"""Repeat the frozen negative controls with exactly the new entry search policy."""

import argparse
import json
from pathlib import Path

import numpy as np

from k1link.artifacts import utc_now_iso
from k1link.missions.causal_replay import digest
from k1link.missions.entry_acquisition_worker import run_entry_acquisition


def main():
    p = argparse.ArgumentParser(description=__doc__)
    p.add_argument("--controls", type=Path, required=True)
    p.add_argument("--replay", type=Path, required=True)
    p.add_argument("--output", type=Path, required=True)
    args = p.parse_args()
    prior = json.loads((args.controls / "report.json").read_text())
    replay = json.loads((args.replay / "report.json").read_text())
    path_file = args.replay / "step-003/query-path.npy"
    files = {path_file: replay["artifacts"]["step-003/query-path.npy"]}
    for name in ["wrong-region", "far-seed"]:
        relative = name + "/registration-input.npz"
        files[args.controls / relative] = prior["artifacts"][relative]
    for file, expected in files.items():
        if digest(file) != expected:
            raise ValueError("Control input changed.")
    query_path = np.load(path_file, allow_pickle=False)
    direction = next(
        p - query_path[0] for p in query_path[1:] if np.linalg.norm((p - query_path[0])[:2]) >= 3
    )
    args.output.mkdir(parents=True, exist_ok=False)
    report = dict(
        schema_version="missioncore.entry-controls/v1",
        created_at_utc=utc_now_iso(),
        source_step="step-003",
        results={},
        vehicle_control=False,
        localization_confirmed=False,
        input_digests={str(k): v for k, v in files.items()},
    )
    for name in ["wrong-region", "far-seed"]:
        with np.load(args.controls / name / "registration-input.npz", allow_pickle=False) as data:
            reference, query, initial = data["reference"], data["query"], data["initial"]
        directory = args.output / name
        directory.mkdir()
        result = run_entry_acquisition(
            directory, reference, query, initial, query_path[0], initial[:3, :3] @ direction
        )
        report["results"][name] = {k: v for k, v in result.items() if k != "matched_query_indices"}
        print(
            json.dumps(
                dict(
                    control=name,
                    status=result["status"],
                    reasons=result["reasons"],
                    hypotheses=len(result["initialization"]["attempts"]),
                    clusters=result["initialization"]["clusters"],
                    elapsed_s=result["initialization"]["elapsed_s"],
                )
            ),
            flush=True,
        )
    report["source_integrity_verified"] = all(digest(k) == v for k, v in files.items())
    report["artifacts"] = {
        str(x.relative_to(args.output)): digest(x) for x in args.output.rglob("*") if x.is_file()
    }
    report["finished_at_utc"] = utc_now_iso()
    (args.output / "report.json").write_text(json.dumps(report, allow_nan=False))


if __name__ == "__main__":
    main()