"""Lokale Personendetektion und zeitlich begrenzte Linienverfolgung."""

import base64
import hashlib
import json
import math
import os
from pathlib import Path
import tempfile
import threading
import time
from io import BytesIO

from PIL import Image

from .motion import MotionDetector


DEFAULT_CONFIG = {"enabled": False, "method": "person_line", "line": [[0.2, 0.55], [0.8, 0.55]],
                  "direction": 1, "region": [0.1, 0.15, 0.9, 0.95]}


def validate_config(value):
    # Migrate previous saved configurations and old clients without changing
    # their enabled setting or requiring a new geometry setup.
    if isinstance(value, dict) and 'method' not in value:
        value = {**value, 'method': 'person_line'}
    if set(value) != set(DEFAULT_CONFIG) or type(value["enabled"]) is not bool:
        raise ValueError("Ungültige Erkennungseinstellungen")
    if value['method'] not in ('person_line', 'motion_test'):
        raise ValueError('Unbekannte Erkennungsmethode')
    if type(value["direction"]) is not int or value["direction"] not in (-1, 1):
        raise ValueError("Richtung muss -1 oder 1 sein")
    line, region = value["line"], value["region"]
    if len(line) != 2 or any(len(p) != 2 for p in line) or len(region) != 4:
        raise ValueError("Linie und Bereich benötigen gültige Koordinaten")
    coords = [*line[0], *line[1], *region]
    if any(type(x) not in (int, float) or not math.isfinite(x) or not 0 <= x <= 1 for x in coords):
        raise ValueError("Koordinaten müssen zwischen 0 und 1 liegen")
    x1, y1, x2, y2 = region
    if x2 - x1 < 0.05 or y2 - y1 < 0.05:
        raise ValueError("Auslösebereich ist zu klein")
    if math.dist(*line) < 0.05 or any(not (x1 <= x <= x2 and y1 <= y <= y2) for x, y in line):
        raise ValueError("Linie muss im Auslösebereich liegen und ausreichend lang sein")
    return json.loads(json.dumps(value))


class NanoDet:
    """ONNX-Decoder für OpenCV Zoo NanoDet-m-plus-1.5x_416 (November 2022)."""

    def __init__(self, path: Path):
        manifest = json.loads((Path(__file__).parent / "nanodet-model.json").read_text())
        if not path.is_file():
            raise FileNotFoundError("NanoDet fehlt; tools/install_detection_model.py ausführen")
        if hashlib.sha256(path.read_bytes()).hexdigest() != manifest["sha256"]:
            raise ValueError("NanoDet-Prüfsumme stimmt nicht")
        import cv2
        import numpy as np
        self.cv, self.np = cv2, np
        self.net = cv2.dnn.readNetFromONNX(str(path))
        self.net.setPreferableBackend(cv2.dnn.DNN_BACKEND_OPENCV)
        self.net.setPreferableTarget(cv2.dnn.DNN_TARGET_CPU)

