"""统一命令行入口：mcm26b <子命令>。

- q1        问题一角域交会求解（P2 已完工）
- sim-check 用自建模拟器复现附件计时示例（P0 自检）
- run       全向闭环（P4 骨架，未实现）
"""

from __future__ import annotations

import argparse
import json
import sys

from .config import ProblemConfig
from .geometry.__main__ import main as q1_main
from .protocol.client import SimulatorClient
from .protocol.rules import EXIT_USER
from .sim import LocalSimTransport, LocalSimulator, Source


def _sim_check(args) -> int:
    """附件1表2/附件2第10节计时示例：期望 105/111/194/199 秒。"""
    simulator = LocalSimulator([], robot_id=args.robot_id)
    client = SimulatorClient(args.robot_id, transport=LocalSimTransport(simulator))
    client.enter()
    steps = []
    steps.append(client.measure((300, 400), 1).virtual_time_s)   # 移动500m+检测5s
    steps.append(client.measure((300, 400), 2).virtual_time_s)   # 换频道1s+检测5s
    steps.append(client.clear((300, 0), 3).virtual_time_s)       # 移动400m+未发现3s
    steps.append(client.measure((300, 0), 2).virtual_time_s)     # 原地检测频道2
    info = client.exit()
    expected = [105, 111, 194, 199]
    ok = [round(value, 6) for value in steps] == expected \
        and round(info.virtual_time_s, 6) == 199 and info.reason == EXIT_USER
    print(json.dumps({"expected": expected, "got": steps,
                      "final_virtual_time_s": info.virtual_time_s,
                      "exit_reason": info.reason, "pass": ok},
                     ensure_ascii=False))
    return 0 if ok else 1


def _run(args) -> int:
    raise NotImplementedError(
        "P4 全向闭环尚未实现；当前可用子命令：q1（问题一求解）、sim-check（协议自检）")


def main(argv=None) -> int:
    parser = argparse.ArgumentParser(prog="mcm26b", description=__doc__)
    parser.add_argument("--config", default="",
                        help="预留：覆盖 ProblemConfig 的 JSON 文件（参数化入口）")
    subparsers = parser.add_subparsers(dest="command", required=True)

    q1 = subparsers.add_parser("q1", help="问题一角域交会求解")
    q1.add_argument("input", type=str)
    q1.add_argument("-o", "--output", type=str, default=None)
    q1.add_argument("--rounding-margin-deg", type=float, default=0)
    q1.set_defaults(func=lambda a: q1_main([a.input] + (["-o", a.output] if a.output else [])
                                           + (["--rounding-margin-deg", str(a.rounding_margin_deg)]
                                              if a.rounding_margin_deg else [])) or 0)

    check = subparsers.add_parser("sim-check", help="自建模拟器复现附件计时示例")
    check.add_argument("--robot-id", default="2026001")
    check.set_defaults(func=_sim_check)

    run = subparsers.add_parser("run", help="P4 全向闭环（骨架）")
    run.add_argument("--robot-id", required=True)
    run.set_defaults(func=_run)

    args = parser.parse_args(argv)
    try:
        return args.func(args)
    except NotImplementedError as exc:
        print(f"未实现: {exc}", file=sys.stderr)
        return 2


if __name__ == "__main__":
    sys.exit(main())