"""Published, algorithm-scoped GOOSE VLS-128 ground profile."""

from __future__ import annotations

import math
from dataclasses import dataclass
from typing import Final

GOOSE_PATCHWORK_PROFILE_SCHEMA: Final = "missioncore.goose-patchwork-profile/v1"
GOOSE_PAPER_URL: Final = "https://arxiv.org/pdf/2310.16788"
GOOSE_PAPER_SHA256: Final = "cb17f38c3ae498917966a63bc0e034cc5dd3fa4ad35873b121592f99026cc77e"
GOOSE_TF_DOT_URL: Final = "https://goose-dataset.de/docs/resources/mucar3_tf/mucar3_tf.dot"
GOOSE_TF_DOT_SHA256: Final = "1b10e905bcff17b90305ff02734b5e6bb7f5753d9b8e74cd7c43f3d0f32ef469"


@dataclass(frozen=True, slots=True)
class GoosePatchworkProfile:
    """Narrow admission profile for one native GOOSE scan.

    Figure 3 of the official paper dimensions ``base_link``/INS at 0.64 m
    above ground and the VLS-128 optical center 1.60 m above ``base_link``.
    Their sum is the physical height Patchwork++ requires. This does not claim
    a complete vehicle mounting transform and cannot produce a normalized scan.
    """

    profile_id: str = "goose-mucar3-vls128-patchwork/v1"
    base_link_height_above_ground_m: float = 0.64
    lidar_height_above_base_link_m: float = 1.60
    patchwork_sensor_height_proxy_m: float = 2.24
    patchwork_minimum_range_m: float = 2.7
    patchwork_maximum_range_m: float = 80.0
    patchwork_height_evidence: str = "published-dimensioned-schematic"

    def __post_init__(self) -> None:
        values = (
            self.base_link_height_above_ground_m,
            self.lidar_height_above_base_link_m,
            self.patchwork_sensor_height_proxy_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 self.base_link_height_above_ground_m <= 0
            or self.lidar_height_above_base_link_m <= 0
            or not math.isclose(
                self.base_link_height_above_ground_m + self.lidar_height_above_base_link_m,
                self.patchwork_sensor_height_proxy_m,
                abs_tol=1e-9,
            )
            or not 0 < self.patchwork_minimum_range_m < self.patchwork_maximum_range_m
            or self.patchwork_height_evidence != "published-dimensioned-schematic"
        ):
            raise ValueError("GOOSE Patchwork++ profile is invalid")

    def to_dict(self) -> dict[str, object]:
        return {
            "schema_version": GOOSE_PATCHWORK_PROFILE_SCHEMA,
            "profile_id": self.profile_id,
            "source_id": "goose-3d/v2025-08-22",
            "representation": "native-scan",
            "sensor_frame": {
                "frame_id": "sensor/lidar/vls128_roof",
                "handedness": "right",
                "x": "forward",
                "y": "left",
                "z": "up",
                "one_revolution": True,
            },
            "height": {
                "base_link_above_ground_m": self.base_link_height_above_ground_m,
                "lidar_above_base_link_m": self.lidar_height_above_base_link_m,
                "sensor_above_ground_m": self.patchwork_sensor_height_proxy_m,
                "evidence": self.patchwork_height_evidence,
            },
            "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": {
                "dimensioned_schematic": {
                    "url": GOOSE_PAPER_URL,
                    "sha256": GOOSE_PAPER_SHA256,
                    "paper_version": "arxiv-2310.16788v2",
                    "figure": 3,
                },
                "tf_topology": {
                    "url": GOOSE_TF_DOT_URL,
                    "sha256": GOOSE_TF_DOT_SHA256,
                    "numeric_transform_present": False,
                },
                "first_frame_cross_check": {
                    "method": "independent-ground-near-field-plane",
                    "expected_ground_z_m": -self.patchwork_sensor_height_proxy_m,
                    "observed_intercept_range_m": [-2.18, -2.14],
                    "used_for_calibration": 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,
            },
        }


DEFAULT_GOOSE_PATCHWORK_PROFILE: Final = GoosePatchworkProfile()