"""Collect a few bearings for Q1 from an ALREADY OPEN practice session.

There is deliberately no test-start API, formal mode, or /clear call here.
The documented robot API does not expose mode: verify the UI before running.
"""

import argparse
import json
import math
from pathlib import Path
import time
import uuid
from urllib.error import URLError
from urllib.request import Request, urlopen

from mcm26b import Measurement, solve


class PracticeClient:
    def __init__(self, robot_id, output, base_url='http://127.0.0.1:2026'):
        self.robot_id = robot_id
        self.output = output
        self.base_url = base_url.rstrip('/')
        self.prefix = uuid.uuid4().hex[:12]
        self.count = 0
        self.events = []
        self.deadline = None

    def action(self, path, **extra):
        if path not in ('/enter', '/measure', '/exit'):
            raise ValueError('采集器只允许进入、检测、退出')
        if self.deadline is not None and path != '/exit' and time.monotonic() > self.deadline-15:
            raise TimeoutError('剩余时间不足，预留退出时间')
        self.count += 1
        payload = dict(arena_id='default', robot_id=self.robot_id,
                       request_id=f'q1-{self.prefix}-{self.count}', **extra)
        encoded = json.dumps(payload, allow_nan=False).encode('utf-8')
        for attempt in range(3):
            request = Request(self.base_url+path, data=encoded,
                              headers={'Content-Type':'application/json'}, method='POST')
            try:
                with urlopen(request, timeout=5) as response:
                    status = response.status
                    body = json.load(response)
                # A retried action is recorded/consumed only once.
                self.events.append(dict(path=path, request=payload, response=body, retries=attempt))
                self.output.write_text(json.dumps(self.events,ensure_ascii=False,indent=2),encoding='utf-8')
                if status != 200 or body.get('accepted') is not True:
                    raise RuntimeError(f'动作未被接受: {status}, {body}')
                if path == '/enter':
                    self.deadline = time.monotonic()+body['remaining_real_duration_s']
                return body
            except URLError:
                if attempt == 2:
                    raise
                time.sleep(.25)

    def measure(self, p, channel):
        return self.action('/measure',position={'x':p[0],'y':p[1]},channel=channel)


def main():
    parser=argparse.ArgumentParser(description=__doc__)
    parser.add_argument('--robot-id',required=True)
    parser.add_argument('--practice-confirmed',action='store_true',required=True,
                        help='仅在界面确认为问题3演练且接口已就绪时提供')
    parser.add_argument('--case-code',required=True,help='界面显示的演练案例编码')
    parser.add_argument('--output',type=Path,default=Path('output/q1/practice'))
    args=parser.parse_args()
    args.output.mkdir(parents=True,exist_ok=True)
    log_path=args.output/f'{args.case_code}_actions.json'
    if log_path.exists():
        parser.error('同名采集日志已存在，请使用新的输出目录，避免覆盖证据')
    client=PracticeClient(args.robot_id,log_path)
    observations=[]
    channel=None
    first=None
    entered=False
    repeat=None
    try:
        client.action('/enter')
        entered=True
        for p in [(0,0),(800,0),(-800,0),(0,800),(0,-800)]:
            for c in range(1,21):
                response=client.measure(p,c)
                if response['measure_result']=='direction':
                    first=(p,response['svd_deg'])
                    observations.append(Measurement(*p,response['svd_deg']))
                    channel=c
                    break
            if channel is not None:
                break
        if channel is None:
            raise RuntimeError('预设采样点未取得direction；本次不扩展为全域搜索')
        p,theta=first
        repeat=client.measure(p,channel)
        a=math.radians(theta)
        # For an omnidirectional source seen initially at <=1500m, these
        # 700m-forward, +/-200m-lateral points remain within 1000m of its wedge.
        for lateral in [200,-200,300,-300]:
            q=(p[0]+700*math.cos(a)-lateral*math.sin(a),
               p[1]+700*math.sin(a)+lateral*math.cos(a))
            response=client.measure(q,channel)
            if response['measure_result']=='direction':
                observations.append(Measurement(*q,response['svd_deg']))
            if len(observations)>=3:
                break
        data={'name':'官方问题3演练观测','source':'official_practice','case_code':args.case_code,
              'channel':channel,'ground_truth':None,'measurements':[m.__dict__ for m in observations],
              'repeated_station_response':repeat,'result':solve(observations),
              'scope':'仅采集问题一观测，不执行问题三全清除任务；没有调用clear'}
        path=args.output/f'{args.case_code}_observations.json'
        path.write_text(json.dumps(data,ensure_ascii=False,indent=2,allow_nan=False),encoding='utf-8')
        print(json.dumps({'observations':str(path),'count':len(observations),'result':data['result']},ensure_ascii=False,indent=2))
    finally:
        if entered:
            client.action('/exit')


if __name__=='__main__':
    main()