"""FT-P-02 Derkachi fixture builder (AZ-599; refactored to strategy pattern in AZ-600).

Composes the parameterized fixture-builder framework
(``e2e.fixtures.sitl_replay_builder.builder``) into the FT-P-02 scenario:

* Video source: pass-through of the recorded ``flight_derkachi.mp4``.
* Tlog source: real-motion tlog converted from ``data_imu.csv`` rows
  (10 Hz ``SCALED_IMU2`` accel/gyro + ``GLOBAL_POSITION_INT.hdg`` yaw;
  roll/pitch=0 fixed-wing-cruise approximation).
* FDR projection: raw passthrough + assert ≥1 ``record_type=="estimate"``
  record (the FT-P-02 scenario walks the FDR via ``fdr_reader.iter_records``).

This module is intentionally thin — strategy implementations + the
orchestrator live in ``builder.py``.
"""

from __future__ import annotations

import argparse
import logging
import subprocess
import sys
from dataclasses import dataclass
from pathlib import Path
from typing import Callable, Sequence

from e2e.fixtures.sitl_replay_builder.builder import (
    DEFAULT_CLI_BIN,
    FixtureBuilderConfig,
    ImuCsvTlog,
    Mp4PassthroughSource,
    RawFdrPassthrough,
    build_fixtures,
)


@dataclass(frozen=True)
class P02BuilderConfig:
    """Per-invocation Derkachi builder configuration."""

    derkachi_dir: Path
    output_dir: Path
    fc_kind: str = "ardupilot"
    host: str = "sitl-host"
    cli_bin: str = DEFAULT_CLI_BIN


def resolve_derkachi_inputs(derkachi_dir: Path) -> tuple[Path, Path]:
    """Return ``(mp4_path, imu_csv_path)`` under ``derkachi_dir`` or raise."""
    mp4 = derkachi_dir / "flight_derkachi.mp4"
    csv_path = derkachi_dir / "data_imu.csv"
    if not mp4.is_file():
        raise FileNotFoundError(f"Derkachi MP4 not found: {mp4}")
    if not csv_path.is_file():
        raise FileNotFoundError(f"Derkachi IMU CSV not found: {csv_path}")
    return mp4, csv_path


def build_p02_fixtures(
    cfg: P02BuilderConfig,
    *,
    _runner: Callable[[Sequence[str]], subprocess.CompletedProcess] | None = None,
    _mavlink_writer_factory: Callable | None = None,
) -> Path:
    """End-to-end FT-P-02 fixture build. Returns the output directory."""
    mp4, csv_path = resolve_derkachi_inputs(cfg.derkachi_dir)
    builder_cfg = FixtureBuilderConfig(
        video_source=Mp4PassthroughSource(mp4_path=mp4),
        tlog_source=ImuCsvTlog(csv_path=csv_path),
        fdr_projection=RawFdrPassthrough(verify_estimates=True),
        output_dir=cfg.output_dir,
        fc_kind=cfg.fc_kind, host=cfg.host, cli_bin=cfg.cli_bin,
        video_filename="video_unused.mp4",  # Mp4PassthroughSource returns mp4 directly
        tlog_filename="derkachi.tlog",
        fdr_subdir="fdr", fdr_filename="fdr.jsonl",
    )
    return build_fixtures(
        builder_cfg, _runner=_runner, _mavlink_writer_factory=_mavlink_writer_factory,
    )


def _main(argv: Sequence[str] | None = None) -> int:
    parser = argparse.ArgumentParser(
        prog="build_p02_fixtures",
        description="Build FT-P-02 Derkachi replay fixtures via gps-denied-replay.",
    )
    parser.add_argument("--derkachi-dir", type=Path, required=True,
                        help="Directory containing flight_derkachi.mp4 + data_imu.csv")
    parser.add_argument("--output-dir", type=Path, required=True,
                        help="Output dir for derkachi.tlog + fdr/ archive + observer fixture")
    parser.add_argument("--fc-kind", choices=("ardupilot", "inav"), default="ardupilot")
    parser.add_argument("--host", default="sitl-host")
    parser.add_argument("--cli-bin", default=DEFAULT_CLI_BIN)
    args = parser.parse_args(argv)

    logging.basicConfig(level=logging.INFO)
    cfg = P02BuilderConfig(
        derkachi_dir=args.derkachi_dir, output_dir=args.output_dir,
        fc_kind=args.fc_kind, host=args.host, cli_bin=args.cli_bin,
    )
    build_p02_fixtures(cfg)
    return 0


if __name__ == "__main__":  # pragma: no cover
    sys.exit(_main())