"""Bounded OXTS-only development acquisition on an already-spent recording."""
from pathlib import Path
from datetime import datetime, timezone
import hashlib
import json
import subprocess
import sys

ROOT = Path(__file__).resolve().parents[1]
SOURCE = ROOT/'.worktrees/ins-stability-dev'
sys.path[:0] = [str(SOURCE/'src'),str(SOURCE)]
import numpy as np
from scipy.spatial.transform import Rotation
from pydantic import BaseModel, ConfigDict
from tools.kitti_drive_fetch import fetch_drive
from calibrex.data.kitti import read_oxts_packet, kitti_oxts_pose_world_imu, read_timestamps

def sha(path):
    return hashlib.sha256(path.read_bytes()).hexdigest()

OUT = ROOT/'outputs/ins-lidar-full-reference-motion-v1'
OUT.mkdir(exist_ok=False)
metadata_path = ROOT/'docs/assets/ins_lidar_sota_readiness/kitti_metadata.json'
entry = next(x for x in json.loads(metadata_path.read_text())['selected']
             if x['case_id']=='2011_09_29_0071')
commit = subprocess.check_output(['git','-C',str(SOURCE),'rev-parse','HEAD'],text=True).strip()
provenance = {'source_commit':commit,'script_sha256':sha(Path(__file__)),
    'metadata_sha256':sha(metadata_path),'created_at':datetime.now(timezone.utc).isoformat(),
    'scope':'POST HOC DEVELOPMENT ONLY; the whole recording is already spent for INS-LiDAR.',
    'streams':['oxts'],'selected_payload_cap_bytes':2*1024**2,'attempts':1,
    'dataset_license':'CC BY-NC-SA 3.0','new_accuracy_claim':False}
(OUT/'plan.json').write_text(json.dumps(provenance,indent=2)+'\n',encoding='utf-8')
try:
    acquisition = fetch_drive(entry['date'],entry['drive'],entry['archive_frames']['oxts'],OUT/'data',
        (entry['size_bytes'],entry['etag']),streams=('oxts',),max_fetch_bytes=2*1024**2,curl_retries=0)
except Exception as error:
    (OUT/'failure.json').write_text(json.dumps({'status':'FAIL','error':repr(error),
        'provenance':provenance},indent=2)+'\n',encoding='utf-8')
    raise
(OUT/'acquisition.json').write_text(json.dumps({'record':acquisition,'provenance':provenance},
    indent=2)+'\n',encoding='utf-8')
sequence = OUT/'data'/entry['date']/(entry['date']+'_drive_'+entry['drive']+'_sync')
files = sorted((sequence/'oxts/data').glob('*.txt'))
assert len(files) == entry['archive_frames']['oxts']
old_work = ROOT/'outputs/ins-lidar-sota-evaluation-inputs-v1'/entry['case_id']
old_receipt = json.loads((old_work/'acquisition.json').read_text())
old_sequence = old_work/old_receipt['sequence_dir']
assert all(sha(path)==sha(old_sequence/'oxts/data'/path.name) for path in files[:600])
assert not list((OUT/'data').rglob('*.bin'))
packets = [read_oxts_packet(path) for path in files]
rotations = Rotation.from_quat(np.array([
    kitti_oxts_pose_world_imu(p,packets[0]).rotation_quat_xyzw for p in packets]))
times = np.array([x.timestamp_ns*1e-9 for x in read_timestamps(sequence/'oxts/timestamps.txt')])
rows = []
for count in [600,len(files)]:
    r = rotations[:count]
    eigenvalues = []
    means = []
    for step in [5,10,20]:
        vectors = (r[:-step].inv()*r[step:]).as_rotvec()
        scatter = vectors.T@vectors/len(vectors)
        eigenvalues.append(np.maximum(np.linalg.eigvalsh(np.trace(scatter)*np.eye(3)-scatter),0).tolist())
        means.append(float(np.rad2deg(np.linalg.norm(vectors,axis=1)).mean()))
    rows.append({'samples':count,'duration_s':float(times[count-1]-times[0]),
        'yaw_span_deg':float(np.rad2deg(np.ptp(np.unwrap(r.as_euler('ZYX')[:,0])))),
        'motion_steps_frames':[5,10,20],'mean_rotation_deg':means,
        'rotation_information_proxy_eigenvalues_rad2':eigenvalues})
manifest = {p.relative_to(OUT).as_posix():sha(p) for p in sorted((OUT/'data').rglob('*.txt'))}
(OUT/'input-sha256.json').write_text(json.dumps({'files':manifest,'provenance':provenance},indent=2)+'\n',encoding='utf-8')

class Report(BaseModel):
    model_config = ConfigDict(extra='forbid')
    schema_version: str = 'calibrex.ins_lidar_full_reference_motion/v0.1'
    scope: str
    case_id: str
    rows: list[dict]
    acquisition_summary: dict
    provenance: dict

report = Report(scope='POST HOC DEVELOPMENT ONLY. Compare the spent first-600 OXTS samples '
    'with the complete recording using all overlapping motion pairs at fixed frame lags. '
    'Only OXTS members acquired: no images or LiDAR points, no calibration fit. Rotation '
    'proxy omits LiDAR errors and nuisance coupling and is not an observability verdict. '
    'No v1 input, claim, threshold or audit changed.',case_id=entry['case_id'],rows=rows,
    acquisition_summary={k:acquisition[k] for k in ['url','size_bytes','etag','frames',
        'archive_frames','fetched_bytes','member_count','members_sha256','crc_verified']},
    provenance={**provenance,'acquisition_sha256':sha(OUT/'acquisition.json'),
        'input_manifest_sha256':sha(OUT/'input-sha256.json'),'original_first_600_packets_equal':True})
(OUT/'report.json').write_text(report.model_dump_json(indent=2)+'\n',encoding='utf-8')
(OUT/'report.schema.json').write_text(json.dumps(Report.model_json_schema(),indent=2)+'\n',encoding='utf-8')
print(report.model_dump_json(indent=2))