from django.db import models


class WorkshopSite(models.Model):
    name = models.CharField(max_length=100, default="主车间")
    width_m = models.FloatField(default=130.0)
    height_m = models.FloatField(default=50.0)
    detector = models.ForeignKey(
        "app.AlgorithmModel", null=True, blank=True, on_delete=models.SET_NULL,
        related_name="workshop_detector_sites",
    )
    reid_model = models.ForeignKey(
        "app.AlgorithmModel", null=True, blank=True, on_delete=models.SET_NULL,
        related_name="workshop_reid_sites",
    )
    target_labels = models.JSONField(default=list)
    analysis_fps = models.FloatField(default=2.0)
    fusion_radius_m = models.FloatField(default=1.5)
    observation_window_sec = models.FloatField(default=1.0)
    max_speed_mps = models.FloatField(default=3.0)
    lost_ttl_sec = models.FloatField(default=30.0)
    trail_sec = models.FloatField(default=30.0)
    create_time = models.DateTimeField(auto_now_add=True)
    last_update_time = models.DateTimeField(auto_now=True)

    class Meta:
        db_table = "wm_site"

    def __str__(self):
        return self.name


class WorkshopCamera(models.Model):
    site = models.ForeignKey(WorkshopSite, on_delete=models.CASCADE, related_name="cameras")
    stream = models.ForeignKey(
        "app.StreamModel", null=True, blank=True, on_delete=models.SET_NULL,
        related_name="workshop_bindings",
    )
    preview_stream = models.ForeignKey(
        "app.StreamModel", null=True, blank=True, on_delete=models.SET_NULL,
        related_name="workshop_preview_bindings",
    )
    slot = models.PositiveIntegerField(default=1)
    display_name = models.CharField(max_length=100, default="")
    enabled = models.BooleanField(default=True)
    install_x = models.FloatField(default=0.0)
    install_y = models.FloatField(default=0.0)
    install_z = models.FloatField(default=0.0)
    yaw_deg = models.FloatField(default=0.0)
    pitch_deg = models.FloatField(default=0.0)
    create_time = models.DateTimeField(auto_now_add=True)
    last_update_time = models.DateTimeField(auto_now=True)

    class Meta:
        db_table = "wm_camera"
        ordering = ("slot", "id")
        constraints = [
            models.UniqueConstraint(fields=("site", "slot"), name="wm_camera_site_slot_uniq"),
        ]

    def __str__(self):
        return self.display_name or (self.stream.nickname if self.stream else "摄像头 %s" % self.slot)

    @property
    def active_calibration(self):
        return self.calibrations.filter(is_active=True).order_by("-id").first()


class GroundControlPoint(models.Model):
    site = models.ForeignKey(WorkshopSite, on_delete=models.CASCADE, related_name="control_points")
    name = models.CharField(max_length=100)
    x = models.FloatField()
    y = models.FloatField()
    description = models.CharField(max_length=300, default="", blank=True)
    create_time = models.DateTimeField(auto_now_add=True)
    last_update_time = models.DateTimeField(auto_now=True)

    class Meta:
        db_table = "wm_ground_control_point"
        ordering = ("name", "id")
        constraints = [
            models.UniqueConstraint(fields=("site", "name"), name="wm_gcp_site_name_uniq"),
        ]

    def __str__(self):
        return "%s (%.2f, %.2f)" % (self.name, self.x, self.y)


class CameraCalibration(models.Model):
    STATUS_DRAFT = "draft"
    STATUS_VALID = "valid"
    STATUS_INVALID = "invalid"
    STATUS_CHOICES = (
        (STATUS_DRAFT, "草稿"),
        (STATUS_VALID, "合格"),
        (STATUS_INVALID, "不合格"),
    )

    camera = models.ForeignKey(WorkshopCamera, on_delete=models.CASCADE, related_name="calibrations")
    snapshot_path = models.CharField(max_length=500, default="", blank=True)
    frame_width = models.PositiveIntegerField(default=0)
    frame_height = models.PositiveIntegerField(default=0)
    homography = models.JSONField(default=list)
    fit_rmse_m = models.FloatField(null=True, blank=True)
    validation_mean_m = models.FloatField(null=True, blank=True)
    validation_max_m = models.FloatField(null=True, blank=True)
    status = models.CharField(max_length=16, choices=STATUS_CHOICES, default=STATUS_DRAFT)
    is_active = models.BooleanField(default=False)
    warnings = models.JSONField(default=list)
    created_by = models.IntegerField(default=0)
    create_time = models.DateTimeField(auto_now_add=True)
    last_update_time = models.DateTimeField(auto_now=True)

    class Meta:
        db_table = "wm_camera_calibration"
        ordering = ("-id",)


class CalibrationObservation(models.Model):
    ROLE_FIT = "fit"
    ROLE_VERIFY = "verify"
    ROLE_CHOICES = ((ROLE_FIT, "拟合"), (ROLE_VERIFY, "验证"))

    calibration = models.ForeignKey(CameraCalibration, on_delete=models.CASCADE, related_name="observations")
    control_point = models.ForeignKey(
        GroundControlPoint, null=True, blank=True, on_delete=models.SET_NULL,
        related_name="camera_observations",
    )
    pixel_u = models.FloatField()
    pixel_v = models.FloatField()
    world_x = models.FloatField()
    world_y = models.FloatField()
    role = models.CharField(max_length=10, choices=ROLE_CHOICES, default=ROLE_FIT)
    error_m = models.FloatField(null=True, blank=True)

    class Meta:
        db_table = "wm_calibration_observation"
        ordering = ("id",)