"""Vision endpoints attēlu un kadru analīzei."""

from __future__ import annotations

import base64
import binascii
import io
import logging
import os
from collections import Counter
from datetime import UTC, datetime
from typing import Any
from uuid import uuid4

import httpx
import numpy as np
from fastapi import APIRouter, HTTPException
from PIL import Image, ImageDraw, ImageStat
from pydantic import BaseModel, Field, field_validator, model_validator

from maris_core.memory_context import memory_store

logger = logging.getLogger(__name__)
router = APIRouter()

_DETECTOR: Any | None = None
_DETECTOR_FAILED = False
_SEGMENTER: Any | None = None
_SEGMENTER_FAILED = False
_OCR_ENGINE: Any | None = None
_OCR_ENGINE_KIND: str | None = None
_OCR_FAILED = False
_LIVE_CAMERAS: dict[str, dict[str, Any]] = {}
_LIVE_REID_INDEX: dict[str, list[dict[str, Any]]] = {}

SCENE_BRIGHTNESS_DELTA = 30.0
TRACKING_DISTANCE_RATIO = 0.18
POSE_CONNECTIONS = [
    ("nose", "left_shoulder"),
    ("nose", "right_shoulder"),
    ("left_shoulder", "right_shoulder"),
    ("left_shoulder", "left_elbow"),
    ("left_elbow", "left_wrist"),
    ("right_shoulder", "right_elbow"),
    ("right_elbow", "right_wrist"),
    ("left_shoulder", "left_hip"),
    ("right_shoulder", "right_hip"),
    ("left_hip", "right_hip"),
    ("left_hip", "left_knee"),
    ("left_knee", "left_ankle"),
    ("right_hip", "right_knee"),
    ("right_knee", "right_ankle"),
]


class BoundingBox(BaseModel):
    x: float
    y: float
    width: float
    height: float


class VisionDetection(BaseModel):
    label: str
    confidence: float
    bbox: BoundingBox


class ImageSourceRequest(BaseModel):
    image_url: str | None = None
    image_base64: str | None = None
    session_id: str | None = Field(default=None, max_length=120)
    camera_id: str | None = Field(default=None, max_length=120)
    max_detections: int = Field(default=10, ge=1, le=50)
    confidence_threshold: float = Field(default=0.25, ge=0.0, le=1.0)

    @model_validator(mode="after")
    def validate_source(self) -> ImageSourceRequest:
        has_url = bool((self.image_url or "").strip())
        has_base64 = bool((self.image_base64 or "").strip())
        if has_url == has_base64:
            raise ValueError("Norādi tieši vienu no image_url vai image_base64.")
        return self

    @field_validator("session_id", "camera_id")
    @classmethod
    def normalize_optional_text(cls, value: str | None) -> str | None:
        normalized = (value or "").strip()
        return normalized or None


class FrameSequenceRequest(BaseModel):
    frames_base64: list[str] = Field(min_length=1, max_length=24)
    max_detections: int = Field(default=10, ge=1, le=50)
    confidence_threshold: float = Field(default=0.25, ge=0.0, le=1.0)

    @field_validator("frames_base64")
    @classmethod
    def validate_frames(cls, value: list[str]) -> list[str]:
        cleaned = [item.strip() for item in value if item.strip()]
        if not cleaned:
            raise ValueError("frames_base64 nedrīkst būt tukšs.")
        return cleaned


class VisionAnalyzeResponse(BaseModel):
    summary: str
    detections: list[VisionDetection]
    width: int
    height: int
    model: str
    fallback_used: bool = False


class OCRTextBlock(BaseModel):
    text: str
    confidence: float
    bbox: BoundingBox
    language: str


class VisionOCRResponse(BaseModel):
    summary: str
    results: list[OCRTextBlock]
    width: int
    height: int
    model: str
    fallback_used: bool = False


class PoseKeypoint(BaseModel):
    name: str
    x: float
    y: float
    confidence: float


class PoseConnection(BaseModel):
    start: str
    end: str


class PoseDetection(BaseModel):
    person_id: int
    confidence: float
    bbox: BoundingBox
    keypoints: list[PoseKeypoint]
    connections: list[PoseConnection]


class VisionPoseResponse(BaseModel):
    summary: str
    poses: list[PoseDetection]
    width: int
    height: int
    model: str
    fallback_used: bool = False


class SegmentationMask(BaseModel):
    label: str
    confidence: float
    mask_data_url: str
    bbox: BoundingBox
    area_pixels: int


class VisionSegmentationResponse(BaseModel):
    summary: str
    masks: list[SegmentationMask]
    width: int
    height: int
    model: str
    fallback_used: bool = False


class ActionPrediction(BaseModel):
    action: str
    confidence: float
    subject_label: str
    rationale: str


class VisionActionResponse(BaseModel):
    summary: str
    actions: list[ActionPrediction]
    width: int
    height: int
    model: str
    fallback_used: bool = False


class TrackObservation(BaseModel):
    frame_index: int
    confidence: float
    bbox: BoundingBox


class TrackedObject(BaseModel):
    track_id: int
    label: str
    average_confidence: float
    observations: list[TrackObservation]


class VisionTrackingResponse(BaseModel):
    summary: str
    tracks: list[TrackedObject]
    frame_count: int
    model: str
    fallback_used: bool = False


class FrameAnalysis(BaseModel):
    frame_index: int
    summary: str
    detections: list[VisionDetection]
    dominant_labels: list[str]
    brightness: float