    def detect(self, jpeg):
        cv, np = self.cv, self.np
        rgb = np.asarray(Image.open(BytesIO(jpeg)).convert("RGB"))
        h, w = rgb.shape[:2]
        scale = min(416 / w, 416 / h)
        nw, nh = round(w * scale), round(h * scale)
        left, top = (416 - nw) // 2, (416 - nh) // 2
        image = np.zeros((416, 416, 3), dtype=np.float32)
        image[:] = [103.53, 116.28, 123.675]
        image[top:top+nh, left:left+nw] = cv.resize(rgb[:, :, ::-1], (nw, nh))
        image = (image - np.array([103.53, 116.28, 123.675], np.float32)) / np.array([57.375, 57.12, 58.395], np.float32)
        self.net.setInput(cv.dnn.blobFromImage(image))
        outputs = self.net.forward(self.net.getUnconnectedOutLayersNames())
        if len(outputs) != 6:
            raise ValueError("Unerwartete NanoDet-Ausgänge")
        boxes, scores = [], []
        for level, stride in enumerate((8, 16, 32)):
            classes = outputs[2 * level].reshape(-1, 80)
            logits = outputs[2 * level + 1].reshape(-1, 4, 8)
            side = 416 // stride
            if len(classes) != side * side or len(logits) != len(classes):
                raise ValueError("Unerwartete NanoDet-Dimensionen")
            candidates = np.flatnonzero((classes[:, 0] >= 0.6) & (classes.argmax(axis=1) == 0))
            for index in candidates:
                values = logits[index]
                weights = np.exp(values - values.max(axis=1, keepdims=True))
                distances = (weights / weights.sum(axis=1, keepdims=True)) @ np.arange(8) * stride
                cx = (index % side) * stride + (stride - 1) / 2
                cy = (index // side) * stride + (stride - 1) / 2
                x1 = max(0., min(1., (cx - distances[0] - left) / (scale * w)))
                y1 = max(0., min(1., (cy - distances[1] - top) / (scale * h)))
                x2 = max(0., min(1., (cx + distances[2] - left) / (scale * w)))
                y2 = max(0., min(1., (cy + distances[3] - top) / (scale * h)))
                if x2 > x1 and y2 > y1:
                    boxes.append([float(x1), float(y1), float(x2 - x1), float(y2 - y1)])
                    scores.append(float(classes[index, 0]))
        indices = cv.dnn.NMSBoxes(boxes, scores, 0.6, 0.6)
        return [{"box": [boxes[i][0], boxes[i][1], boxes[i][0]+boxes[i][2], boxes[i][1]+boxes[i][3]],
                 "score": scores[i]} for i in np.asarray(indices).reshape(-1)]


class LineTracker:
    def __init__(self):
        self.tracks = {}
        self.next_id = 1

    def update(self, people, config, now, aspect=4/3):
        # Fehlende Frames unterbrechen die Bestätigung; kurze Lücken behalten
        # lediglich die räumliche Identität, niemals einen alten Linienübergang.
        old = {k: v for k, v in self.tracks.items() if now - v["seen"] <= 0.8}
        available = set(old)
        result, crossed = [], False
        a, b = config["line"]
        ax, ay, bx, by = a[0]*aspect, a[1], b[0]*aspect, b[1]
        dx, dy = bx-ax, by-ay
        length = math.hypot(dx, dy)
        for person in people:
            x1, y1, x2, y2 = person["box"]
            point = ((x1+x2)/2, y2)
            def distance(key):
                p = old[key]["point"]
                return math.hypot((point[0]-p[0])*aspect, point[1]-p[1])
            key = min(available, key=distance) if available else None
            if key is None or distance(key) > 0.25:
                key = self.next_id
                self.next_id += 1
                track = {"count": 0, "side": None, "point": point}
            else:
                available.remove(key)
                track = old[key]
            previous = track["point"]
            track["count"] += 1
            px, py = point[0]*aspect, point[1]
            signed = ((dx*(py-ay)-dy*(px-ax))/length) * config["direction"]
            side = -1 if signed < -0.03 else (1 if signed > 0.03 else 0)
            rx1, ry1, rx2, ry2 = config["region"]
            inside = rx1 <= point[0] <= rx2 and ry1 <= point[1] <= ry2
            if track["count"] >= 3 and inside:
                if side == 1 and track["side"] == -1:
                    # Schnitt der Bewegung mit dem endlichen Liniensegment.
                    start = track.get("arrival", previous)
                    sx, sy = start[0]*aspect, start[1]
                    vx, vy = px-sx, py-sy
                    den = vx*dy-vy*dx
                    if abs(den) > 1e-9:
                        t = ((ax-sx)*dy-(ay-sy)*dx)/den
                        u = ((ax-sx)*vy-(ay-sy)*vx)/den
                        crossed |= 0 <= t <= 1 and 0 <= u <= 1
                if side:
                    track["side"] = side
                    if side == -1:
                        track["arrival"] = point
            elif not inside:
                track["side"] = None
            track.update(point=point, seen=now)
            result.append({**person, "track_id": key, "confirmed": track["count"] >= 3})
            old[key] = track
        active = {p["track_id"] for p in result}
        for key in set(old)-active:
            old[key].update(count=0, side=None)
        self.tracks = old
        return result, crossed


