gps-denied-onboard/src/gps_denied/core/processor.py

"""Core Flight Processor (Dummy / Stub for Stage 3)."""

from __future__ import annotations

import asyncio
from datetime import datetime, timezone

from gps_denied.core.pipeline import ImageInputPipeline
from gps_denied.core.results import ResultManager
from gps_denied.core.sse import SSEEventStreamer
from gps_denied.db.repository import FlightRepository
from gps_denied.schemas import GPSPoint
from gps_denied.schemas.flight import (
    BatchMetadata,
    BatchResponse,
    BatchUpdateResponse,
    DeleteResponse,
    FlightCreateRequest,
    FlightDetailResponse,
    FlightResponse,
    FlightStatusResponse,
    ObjectGPSResponse,
    UpdateResponse,
    UserFixRequest,
    UserFixResponse,
    Waypoint,
)
from gps_denied.schemas.image import ImageBatch


class FlightProcessor:
    """Manages business logic and background processing for flights."""

    def __init__(self, repository: FlightRepository, streamer: SSEEventStreamer) -> None:
        self.repository = repository
        self.streamer = streamer
        self.result_manager = ResultManager(repository, streamer)
        self.pipeline = ImageInputPipeline(storage_dir=".image_storage", max_queue_size=50)

    async def create_flight(self, req: FlightCreateRequest) -> FlightResponse:
        flight = await self.repository.insert_flight(
            name=req.name,
            description=req.description,
            start_lat=req.start_gps.lat,
            start_lon=req.start_gps.lon,
            altitude=req.altitude,
            camera_params=req.camera_params.model_dump(),
        )
        for poly in req.geofences.polygons:
            await self.repository.insert_geofence(
                flight.id,
                nw_lat=poly.north_west.lat,
                nw_lon=poly.north_west.lon,
                se_lat=poly.south_east.lat,
                se_lon=poly.south_east.lon,
            )
        for w in req.rough_waypoints:
            await self.repository.insert_waypoint(flight.id, lat=w.lat, lon=w.lon)

        return FlightResponse(
            flight_id=flight.id,
            status="prefetching",
            message="Flight created and prefetching started.",
            created_at=flight.created_at,
        )

    async def get_flight(self, flight_id: str) -> FlightDetailResponse | None:
        flight = await self.repository.get_flight(flight_id)
        if not flight:
            return None
        wps = await self.repository.get_waypoints(flight_id)
        state = await self.repository.load_flight_state(flight_id)

        waypoints = [
            Waypoint(
                id=w.id,
                lat=w.lat,
                lon=w.lon,
                altitude=w.altitude,
                confidence=w.confidence,
                timestamp=w.timestamp,
                refined=w.refined,
            )
            for w in wps
        ]
        
        status = state.status if state else "unknown"
        frames_processed = state.frames_processed if state else 0
        frames_total = state.frames_total if state else 0

        # Assuming empty geofences for now unless loaded (omitted for brevity)
        from gps_denied.schemas import Geofences
        
        return FlightDetailResponse(
            flight_id=flight.id,
            name=flight.name,
            description=flight.description,
            start_gps=GPSPoint(lat=flight.start_lat, lon=flight.start_lon),
            waypoints=waypoints,
            geofences=Geofences(polygons=[]),
            camera_params=flight.camera_params,
            altitude=flight.altitude,
            status=status,
            frames_processed=frames_processed,
            frames_total=frames_total,
            created_at=flight.created_at,
            updated_at=flight.updated_at,
        )

    async def delete_flight(self, flight_id: str) -> DeleteResponse:
        deleted = await self.repository.delete_flight(flight_id)
        return DeleteResponse(deleted=deleted, flight_id=flight_id)

    async def update_waypoint(
        self, flight_id: str, waypoint_id: str, waypoint: Waypoint
    ) -> UpdateResponse:
        ok = await self.repository.update_waypoint(
            flight_id,
            waypoint_id,
            lat=waypoint.lat,
            lon=waypoint.lon,
            altitude=waypoint.altitude,
            confidence=waypoint.confidence,
            refined=waypoint.refined,
        )
        return UpdateResponse(updated=ok, waypoint_id=waypoint_id)

    async def batch_update_waypoints(
        self, flight_id: str, waypoints: list[Waypoint]
    ) -> BatchUpdateResponse:
        failed = []
        updated = 0
        for wp in waypoints:
            ok = await self.repository.update_waypoint(
                flight_id,
                wp.id,
                lat=wp.lat,
                lon=wp.lon,
                altitude=wp.altitude,
                confidence=wp.confidence,
                refined=wp.refined,
            )
            if ok:
                updated += 1
            else:
                failed.append(wp.id)
        return BatchUpdateResponse(success=(len(failed) == 0), updated_count=updated, failed_ids=failed)

    async def queue_images(
        self, flight_id: str, metadata: BatchMetadata, file_count: int
    ) -> BatchResponse:
        state = await self.repository.load_flight_state(flight_id)
        if state:
            total = state.frames_total + file_count
            await self.repository.save_flight_state(flight_id, frames_total=total, status="processing")
            
        next_seq = metadata.end_sequence + 1
        seqs = list(range(metadata.start_sequence, metadata.end_sequence + 1))
        return BatchResponse(
            accepted=True,
            sequences=seqs,
            next_expected=next_seq,
            message=f"Queued {file_count} images.",
        )

    async def handle_user_fix(self, flight_id: str, req: UserFixRequest) -> UserFixResponse:
        await self.repository.save_flight_state(flight_id, blocked=False, status="processing")
        return UserFixResponse(
            accepted=True, processing_resumed=True, message="Fix applied."
        )

    async def get_flight_status(self, flight_id: str) -> FlightStatusResponse | None:
        state = await self.repository.load_flight_state(flight_id)
        if not state:
            return None
        return FlightStatusResponse(
            status=state.status,
            frames_processed=state.frames_processed,
            frames_total=state.frames_total,
            current_frame=state.current_frame,
            current_heading=None,  # would load from latest
            blocked=state.blocked,
            search_grid_size=state.search_grid_size,
            created_at=state.created_at,
            updated_at=state.updated_at,
        )

    async def convert_object_to_gps(
        self, flight_id: str, frame_id: int, pixel: tuple[float, float]
    ) -> ObjectGPSResponse:
        # Dummy math
        return ObjectGPSResponse(
            gps=GPSPoint(lat=48.0, lon=37.0),
            accuracy_meters=5.0,
            frame_id=frame_id,
            pixel=pixel,
        )

    async def stream_events(self, flight_id: str, client_id: str):
        """Async generator for SSE stream."""
        # Yield from the real SSE streamer generator
        async for event in self.streamer.stream_generator(flight_id, client_id):
            yield event