"""Train-calibrated, algorithm-scoped RELLIS OS1 Patchwork++ profile."""

from __future__ import annotations

import math
from dataclasses import dataclass
from typing import Any, Final

RELLIS_PATCHWORK_PROFILE_SCHEMA: Final = "missioncore.rellis-patchwork-profile/v1"
RELLIS_URDF_URL: Final = (
    "https://raw.githubusercontent.com/unmannedlab/RELLIS-3D/"
    "c17a118fcaed1559f03cc32cc3a91dedc557f8b8/"
    "catkin_ws/src/platform_description/urdf/warthog.urdf.xacro"
)
RELLIS_URDF_SHA256: Final = (
    "bcb66a05b8818f06479bb4a17ce93e9d66cb8fdaab726c437596807288116ac3"
)


@dataclass(frozen=True, slots=True)
class RellisPatchworkProfile:
    """Frozen provider profile derived without looking at validation labels."""

    patchwork_sensor_height_proxy_m: float
    calibration_identity_sha256: str
    calibration_frame_count: int
    calibration_median_absolute_deviation_m: float
    patchwork_minimum_range_m: float = 2.7
    patchwork_maximum_range_m: float = 80.0
    profile_id: str = "rellis-warthog-os1-patchwork/v1"

    def __post_init__(self) -> None:
        values = (
            self.patchwork_sensor_height_proxy_m,
            self.calibration_median_absolute_deviation_m,
            self.patchwork_minimum_range_m,
            self.patchwork_maximum_range_m,
        )
        if (
            not self.profile_id
            or not all(math.isfinite(value) for value in values)
            or not 0.5 <= self.patchwork_sensor_height_proxy_m <= 3.0
            or not 5 <= self.calibration_frame_count <= 256
            or self.calibration_median_absolute_deviation_m < 0
            or not 0 < self.patchwork_minimum_range_m < self.patchwork_maximum_range_m
            or len(self.calibration_identity_sha256) != 64
            or any(
                character not in "0123456789abcdef"
                for character in self.calibration_identity_sha256
            )
        ):
            raise ValueError("RELLIS Patchwork++ profile is invalid")

    def to_dict(self) -> dict[str, Any]:
        return {
            "schema_version": RELLIS_PATCHWORK_PROFILE_SCHEMA,
            "profile_id": self.profile_id,
            "source_id": "rellis-3d/v1.1",
            "representation": "native-scan",
            "sensor_frame": {
                "frame_id": "sensor/lidar/os1",
                "handedness": "right",
                "x": "forward",
                "y": "left",
                "z": "up",
                "one_revolution": True,
            },
            "height": {
                "sensor_above_ground_m": self.patchwork_sensor_height_proxy_m,
                "evidence": "train-split-ground-label-calibration",
                "calibration_frame_count": self.calibration_frame_count,
                "median_absolute_deviation_m": (
                    self.calibration_median_absolute_deviation_m
                ),
                "calibration_identity_sha256": self.calibration_identity_sha256,
                "validation_labels_used": False,
            },
            "patchworkpp": {
                "provider_id": "patchworkpp/v1.4.1",
                "minimum_range_m": self.patchwork_minimum_range_m,
                "maximum_range_m": self.patchwork_maximum_range_m,
                "enable_rnr": True,
                "enable_rvpf": True,
                "enable_tgr": True,
            },
            "evidence": {
                "vehicle_urdf": {
                    "url": RELLIS_URDF_URL,
                    "sha256": RELLIS_URDF_SHA256,
                    "use": "topology-cross-check-only",
                    "exact_physical_height_claimed": False,
                }
            },
            "scope": {
                "patchworkpp_eligible": True,
                "normalized_scan_produced": False,
                "complete_vehicle_transform_known": False,
                "deskew_claimed": False,
            },
            "authority": {
                "qualification_only": True,
                "navigation_or_safety_accepted": False,
            },
        }