), encoding="utf-8")
    print(json.dumps(summary, ensure_ascii=False, indent=2))


if __name__ == "__main__":
    main()