class VisionFrameAnalysisResponse(BaseModel):
    summary: str
    frames: list[FrameAnalysis]
    frame_count: int
    model: str
    fallback_used: bool = False


class SceneSegment(BaseModel):
    scene_index: int
    start_frame: int
    end_frame: int
    summary: str
    dominant_labels: list[str]
    average_brightness: float


class VisionSceneTimelineResponse(BaseModel):
    summary: str
    scenes: list[SceneSegment]
    frame_count: int
    model: str
    fallback_used: bool = False


class CameraResolution(BaseModel):
    width: int = Field(default=1280, ge=1, le=8192)
    height: int = Field(default=720, ge=1, le=8192)


class CameraHealth(BaseModel):
    connected: bool = True
    analysis_active: bool = False
    reconnect_attempts: int = Field(default=0, ge=0)
    dropped_frames: int = Field(default=0, ge=0)
    events_emitted: int = Field(default=0, ge=0)
    last_frame_at: str | None = None
    last_event_at: str | None = None
    last_error: str | None = None
    ingest_mode: str = "client_push"


class LiveCameraConnectRequest(BaseModel):
    camera_id: str | None = Field(default=None, min_length=1, max_length=120)
    source_type: str = Field(min_length=2, max_length=40)
    transport: str = Field(min_length=2, max_length=40)
    url: str | None = None
    device_id: str | None = None
    auth: dict[str, str] = Field(default_factory=dict)
    resolution: CameraResolution = Field(default_factory=CameraResolution)
    fps: float = Field(default=10.0, ge=0.1, le=120.0)
    enabled_pipelines: list[str] = Field(default_factory=list)
    detection_stride: int = Field(default=3, ge=1, le=10)
    ocr_interval: int = Field(default=12, ge=1, le=120)
    fps_budget: float = Field(default=6.0, ge=0.5, le=60.0)
    roi_zones: list[dict[str, Any]] = Field(default_factory=list)
    alert_rules: list[str] = Field(default_factory=list)

    @model_validator(mode="after")
    def validate_source(self) -> LiveCameraConnectRequest:
        if not (self.url or self.device_id):
            raise ValueError("Norādi url vai device_id kamerai.")
        return self


class LiveSessionCommandRequest(BaseModel):
    camera_id: str = Field(min_length=1, max_length=120)
    enabled_pipelines: list[str] | None = None
    detection_stride: int | None = Field(default=None, ge=1, le=10)
    ocr_interval: int | None = Field(default=None, ge=1, le=120)
    fps_budget: float | None = Field(default=None, ge=0.5, le=60.0)


class LiveCameraConfigRequest(BaseModel):
    camera_id: str = Field(min_length=1, max_length=120)
    roi_zones: list[dict[str, Any]] = Field(default_factory=list)
    alert_rules: list[str] = Field(default_factory=list)
    enabled_pipelines: list[str] | None = None
    fps_budget: float | None = Field(default=None, ge=0.5, le=60.0)


class LiveFrameRequest(BaseModel):
    camera_id: str = Field(min_length=1, max_length=120)
    image_base64: str = Field(min_length=8)
    frame_index: int | None = Field(default=None, ge=0)
    timestamp_ms: int | None = Field(default=None, ge=0)


class LiveEvent(BaseModel):
    event_id: str
    camera_id: str
    type: str
    severity: str
    timestamp: str
    summary: str
    payload: dict[str, Any] = Field(default_factory=dict)


class LiveCameraSession(BaseModel):
    camera_id: str
    source_type: str
    transport: str
    url: str | None = None
    device_id: str | None = None
    auth: dict[str, Any] = Field(default_factory=dict)
    resolution: CameraResolution
    fps: float
    status: str
    health: CameraHealth
    enabled_pipelines: list[str]
    detection_stride: int
    ocr_interval: int
    fps_budget: float
    roi_zones: list[dict[str, Any]] = Field(default_factory=list)
    alert_rules: list[str] = Field(default_factory=list)
    latest_snapshot: str | None = None
    latest_result: dict[str, Any] = Field(default_factory=dict)
    recent_events: list[LiveEvent] = Field(default_factory=list)
    timeline: list[SceneSegment] = Field(default_factory=list)
    tracks: list[TrackedObject] = Field(default_factory=list)


class LiveCameraCatalogResponse(BaseModel):
    summary: str
    cameras: list[LiveCameraSession]


class LiveCameraResponse(BaseModel):
    summary: str
    camera: LiveCameraSession


class LiveEventsResponse(BaseModel):
    summary: str
    camera_id: str
    events: list[LiveEvent]


class LiveSnapshotResponse(BaseModel):
    summary: str
    camera_id: str
    snapshot_data_url: str | None = None


class LiveFrameResponse(BaseModel):
    summary: str
    camera: LiveCameraSession
    events: list[LiveEvent] = Field(default_factory=list)


def _decode_base64_payload(value: str) -> bytes:
    payload = value.strip()
    if payload.startswith("data:"):
        _, _, payload = payload.partition(",")
    try:
        return base64.b64decode(payload, validate=True)
    except (ValueError, binascii.Error) as exc:
        raise HTTPException(status_code=400, detail="Nederīgs base64 saturs.") from exc


