"""
motion_capture/device.py

BaseDevice implementation for a camera-based motion tracker.

Each CameraDevice owns a CameraTracker that runs its own background
capture thread.  connect() opens the camera; disconnect() releases it.

Channels:
    x_pos  — horizontal position [px]   (left=0, right=frame_width)
    y_pos  — vertical position   [px]   (top=0, bottom=frame_height)

Apply the pixel_to_mm filter in Signals → Channels to convert to mm.
"""

from __future__ import annotations

from typing import Any, Dict, Optional

from devices.base_device import (
    BaseDevice, ChannelConfig, DeviceInfo, DeviceStatus,
)


class CameraDevice(BaseDevice):

    def __init__(self, device_id: str = "cam_0",
                 camera_index: int = 0,
                 simulate: bool = False,
                 resolution=None):
        name = "Camera (Sim)" if simulate else f"Camera {camera_index}"
        super().__init__(DeviceInfo(
            device_id   = device_id,
            name        = name,
            device_type = "camera",
            description = "Camera point-tracking — x/y position in pixels.",
            icon        = "📷",
            channels    = [
                ChannelConfig(
                    channel_id = "x_pos",
                    name       = "X Position",
                    unit       = "px",
                    min_value  = 0.0,
                    max_value  = 1920.0,
                    color      = "#00d4ff",
                ),
                ChannelConfig(
                    channel_id = "y_pos",
                    name       = "Y Position",
                    unit       = "px",
                    min_value  = 0.0,
                    max_value  = 1080.0,
                    color      = "#f72585",
                ),
            ],
        ))
        self._camera_index           = camera_index
        self._simulate               = simulate
        self._resolution             = resolution
        self._tracker: Optional[Any] = None
        self._tracking_win           = None

    # ── BaseDevice ────────────────────────────────────────────────────────

    def connect(self) -> bool:
        from tracker import CameraTracker
        self._tracker = CameraTracker()
        self._tracker.start(
            -1 if self._simulate else self._camera_index,
            resolution=self._resolution,
        )
        if self._tracker.simulated:
            self.status = DeviceStatus.SIMULATED
        else:
            self.status = DeviceStatus.CONNECTED
        return True

    def disconnect(self) -> None:
        if self._tracking_win is not None:
            self._tracking_win.close()
            self._tracking_win = None
        if self._tracker is not None:
            self._tracker.stop()
            self._tracker = None
        self.status = DeviceStatus.DISCONNECTED

    def read_channels(self) -> Dict[str, float]:
        if self._tracker is None:
            return {"x_pos": 0.0, "y_pos": 0.0}
        pos = self._tracker.get_position()
        if pos is None:
            return {"x_pos": 0.0, "y_pos": 0.0}
        x, y = pos
        return {"x_pos": float(x), "y_pos": float(y)}

    def write_channel(self, channel_id: str, value: Any) -> bool:
        return False

    def get_config_widget(self):
        from PyQt6.QtWidgets import (
            QFormLayout, QLabel, QPushButton, QVBoxLayout, QWidget,
        )

        w = QWidget()
        lay = QVBoxLayout(w)
        lay.setContentsMargins(8, 8, 8, 8)
        lay.setSpacing(10)

        form = QFormLayout()
        form.setContentsMargins(0, 0, 0, 0)

        src_lbl = QLabel(
            "Simulation" if self._simulate else f"Camera {self._camera_index}"
        )
        src_lbl.setObjectName("traceSource")
        form.addRow("Source:", src_lbl)

        self._status_lbl = QLabel(self.status.name.title())
        self._status_lbl.setObjectName("traceSource")
        form.addRow("Status:", self._status_lbl)

        lay.addLayout(form)

        open_btn = QPushButton("🎥  Open Camera View")
        open_btn.setObjectName("addTraceBtn")
        open_btn.clicked.connect(self._open_tracking_window)
        lay.addWidget(open_btn)

        hint = QLabel(
            "In the Camera View: click the frame to set the tracking\n"
            "point. Apply the 'pixel_to_mm' filter in Signals → Channels\n"
            "to convert pixel coordinates to real-world units."
        )
        hint.setObjectName("traceSource")
        hint.setWordWrap(True)
        lay.addWidget(hint)
        lay.addStretch()

        return w

    # ── Internal ──────────────────────────────────────────────────────────

    def _open_tracking_window(self):
        if self._tracker is None:
            return
        from window import MotionCaptureWindow
        if self._tracking_win is None:
            self._tracking_win = MotionCaptureWindow(self._tracker)
            self._tracking_win.closed.connect(self._on_tracking_win_closed)
        self._tracking_win.show()
        self._tracking_win.raise_()

    def _on_tracking_win_closed(self):
        self._tracking_win = None


# Backward-compat alias for any profiles that reference the old class name
MotionCaptureDevice = CameraDevice