class DetectionService:
    def __init__(self, camera, controller, events, directory, detector_factory=NanoDet, clock=time.monotonic):
        self.camera, self.controller, self.events = camera, controller, events
        self.clock, self.factory = clock, detector_factory
        self.path = directory / "detection.json"
        self.model_path = directory / "models" / "object_detection_nanodet_2022nov.onnx"
        self.lock = threading.RLock()
        self.stop_event = threading.Event()
        self.thread = None
        self.error = None
        self.fault = False
        self.config_error = None
        self.config = json.loads(json.dumps(DEFAULT_CONFIG))
        try:
            if self.path.exists():
                self.config = validate_config(json.loads(self.path.read_text()))
        except (ValueError, TypeError, KeyError, OSError) as exc:
            self.config_error = f"Erkennungseinstellungen beschädigt: {exc}"
        self.revision = 0
        self.reset_state()
        self.last_valid = None
        self.started = self.clock()
        self.fps = 0.
        self.result = {"frame_number": 0, "people": [], "image_base64": None, "motion": None}

    def reset_state(self):
        self.revision += 1
        self.tracker = LineTracker()
        self.free_since = None
        self.armed = False
        self.generation = self.controller.generation

    def configure(self, value):
        config = validate_config(value)
        with self.lock:
            self.path.parent.mkdir(parents=True, exist_ok=True)
            with tempfile.NamedTemporaryFile(mode="w", dir=self.path.parent, delete=False) as file:
                temp = Path(file.name)
                try:
                    json.dump(config, file)
                    file.flush()
                    os.fsync(file.fileno())
                except Exception:
                    temp.unlink(missing_ok=True)
                    raise
            try:
                os.replace(temp, self.path)
            finally:
                temp.unlink(missing_ok=True)
            self.config = config
            self.config_error = None
            self.reset_state()
            self.started = self.clock()
            self.last_valid = None
            self.result = {"frame_number": 0, "people": [], "image_base64": None, "motion": None}
            return self.get_config()

    def get_config(self):
        with self.lock:
            return json.loads(json.dumps(self.config))

    def reset(self):
        with self.lock:
            self.fault = False
            self.error = None
            self.reset_state()
            self.started = self.clock()
            self.last_valid = None

    def fail(self, message):
        with self.lock:
            self.error = message
            self.armed = False
            self.free_since = None
            if self.config["enabled"]:
                self.fault = True
                self.controller.stop()

    def watchdog(self):
        with self.lock:
            if self.config["enabled"] and not self.fault:
                if self.camera.error:
                    self.fail(self.camera.error)
                elif self.clock() - (self.last_valid if self.last_valid is not None else self.started) > 2:
                    self.fail("Keine gültige Erkennung seit mehr als zwei Sekunden; zurücksetzen")

