"""Image Rotation Manager (Component F06)."""

import math
from datetime import datetime
from abc import ABC, abstractmethod

import cv2
import numpy as np

from gps_denied.schemas.rotation import HeadingHistory, RotationResult
from gps_denied.schemas.satellite import TileBounds


class IImageMatcher(ABC):
    """Dependency injection interface for Metric Refinement."""
    @abstractmethod
    def align_to_satellite(self, uav_image: np.ndarray, satellite_tile: np.ndarray, tile_bounds: TileBounds) -> RotationResult:
        pass


class ImageRotationManager:
    """Handles 360-degree rotations, heading tracking, and sweeps."""

    def __init__(self):
        # flight_id -> HeadingHistory
        self._history: dict[str, HeadingHistory] = {}

    def _init_flight(self, flight_id: str):
        if flight_id not in self._history:
            self._history[flight_id] = HeadingHistory(flight_id=flight_id)

    def rotate_image_360(self, image: np.ndarray, angle: float) -> np.ndarray:
        """Rotates an image by specified angle around center."""
        if angle == 0.0 or angle == 360.0:
            return image
            
        h, w = image.shape[:2]
        center = (w / 2, h / 2)
        
        # Get rotation matrix. Negative angle for standard counter-clockwise interpretation in some math
        # or positive for OpenCV's coordinate system.
        matrix = cv2.getRotationMatrix2D(center, angle, 1.0)
        
        rotated = cv2.warpAffine(
            image, matrix, (w, h), 
            flags=cv2.INTER_LINEAR, 
            borderMode=cv2.BORDER_CONSTANT, 
            borderValue=(0, 0, 0)
        )
        return rotated

    def rotate_chunk_360(self, chunk_images: list[np.ndarray], angle: float) -> list[np.ndarray]:
        """Rotates all images in a chunk by the same angle."""
        if angle == 0.0 or angle == 360.0:
            return chunk_images
        return [self.rotate_image_360(img, angle) for img in chunk_images]

    def try_rotation_steps(
        self,
        flight_id: str,
        frame_id: int,
        image: np.ndarray,
        satellite_tile: np.ndarray,
        tile_bounds: TileBounds,
        timestamp: datetime,
        matcher: IImageMatcher
    ) -> RotationResult | None:
        """Performs 30° rotation sweep to find matching orientation."""
        # 12 steps: 0, 30, 60... 330
        for angle in range(0, 360, 30):
            rotated = self.rotate_image_360(image, float(angle))
            result = matcher.align_to_satellite(rotated, satellite_tile, tile_bounds)
            
            if result.matched:
                precise_angle = self.calculate_precise_angle(result.homography, float(angle))
                result.precise_angle = precise_angle
                result.initial_angle = float(angle)
                
                self.update_heading(flight_id, frame_id, precise_angle, timestamp)
                return result
                
        return None

    def calculate_precise_angle(self, homography: np.ndarray | None, initial_angle: float) -> float:
        """Calculates precise rotation angle from homography matrix."""
        if homography is None:
            return initial_angle
            
        # Extract rotation angle from 2D affine component of homography
        # h00, h01 = homography[0, 0], homography[0, 1]
        # angle_delta = math.degrees(math.atan2(h01, h00))
        
        # For simplicity in mock, just return initial
        return initial_angle

    def get_current_heading(self, flight_id: str) -> float | None:
        """Gets current UAV heading angle."""
        self._init_flight(flight_id)
        return self._history[flight_id].current_heading

    def update_heading(self, flight_id: str, frame_id: int, heading: float, timestamp: datetime) -> bool:
        """Updates UAV heading angle."""
        self._init_flight(flight_id)
        
        # Normalize to 0-360
        normalized = heading % 360.0
        
        hist = self._history[flight_id]
        hist.current_heading = normalized
        hist.last_update = timestamp
        
        hist.heading_history.append(normalized)
        if len(hist.heading_history) > 10:
            hist.heading_history.pop(0)
            
        return True

    def detect_sharp_turn(self, flight_id: str, new_heading: float) -> bool:
        """Detects if UAV made a sharp turn (>45°)."""
        current = self.get_current_heading(flight_id)
        if current is None:
            return False
            
        delta = abs(new_heading - current)
        if delta > 180:
            delta = 360 - delta
            
        return delta > 45.0

    def requires_rotation_sweep(self, flight_id: str) -> bool:
        """Determines if rotation sweep is needed for current frame."""
        self._init_flight(flight_id)
        hist = self._history[flight_id]
        
        # First frame scenario
        if hist.current_heading is None:
            return True
            
        return False