async def _load_image_from_source(image_url: str | None, image_base64: str | None) -> Image.Image:
    if image_base64:
        image_bytes = _decode_base64_payload(image_base64)
    elif image_url and image_url.startswith("data:"):
        image_bytes = _decode_base64_payload(image_url)
    elif image_url and image_url.startswith(("http://", "https://")):
        async with httpx.AsyncClient(timeout=30.0, follow_redirects=True) as client:
            response = await client.get(image_url)
            response.raise_for_status()
            image_bytes = response.content
    else:
        raise HTTPException(
            status_code=400,
            detail="Atbalstīts ir tikai http(s) URL vai base64 attēls.",
        )

    try:
        return Image.open(io.BytesIO(image_bytes)).convert("RGB")
    except Exception as exc:  # noqa: BLE001
        raise HTTPException(status_code=400, detail="Neizdevās nolasīt attēlu.") from exc


async def _load_image(req: ImageSourceRequest) -> Image.Image:
    return await _load_image_from_source(req.image_url, req.image_base64)


async def _load_frames(req: FrameSequenceRequest) -> list[Image.Image]:
    return [await _load_image_from_source(None, frame) for frame in req.frames_base64]


def _image_to_data_url(image: Image.Image) -> str:
    buffer = io.BytesIO()
    image.save(buffer, format="PNG")
    encoded = base64.b64encode(buffer.getvalue()).decode()
    return f"data:image/png;base64,{encoded}"


def _color_tone_name(rgb: tuple[int, int, int]) -> str:
    red, green, blue = rgb
    if max(rgb) - min(rgb) < 20:
        return "neitrāli"
    if red >= green and red >= blue:
        return "silti"
    if blue >= red and blue >= green:
        return "vēsi"
    return "zaļgani"


def _fallback_summary(image: Image.Image, reason: str) -> str:
    width, height = image.size
    orientation = "horizontāls" if width >= height else "vertikāls"
    brightness = ImageStat.Stat(image.convert("L")).mean[0]
    light = "gaišu" if brightness >= 150 else "tumšu" if brightness <= 85 else "vidēji apgaismotu"
    dominant_rgb = image.resize((1, 1)).getpixel((0, 0))
    tone = _color_tone_name(dominant_rgb)
    return (
        f"Fallback vision summary: {orientation} {width}x{height} attēls ar {light} ekspozīciju "
        f"un {tone} krāsu toni. {reason}"
    )


def _detection_center(detection: VisionDetection) -> tuple[float, float]:
    return (
        detection.bbox.x + detection.bbox.width / 2.0,
        detection.bbox.y + detection.bbox.height / 2.0,
    )


def _build_detection_summary(detections: list[VisionDetection], width: int, height: int) -> str:
    if not detections:
        return (
            f"Vision model neredzēja objektus virs sliekšņa šajā attēlā ({width}x{height}). "
            "Pamēģini zemāku confidence_threshold vai citu kadru."
        )

    counts = Counter(detection.label for detection in detections)
    ordered = ", ".join(
        f"{label}×{count}" if count > 1 else label for label, count in counts.most_common(5)
    )
    return f"Analīze pabeigta: attēlā ({width}x{height}) atrasti {len(detections)} objekti — {ordered}."


def _dominant_labels(detections: list[VisionDetection], limit: int = 4) -> list[str]:
    counts = Counter(item.label for item in detections)
    return [label for label, _ in counts.most_common(limit)]


def _frame_brightness(image: Image.Image) -> float:
    return float(ImageStat.Stat(image.convert("L")).mean[0])


def _get_detector() -> tuple[Any | None, str]:
    global _DETECTOR, _DETECTOR_FAILED

    model_name = os.getenv("VISION_DETECTION_MODEL", "facebook/detr-resnet-50")
    if _DETECTOR is not None:
        return _DETECTOR, model_name
    if _DETECTOR_FAILED:
        return None, model_name

    try:
        import torch  # type: ignore
        from transformers import pipeline  # type: ignore

        device = 0 if torch.cuda.is_available() else -1
        _DETECTOR = pipeline("object-detection", model=model_name, device=device)
    except Exception as exc:  # noqa: BLE001
        logger.warning("Vision detector unavailable, using fallback summary: %s", exc)
        _DETECTOR_FAILED = True
        return None, model_name

    return _DETECTOR, model_name


def _run_detection(
    detector: Any,
    image: Image.Image,
    *,
    threshold: float,
    max_detections: int,
) -> list[VisionDetection]:
    raw_detections = detector(image)
    detections: list[VisionDetection] = []

    for item in raw_detections:
        score = float(item.get("score", 0.0))
        if score < threshold:
            continue

        box = item.get("box") or {}
        xmin = float(box.get("xmin", 0.0))
        ymin = float(box.get("ymin", 0.0))
        xmax = float(box.get("xmax", xmin))
        ymax = float(box.get("ymax", ymin))
        width = max(0.0, xmax - xmin)
        height = max(0.0, ymax - ymin)
        if width <= 0.0 or height <= 0.0:
            continue

        detections.append(
            VisionDetection(
                label=str(item.get("label", "unknown")).strip() or "unknown",
                confidence=score,
                bbox=BoundingBox(x=xmin, y=ymin, width=width, height=height),
            )
        )
        if len(detections) >= max_detections:
            break

    return detections


def _detect_image_payload(
    image: Image.Image,
    *,
    threshold: float,
    max_detections: int,
) -> tuple[list[VisionDetection], str, bool]:
    detector, model_name = _get_detector()
    if detector is None:
        return [], "fallback/basic-image-summary", True

