#!/usr/bin/env python3
"""Render the fixed 17 m FI mouth overview as a small JPEG."""
import math
import os
import subprocess
import time
from pathlib import Path

ROOT = Path(__file__).resolve().parents[4]
OUT = Path(os.environ.get("VOXELFORGE_L37_OUT", ROOT / "Saved/Linux/l37"))
CAPTURES = Path(os.environ.get("VOXELFORGE_L37_CAPTURE_DIR",
                               Path(__file__).resolve().parent / "captures"))
MESH = Path(os.environ.get("VOXELFORGE_L37_MESH",
                           OUT / "owner-fi-ground-mouth.vfmesh"))
RENDERER = Path(os.environ.get("VOXELFORGE_L37_RENDERER",
    OUT / "bin/VoxelForgeOffscreenCapture-l37-final-clang"))
PNG = OUT / "capture-png/owner-fi-ground-mouth-overview.png"
JPEG = CAPTURES / "owner-fi-ground-mouth-overview.jpg"
MOUTH = (5.600, 0.445, -55.156)
CAMERA = (MOUTH[0] - 9.75, MOUTH[1] - 11.4, MOUTH[2] + 8.0)
TARGET = (6.298233, 1.137233, -55.468264)
FOV = 80.0


def normalize(vector):
    magnitude = math.sqrt(sum(value * value for value in vector))
    return tuple(value / magnitude for value in vector)


def camera_angles(camera, target):
    delta = tuple(target[i] - camera[i] for i in range(3))
    horizontal = math.hypot(delta[0], delta[1])
    return math.degrees(math.atan2(delta[0], delta[1])), math.degrees(
        math.atan2(delta[2], horizontal))


def fmt(values):
    return ",".join(f"{value:.6f}" for value in values)


def run(name, command):
    log = OUT / f"capture-overview-{name}.log"
    wrapped = ["taskset", "-c", "0-11", "prlimit", "--as=6442450944", "--",
               "timeout", "1800s", *map(str, command)]
    started = time.monotonic()
    with log.open("w", encoding="utf-8") as stream:
        result = subprocess.run(wrapped, cwd=ROOT, stdout=stream,
            stderr=subprocess.STDOUT, timeout=1800, check=False)
    elapsed = time.monotonic() - started
    print(f"[L37OverviewCaptureRun] step={name} elapsed={elapsed:.1f}s "
          f"exit={result.returncode} log={log}", flush=True)
    if result.returncode != 0:
        raise SystemExit(f"{name} failed; see {log}")


def main():
    if not MESH.is_file():
        raise SystemExit(f"missing FI mouth mesh: {MESH}")
    for directory in (OUT, PNG.parent, CAPTURES):
        directory.mkdir(parents=True, exist_ok=True)
    yaw, pitch = camera_angles(CAMERA, TARGET)
    run("render", [RENDERER, MESH, PNG, "--size=1600x900", f"--fov-deg={FOV}",
        f"--camera-m={fmt(CAMERA)}", f"--yaw-deg={yaw:.6f}",
        f"--pitch-deg={pitch:.6f}", "--tile-skirts=off", "--shade=readable",
        "--headlamp=on", "--height-tint=on",
        f"--height-center-m={TARGET[2]:.6f}", "--height-range-m=8",
        "--tile-edges=off", f"--focus-region={fmt((*MOUTH, 20.0))}"])
    run("jpeg", ["ffmpeg", "-nostdin", "-hide_banner", "-loglevel", "error",
        "-y", "-i", PNG, "-frames:v", "1", "-q:v", "4", JPEG])
    size = JPEG.stat().st_size if JPEG.exists() else 0
    distance = math.dist(CAMERA, MOUTH)
    print(f"[L37OverviewCapture] file={JPEG.relative_to(ROOT)} camera_to_mouth_m="
          f"{distance:.3f} camera_m=({fmt(CAMERA)}) target_m=({fmt(TARGET)}) "
          f"fov_deg={FOV:.1f} resolution=1600x900 bytes={size} "
          f"status={'PASS' if 0 < size <= 300_000 else 'FAIL'}", flush=True)
    raise SystemExit(0 if 0 < size <= 300_000 else 1)


if __name__ == "__main__":
    main()