"""FastAPI application factory."""

from contextlib import asynccontextmanager

from fastapi import FastAPI

from gps_denied import __version__
from gps_denied.api.routers import flights


@asynccontextmanager
async def lifespan(app: FastAPI):
    """Initialise core pipeline components on startup."""
    from gps_denied.core.models import ModelManager
    from gps_denied.core.vo import SequentialVisualOdometry
    from gps_denied.core.gpr import GlobalPlaceRecognition
    from gps_denied.core.metric import MetricRefinement
    from gps_denied.core.graph import FactorGraphOptimizer
    from gps_denied.core.chunk_manager import RouteChunkManager
    from gps_denied.core.recovery import FailureRecoveryCoordinator
    from gps_denied.core.rotation import ImageRotationManager
    from gps_denied.schemas.graph import FactorGraphConfig

    mm = ModelManager()
    vo = SequentialVisualOdometry(mm)
    gpr = GlobalPlaceRecognition(mm)
    metric = MetricRefinement(mm)
    graph = FactorGraphOptimizer(FactorGraphConfig())
    chunk_mgr = RouteChunkManager(graph)
    recovery = FailureRecoveryCoordinator(chunk_mgr, gpr, metric)
    rotation = ImageRotationManager(mm)

    # Store on app.state so deps can access them
    app.state.pipeline_components = {
        "vo": vo, "gpr": gpr, "metric": metric,
        "graph": graph, "recovery": recovery,
        "chunk_mgr": chunk_mgr, "rotation": rotation,
    }
    yield
    # Cleanup
    app.state.pipeline_components = None


def create_app() -> FastAPI:
    """Factory function to create and configure the FastAPI application."""
    app = FastAPI(
        title="GPS-Denied Onboard API",
        description="REST API for UAV Flight Processing in GPS-denied environments.",
        version=__version__,
        lifespan=lifespan,
    )

    app.include_router(flights.router)

    @app.get("/health", tags=["Health"])
    async def health() -> dict[str, str]:
        """Simple health check endpoint."""
        return {"status": "ok"}

    return app


app = create_app()