    try:
        return (
            _run_detection(
                detector,
                image,
                threshold=threshold,
                max_detections=max_detections,
            ),
            model_name,
            False,
        )
    except Exception as exc:  # noqa: BLE001
        logger.warning("Vision detection failed, using fallback: %s", exc)
        return [], f"{model_name} (fallback)", True


def _get_segmenter() -> tuple[Any | None, str]:
    global _SEGMENTER, _SEGMENTER_FAILED

    model_name = os.getenv(
        "VISION_SEGMENTATION_MODEL",
        "facebook/mask2former-swin-small-coco-instance",
    )
    if _SEGMENTER is not None:
        return _SEGMENTER, model_name
    if _SEGMENTER_FAILED:
        return None, model_name

    try:
        import torch  # type: ignore
        from transformers import pipeline  # type: ignore

        device = 0 if torch.cuda.is_available() else -1
        _SEGMENTER = pipeline("image-segmentation", model=model_name, device=device)
    except Exception as exc:  # noqa: BLE001
        logger.warning("Vision segmenter unavailable, using bbox masks: %s", exc)
        _SEGMENTER_FAILED = True
        return None, model_name

    return _SEGMENTER, model_name


def _bbox_from_mask(mask_array: np.ndarray) -> BoundingBox | None:
    ys, xs = np.where(mask_array > 0)
    if len(xs) == 0 or len(ys) == 0:
        return None
    xmin = float(xs.min())
    xmax = float(xs.max())
    ymin = float(ys.min())
    ymax = float(ys.max())
    return BoundingBox(
        x=xmin, y=ymin, width=max(1.0, xmax - xmin + 1.0), height=max(1.0, ymax - ymin + 1.0)
    )


def _mask_to_data_url(mask_array: np.ndarray) -> str:
    mask_image = Image.fromarray(np.where(mask_array > 0, 255, 0).astype(np.uint8), mode="L")
    return _image_to_data_url(mask_image)


def _bbox_mask(width: int, height: int, bbox: BoundingBox) -> np.ndarray:
    mask = Image.new("L", (width, height), 0)
    draw = ImageDraw.Draw(mask)
    draw.rectangle(
        [bbox.x, bbox.y, bbox.x + bbox.width, bbox.y + bbox.height],
        fill=255,
    )
    return np.array(mask, dtype=np.uint8)


def _coerce_mask_array(mask: Any) -> np.ndarray | None:
    if isinstance(mask, Image.Image):
        return np.array(mask.convert("L"), dtype=np.uint8)
    if isinstance(mask, np.ndarray):
        return mask.astype(np.uint8)
    try:
        array = np.asarray(mask, dtype=np.uint8)
    except Exception:  # noqa: BLE001
        return None
    if array.ndim < 2:
        return None
    return array


def _segment_from_detections(
    image: Image.Image, detections: list[VisionDetection]
) -> list[SegmentationMask]:
    width, height = image.size
    masks: list[SegmentationMask] = []
    for detection in detections:
        mask_array = _bbox_mask(width, height, detection.bbox)
        masks.append(
            SegmentationMask(
                label=detection.label,
                confidence=detection.confidence,
                mask_data_url=_mask_to_data_url(mask_array),
                bbox=detection.bbox,
                area_pixels=int((mask_array > 0).sum()),
            )
        )
    return masks


def _extract_segmentation_masks(
    image: Image.Image,
    detections: list[VisionDetection],
) -> tuple[list[SegmentationMask], str, bool]:
    segmenter, model_name = _get_segmenter()
    if segmenter is None:
        return _segment_from_detections(image, detections), "bbox-mask-fallback", True

    try:
        raw_masks = segmenter(image)
        masks: list[SegmentationMask] = []
        for item in raw_masks:
            mask_array = _coerce_mask_array(item.get("mask"))
            if mask_array is None:
                continue
            bbox = _bbox_from_mask(mask_array)
            if bbox is None:
                continue
            masks.append(
                SegmentationMask(
                    label=str(item.get("label", "segment")).strip() or "segment",
                    confidence=float(item.get("score", 0.0)),
                    mask_data_url=_mask_to_data_url(mask_array),
                    bbox=bbox,
                    area_pixels=int((mask_array > 0).sum()),
                )
            )
        if masks:
            return masks, model_name, False
    except Exception as exc:  # noqa: BLE001
        logger.warning("Vision segmentation failed, using bbox masks: %s", exc)

    return _segment_from_detections(image, detections), f"{model_name} (fallback)", True


def _get_ocr_engine() -> tuple[tuple[str, Any] | None, str]:
    global _OCR_ENGINE, _OCR_ENGINE_KIND, _OCR_FAILED

    trocr_model = os.getenv("VISION_OCR_MODEL", "microsoft/trocr-base-printed")
    if _OCR_ENGINE is not None and _OCR_ENGINE_KIND is not None:
        return (_OCR_ENGINE_KIND, _OCR_ENGINE), trocr_model
    if _OCR_FAILED:
        return None, trocr_model

    try:
        import pytesseract  # type: ignore

        _OCR_ENGINE = pytesseract
        _OCR_ENGINE_KIND = "pytesseract"
        return (_OCR_ENGINE_KIND, _OCR_ENGINE), "pytesseract"
    except Exception:  # noqa: BLE001
        pass

    try:
        import torch  # type: ignore
        from transformers import TrOCRProcessor, VisionEncoderDecoderModel  # type: ignore