    def process(self, people, number, jpeg, captured_at, version, motion=None):
        event_mode = None
        event_method = None
        event_region = None
        with self.lock:
            now = self.clock()
            if self.stop_event.is_set():
                return
            if self.controller.generation != self.generation:
                self.reset_state()
                return
            if version != self.revision:
                return
            if now - captured_at > 2:
                self.fail("Erkennungsbild ist veraltet; zurücksetzen")
                return
            self.last_valid = now
            if not self.fault:
                self.error = None
            image = Image.open(BytesIO(jpeg))
            if self.config['method'] == 'motion_test':
                if motion is None:
                    self.fail('Bewegungs-Test liefert kein Ergebnis; zurücksetzen')
                    return
                people = []
                crossing = motion['trigger']
            else:
                motion = None
                people, crossing = self.tracker.update(people, self.config, now, image.width/image.height)
            self.result = {"frame_number": number, "people": people, "motion": motion,
                           "image_base64": base64.b64encode(jpeg).decode("ascii")}
            if not self.config["enabled"] or self.fault or self.controller.stopped:
                self.armed = False
                self.free_since = None
                return
            rx1, ry1, rx2, ry2 = self.config["region"]
            # In motion test mode, a quiet image is NOT proof of no visitors.
            occupied = (not motion['ready'] or motion['moving']) if motion is not None else any(
                p["box"][0] <= rx2 and p["box"][2] >= rx1 and
                p["box"][1] <= ry2 and p["box"][3] >= ry1 for p in people)
            if occupied:
                self.free_since = None
            else:
                if self.free_since is None:
                    self.free_since = now
                if now-self.free_since >= 2 and self.controller.status()["cooldown_seconds"] == 0:
                    self.armed = True
            if crossing and self.armed:
                # Controller bleibt die gemeinsame letzte Schranke, unabhängig
                # von manueller Bereichsfreigabe oder parallelem Browser-Stopp.
                self.controller.zone_clear()
                accepted, _ = self.controller.trigger()
                self.armed = False
                self.free_since = None
                if accepted:
                    event_mode = self.controller.last_event["mode"]
                    event_method = self.config['method']
                    event_region = list(self.config['region'])
        # SQLite darf UI und unabhängigen Watchdog nicht blockieren.
        if event_mode is not None:
            try:
                if event_method == 'motion_test':
                    self.events.record_motion_trigger(event_mode, jpeg=jpeg, region=event_region)
                else:
                    self.events.record_detection_trigger(event_mode, jpeg=jpeg, region=event_region)
            except Exception as exc:
                self.fail(f"Ereignis/Bild nicht gespeichert: {exc}")

    def status(self):
        with self.lock:
            age = None if self.last_valid is None else self.clock()-self.last_valid
            return {"enabled": self.config["enabled"], "method": self.config["method"], "ready": age is not None and age <= 2 and not self.error,
                    "error": self.config_error or self.error, "reset_required": self.fault,
                    "armed": self.armed and not self.fault and not self.controller.stopped
                    and self.controller.generation == self.generation
                    and self.controller.status()["cooldown_seconds"] == 0,
                    "fps": round(self.fps, 2), "result_age_seconds": age}

    def snapshot(self):
        with self.lock:
            status = self.status()
            fresh = status["ready"]
            return {**self.result, "motion": self.result["motion"] if fresh else None, "people": self.result["people"] if fresh else [],
                    "image_base64": self.result["image_base64"] if fresh else None,
                    "status": status}

    def start(self):
        self.started = self.clock()
        self.thread = threading.Thread(target=self._run, name="person-detection", daemon=True)
        self.thread.start()

    def stop(self):
        self.stop_event.set()
        self.controller.stop()
        if self.thread:
            self.thread.join(timeout=3)

    def _run(self):
        detector, detector_key, last_number, last_completed = None, None, 0, None
        while not self.stop_event.is_set():
            began = self.clock()
            version = None
            try:
                with self.lock:
                    if self.controller.generation != self.generation:
                        self.reset_state()
                    version = self.revision
                    config = self.get_config()
                # A fresh motion baseline is required for every reconfiguration,
                # controller change and reset. Never reuse pre-change optical flow.
                key = (config['method'], version)
                if detector is None or detector_key != key:
                    detector = MotionDetector() if config['method'] == 'motion_test' else self.factory(self.model_path)
                    detector_key = key
                    last_completed = None
                number, jpeg, captured_at = self.camera.latest_timed()
                if jpeg is not None and number != last_number:
                    last_number = number
                    if config['method'] == 'motion_test':
                        motion = detector.detect(jpeg, config, captured_at)
                        self.process([], number, jpeg, captured_at, version, motion=motion)
                    else:
                        people = detector.detect(jpeg)
                        self.process(people, number, jpeg, captured_at, version)
                    completed = self.clock()
                    with self.lock:
                        self.fps = 0. if last_completed is None else 1/max(0.001, completed-last_completed)
                    last_completed = completed
            except Exception as exc:
                # An old in-flight model failure must not fault a newly selected
                # method. A current failure still uses the usual reset latch.
                with self.lock:
                    if version == self.revision and self.controller.generation == self.generation:
                        self.fail(f"Erkennung nicht verfügbar: {exc}")
                detector = None
                self.stop_event.wait(1)
            self.stop_event.wait(max(0, 0.2-(self.clock()-began)))