        processor = TrOCRProcessor.from_pretrained(trocr_model)
        model = VisionEncoderDecoderModel.from_pretrained(trocr_model)
        if torch.cuda.is_available():
            model = model.to("cuda")
        _OCR_ENGINE = {"processor": processor, "model": model, "torch": torch}
        _OCR_ENGINE_KIND = "trocr"
        return (_OCR_ENGINE_KIND, _OCR_ENGINE), trocr_model
    except Exception as exc:  # noqa: BLE001
        logger.warning("Vision OCR engine unavailable, using fallback summary: %s", exc)
        _OCR_FAILED = True
        return None, trocr_model


def _extract_ocr_blocks(image: Image.Image) -> tuple[list[OCRTextBlock], str, bool]:
    engine, model_name = _get_ocr_engine()
    width, height = image.size
    if engine is None:
        return [], "fallback/ocr-unavailable", True

    engine_kind, payload = engine
    if engine_kind == "pytesseract":
        try:
            data = payload.image_to_data(image, output_type=payload.Output.DICT)
            blocks: list[OCRTextBlock] = []
            total = len(data.get("text", []))
            for index in range(total):
                text = str(data["text"][index]).strip()
                if not text:
                    continue
                confidence_raw = str(data.get("conf", ["0"])[index]).strip()
                try:
                    confidence = max(0.0, min(1.0, float(confidence_raw) / 100.0))
                except ValueError:
                    confidence = 0.0
                blocks.append(
                    OCRTextBlock(
                        text=text,
                        confidence=confidence,
                        bbox=BoundingBox(
                            x=float(data["left"][index]),
                            y=float(data["top"][index]),
                            width=float(data["width"][index]),
                            height=float(data["height"][index]),
                        ),
                        language="unknown",
                    )
                )
            return blocks, model_name, False
        except Exception as exc:  # noqa: BLE001
            logger.warning("pytesseract OCR failed, falling back: %s", exc)

    if engine_kind == "trocr":
        try:
            processor = payload["processor"]
            model = payload["model"]
            torch = payload["torch"]
            pixel_values = processor(images=image, return_tensors="pt").pixel_values
            if torch.cuda.is_available():
                pixel_values = pixel_values.to("cuda")
            generated_ids = model.generate(pixel_values)
            text = processor.batch_decode(generated_ids, skip_special_tokens=True)[0].strip()
            if text:
                return (
                    [
                        OCRTextBlock(
                            text=text,
                            confidence=0.65,
                            bbox=BoundingBox(
                                x=0.0, y=0.0, width=float(width), height=float(height)
                            ),
                            language="auto",
                        )
                    ],
                    model_name,
                    False,
                )
        except Exception as exc:  # noqa: BLE001
            logger.warning("TrOCR inference failed, falling back: %s", exc)

    return [], f"{model_name} (fallback)", True


def _keypoint(x: float, y: float, confidence: float, name: str) -> PoseKeypoint:
    return PoseKeypoint(name=name, x=x, y=y, confidence=confidence)


def _estimate_pose_from_detections(detections: list[VisionDetection]) -> list[PoseDetection]:
    people = [item for item in detections if item.label.lower() == "person"]
    poses: list[PoseDetection] = []
    for index, person in enumerate(people, start=1):
        x = person.bbox.x
        y = person.bbox.y
        width = person.bbox.width
        height = person.bbox.height
        confidence = max(0.2, min(1.0, person.confidence * 0.92))
        points = [
            _keypoint(x + width * 0.50, y + height * 0.12, confidence, "nose"),
            _keypoint(x + width * 0.32, y + height * 0.26, confidence, "left_shoulder"),
            _keypoint(x + width * 0.68, y + height * 0.26, confidence, "right_shoulder"),
            _keypoint(x + width * 0.24, y + height * 0.44, confidence * 0.95, "left_elbow"),
            _keypoint(x + width * 0.76, y + height * 0.44, confidence * 0.95, "right_elbow"),
            _keypoint(x + width * 0.18, y + height * 0.62, confidence * 0.88, "left_wrist"),
            _keypoint(x + width * 0.82, y + height * 0.62, confidence * 0.88, "right_wrist"),
            _keypoint(x + width * 0.38, y + height * 0.56, confidence, "left_hip"),
            _keypoint(x + width * 0.62, y + height * 0.56, confidence, "right_hip"),
            _keypoint(x + width * 0.36, y + height * 0.77, confidence * 0.9, "left_knee"),
            _keypoint(x + width * 0.64, y + height * 0.77, confidence * 0.9, "right_knee"),
            _keypoint(x + width * 0.34, y + height * 0.97, confidence * 0.82, "left_ankle"),
            _keypoint(x + width * 0.66, y + height * 0.97, confidence * 0.82, "right_ankle"),
        ]
        poses.append(
            PoseDetection(
                person_id=index,
                confidence=confidence,
                bbox=person.bbox,
                keypoints=points,
                connections=[
                    PoseConnection(start=start, end=end) for start, end in POSE_CONNECTIONS
                ],
            )
        )
    return poses


def _predict_actions(detections: list[VisionDetection]) -> list[ActionPrediction]:
    labels = {item.label.lower() for item in detections}
    actions: list[ActionPrediction] = []
    people = [item for item in detections if item.label.lower() == "person"]
    for person in people:
        ratio = person.bbox.height / max(person.bbox.width, 1.0)
        if "cell phone" in labels:
            action = "using_phone"
            confidence = min(0.97, 0.55 + person.confidence * 0.35)
            rationale = "Persona ir kopā ar phone tipa objektu vienā kadrā."
        elif "sports ball" in labels:
            action = "playing_ball"
            confidence = min(0.94, 0.5 + person.confidence * 0.3)
            rationale = "Kadrā redzams cilvēks un sporta bumba."
        elif ratio > 2.3:
            action = "standing"
            confidence = min(0.9, 0.45 + person.confidence * 0.4)
            rationale = "Cilvēka bbox ir izteikti vertikāls, kas atbilst stāvēšanai."
        elif ratio > 1.6:
            action = "walking"
            confidence = min(0.84, 0.4 + person.confidence * 0.32)
            rationale = "Cilvēka siluets izskatās kustībā vai solī."
        else:
            action = "sitting_or_crouching"
            confidence = min(0.78, 0.38 + person.confidence * 0.28)
            rationale = "Cilvēka bbox proporcijas norāda uz sēdošu vai pietupušos pozu."

        actions.append(
            ActionPrediction(
                action=action,
                confidence=confidence,
                subject_label=person.label,
                rationale=rationale,
            )
        )

    return actions


def _frame_detections(
    image: Image.Image,
    *,
    threshold: float,
    max_detections: int,
) -> tuple[list[VisionDetection], str, bool]:
    return _detect_image_payload(image, threshold=threshold, max_detections=max_detections)


def _build_frame_analysis(
    frames: list[Image.Image],
    *,
    threshold: float,
    max_detections: int,
) -> tuple[list[FrameAnalysis], str, bool]:
    analyses: list[FrameAnalysis] = []
    model_names: list[str] = []
    fallback_used = False
    for index, frame in enumerate(frames):
        detections, model_name, frame_fallback = _frame_detections(
            frame,
            threshold=threshold,
            max_detections=max_detections,
        )
        model_names.append(model_name)
        fallback_used = fallback_used or frame_fallback
        analyses.append(
            FrameAnalysis(
                frame_index=index,
                summary=_build_detection_summary(detections, frame.size[0], frame.size[1])
                if detections
                else _fallback_summary(
                    frame, "Objektu noteikšanas modelis šim kadrām nav pieejams."
                ),
                detections=detections,
                dominant_labels=_dominant_labels(detections),
                brightness=_frame_brightness(frame),
            )
        )

    model_name = (
        Counter(model_names).most_common(1)[0][0] if model_names else "fallback/basic-image-summary"
    )
    return analyses, model_name, fallback_used


def _build_tracks(
    frames: list[FrameAnalysis],
    frame_size: tuple[int, int],
) -> list[TrackedObject]:
    width, height = frame_size
    max_distance = ((width**2 + height**2) ** 0.5) * TRACKING_DISTANCE_RATIO
    active_tracks: dict[int, tuple[str, tuple[float, float]]] = {}
    observations: dict[int, list[tuple[str, TrackObservation, float]]] = {}
    next_track_id = 1

    for frame in frames:
        frame_active: dict[int, tuple[str, tuple[float, float]]] = {}
        for detection in frame.detections:
            center = _detection_center(detection)
            track_id: int | None = None
            best_distance = float("inf")
            for candidate_id, (candidate_label, candidate_center) in active_tracks.items():
                if candidate_label != detection.label:
                    continue
                distance = (
                    (candidate_center[0] - center[0]) ** 2 + (candidate_center[1] - center[1]) ** 2
                ) ** 0.5
                if distance <= max_distance and distance < best_distance:
                    best_distance = distance
                    track_id = candidate_id
            if track_id is None:
                track_id = next_track_id
                next_track_id += 1
            frame_active[track_id] = (detection.label, center)
            observations.setdefault(track_id, []).append(
                (
                    detection.label,
                    TrackObservation(
                        frame_index=frame.frame_index,
                        confidence=detection.confidence,
                        bbox=detection.bbox,
                    ),
                    detection.confidence,
                )
            )
        active_tracks = frame_active

    tracks: list[TrackedObject] = []
    for track_id, items in observations.items():
        label = items[0][0]
        confs = [item[2] for item in items]
        tracks.append(
            TrackedObject(
                track_id=track_id,
                label=label,
                average_confidence=sum(confs) / len(confs),
                observations=[item[1] for item in items],
            )
        )
    return tracks


def _build_scenes(frame_analyses: list[FrameAnalysis]) -> list[SceneSegment]:
    if not frame_analyses:
        return []

    scenes: list[list[FrameAnalysis]] = [[frame_analyses[0]]]
    for frame in frame_analyses[1:]:
        previous = scenes[-1][-1]
        previous_labels = set(previous.dominant_labels)
        current_labels = set(frame.dominant_labels)
        if previous_labels or current_labels:
            overlap = len(previous_labels & current_labels) / max(
                len(previous_labels | current_labels), 1
            )
        else:
            overlap = 1.0
        brightness_delta = abs(frame.brightness - previous.brightness)
        if overlap < 0.4 or brightness_delta >= SCENE_BRIGHTNESS_DELTA:
            scenes.append([frame])
        else:
            scenes[-1].append(frame)

    response: list[SceneSegment] = []
    for scene_index, scene_frames in enumerate(scenes):
        labels = Counter(label for frame in scene_frames for label in frame.dominant_labels)
        dominant_labels = [label for label, _ in labels.most_common(4)]
        avg_brightness = sum(frame.brightness for frame in scene_frames) / len(scene_frames)
        response.append(
            SceneSegment(
                scene_index=scene_index,
                start_frame=scene_frames[0].frame_index,
                end_frame=scene_frames[-1].frame_index,
                summary=(
                    f"Scene {scene_index + 1}: kadri {scene_frames[0].frame_index}-{scene_frames[-1].frame_index} "
                    f"ar dominējošiem elementiem {', '.join(dominant_labels) if dominant_labels else 'nav noteikts'}."
                ),
                dominant_labels=dominant_labels,
                average_brightness=avg_brightness,
            )
        )
    return response


def _utc_now_iso() -> str:
    return datetime.now(UTC).isoformat().replace("+00:00", "Z")


def _default_live_pipelines() -> list[str]:
    return [
        "object_detection",
        "tracking",
        "action_recognition",
        "scene_timeline",
        "ocr",
        "pose_estimation",
        "segmentation",
        "anomaly_detection",
    ]


def _public_auth(auth: dict[str, str]) -> dict[str, Any]:
    username = (auth.get("username") or "").strip()
    return {
        "username_hint": f"{username[:2]}***" if username else None,
        "token_present": bool(auth.get("token")),
        "password_present": bool(auth.get("password")),
    }


def _create_live_event(
    camera_id: str,
    event_type: str,
    summary: str,
    *,
    severity: str = "info",
    payload: dict[str, Any] | None = None,
) -> dict[str, Any]:
    return {
        "event_id": f"evt_{uuid4().hex}",
        "camera_id": camera_id,
        "type": event_type,
        "severity": severity,
        "timestamp": _utc_now_iso(),
        "summary": summary,
        "payload": payload or {},
    }


def _camera_health(session: dict[str, Any]) -> CameraHealth:
    return CameraHealth(**session["health"])


def _camera_resolution(session: dict[str, Any]) -> CameraResolution:
    return CameraResolution(**session["resolution"])


def _camera_events(session: dict[str, Any]) -> list[LiveEvent]:
    return [LiveEvent(**item) for item in session.get("recent_events", [])]


def _session_to_response(session: dict[str, Any]) -> LiveCameraSession:
    return LiveCameraSession(
        camera_id=session["camera_id"],
        source_type=session["source_type"],
        transport=session["transport"],
        url=session.get("url"),
        device_id=session.get("device_id"),
        auth=_public_auth(session.get("auth", {})),
        resolution=_camera_resolution(session),
        fps=float(session["fps"]),
        status=session["status"],
        health=_camera_health(session),
        enabled_pipelines=list(session.get("enabled_pipelines", [])),
        detection_stride=int(session.get("detection_stride", 3)),
        ocr_interval=int(session.get("ocr_interval", 12)),
        fps_budget=float(session.get("fps_budget", 6.0)),
        roi_zones=list(session.get("roi_zones", [])),
        alert_rules=list(session.get("alert_rules", [])),
        latest_snapshot=session.get("latest_snapshot"),
        latest_result=dict(session.get("latest_result", {})),
        recent_events=_camera_events(session),
        timeline=list(session.get("timeline", [])),
        tracks=list(session.get("tracks", [])),
    )


def _append_session_event(session: dict[str, Any], event: dict[str, Any]) -> LiveEvent:
    session.setdefault("recent_events", []).append(event)
    session["recent_events"] = session["recent_events"][-40:]
    health = session["health"]
    health["events_emitted"] = int(health.get("events_emitted", 0)) + 1
    health["last_event_at"] = event["timestamp"]
    return LiveEvent(**event)


def _scene_changed(
    previous: FrameAnalysis | None,
    current: FrameAnalysis,
    threshold: float,
) -> bool:
    if previous is None:
        return True

    previous_labels = set(previous.dominant_labels)
    current_labels = set(current.dominant_labels)
    overlap = (
        len(previous_labels & current_labels) / max(len(previous_labels | current_labels), 1)
        if previous_labels or current_labels
        else 1.0
    )
    brightness_delta = abs(current.brightness - previous.brightness)
    return overlap < 0.4 or brightness_delta >= threshold


def _live_alerts(frame: FrameAnalysis, scene_changed_flag: bool) -> list[dict[str, Any]]:
    alerts: list[dict[str, Any]] = []
    detection_count = len(frame.detections)
    person_count = sum(1 for item in frame.detections if item.label.lower() == "person")
    if frame.brightness < 45:
        alerts.append(
            {
                "rule": "low_light",
                "severity": "warning",
                "summary": "Kamera redz ļoti tumšu ainu; kvalitāte var kristies.",
            }
        )
    if person_count >= 4 or detection_count >= 8:
        alerts.append(
            {
                "rule": "crowded_scene",
                "severity": "warning",
                "summary": "Ainā ir liela objektu koncentrācija; var būt vajadzīga prioritizācija.",
            }
        )
    if scene_changed_flag:
        alerts.append(
            {
                "rule": "scene_change",
                "severity": "info",
                "summary": "Atklāta būtiska ainas maiņa; timeline un OCR tiek atsvaidzināti.",
            }
        )
    return alerts


def _bbox_intersects_roi(bbox: BoundingBox, roi: dict[str, Any]) -> bool:
    roi_x = float(roi.get("x", 0.0))
    roi_y = float(roi.get("y", 0.0))
    roi_width = float(roi.get("width", 0.0))
    roi_height = float(roi.get("height", 0.0))
    if roi_width <= 0 or roi_height <= 0:
        return True

    return not (
        bbox.x + bbox.width < roi_x
        or roi_x + roi_width < bbox.x
        or bbox.y + bbox.height < roi_y
        or roi_y + roi_height < bbox.y
    )


def _apply_roi_zones(
    detections: list[VisionDetection],
    roi_zones: list[dict[str, Any]],
) -> list[VisionDetection]:
    if not roi_zones:
        return detections

    filtered: list[VisionDetection] = []
    for detection in detections:
        if any(_bbox_intersects_roi(detection.bbox, roi) for roi in roi_zones):
            filtered.append(detection)
    return filtered


def _evaluate_alert_rules(
    detections: list[VisionDetection],
    alert_rules: list[str],
    camera_id: str,
) -> list[dict[str, Any]]:
    if not alert_rules:
        return []

    alerts: list[dict[str, Any]] = []
    for raw_rule in alert_rules:
        parts = [part.strip() for part in raw_rule.split(":") if part.strip()]
        if len(parts) < 2:
            continue
        rule_name = parts[0]
        target_label = parts[1].lower()
        min_count = int(parts[2]) if len(parts) > 2 and parts[2].isdigit() else 1
        confidence_floor = float(parts[3]) if len(parts) > 3 else 0.0
        matched = [
            detection
            for detection in detections
            if detection.label.lower() == target_label and detection.confidence >= confidence_floor
        ]
        if len(matched) >= min_count:
            alerts.append(
                {
                    "rule": rule_name,
                    "severity": "warning",
                    "summary": (
                        f"Alert rule `{rule_name}` aktivizējās kamerai {camera_id}: "
                        f"{len(matched)}× {target_label} virs sliekšņa."
                    ),
                    "target_label": target_label,
                    "count": len(matched),
                    "confidence_floor": confidence_floor,
                }
            )
    return alerts


def _reid_signature(
    camera_id: str,
    track: TrackedObject,
    frame_analysis: FrameAnalysis,
) -> dict[str, Any] | None:
    if not track.observations:
        return None
    latest = track.observations[-1]
    bbox = latest.bbox
    width_norm = bbox.width / max(
        frame_analysis.detections[0].bbox.width if frame_analysis.detections else 1.0, 1.0
    )
    height_norm = bbox.height / max(frame_analysis.brightness, 1.0)
    center_x = bbox.x + bbox.width / 2.0
    center_y = bbox.y + bbox.height / 2.0
    return {
        "camera_id": camera_id,
        "track_id": track.track_id,
        "label": track.label,
        "vector": [
            round(track.average_confidence, 4),
            round(width_norm, 4),
            round(height_norm, 4),
            round(center_x / max(bbox.x + bbox.width, 1.0), 4),
            round(center_y / max(bbox.y + bbox.height, 1.0), 4),
            round(frame_analysis.brightness / 255.0, 4),
        ],
    }


def _vector_similarity(left: list[float], right: list[float]) -> float:
    left_norm = sum(value * value for value in left) ** 0.5
    right_norm = sum(value * value for value in right) ** 0.5
    if left_norm == 0 or right_norm == 0:
        return 0.0
    dot = sum(a * b for a, b in zip(left, right, strict=False))
    return dot / (left_norm * right_norm)


def _update_reid_index(
    session: dict[str, Any],
    tracks: list[TrackedObject],
    frame_analysis: FrameAnalysis,
) -> list[dict[str, Any]]:
    camera_id = session["camera_id"]
    matches: list[dict[str, Any]] = []
    camera_signatures = [
        signature
        for track in tracks
        if (signature := _reid_signature(camera_id, track, frame_analysis)) is not None
    ]

    for signature in camera_signatures:
        for other_camera_id, items in _LIVE_REID_INDEX.items():
            if other_camera_id == camera_id:
                continue
            for candidate in items:
                if candidate["label"].lower() != signature["label"].lower():
                    continue
                similarity = _vector_similarity(signature["vector"], candidate["vector"])
                if similarity >= 0.94:
                    matches.append(
                        {
                            "target_camera_id": other_camera_id,
                            "source_track_id": signature["track_id"],
                            "target_track_id": candidate["track_id"],
                            "source_label": signature["label"],
                            "target_label": candidate["label"],
                            "similarity_score": round(similarity, 4),
                            "summary": (
                                f"Iespējams cross-camera match starp {camera_id} track {signature['track_id']} "
                                f"un {other_camera_id} track {candidate['track_id']}."
                            ),
                        }
                    )

    _LIVE_REID_INDEX[camera_id] = camera_signatures[-12:]
    return matches


def _build_live_frame_payload(
    session: dict[str, Any],
    frame: Image.Image,
    frame_index: int,
    detections: list[VisionDetection],
    model_name: str,
    fallback_used: bool,
) -> tuple[dict[str, Any], list[LiveEvent]]:
    detections = _apply_roi_zones(detections, list(session.get("roi_zones", [])))
    analyses: list[FrameAnalysis] = session.setdefault("frame_analyses", [])
    frame_analysis = FrameAnalysis(
        frame_index=frame_index,
        summary=_build_detection_summary(detections, frame.size[0], frame.size[1])
        if detections
        else _fallback_summary(frame, "Live stream šajā kadrā nedeva stabilus objektus."),
        detections=detections,
        dominant_labels=_dominant_labels(detections),
        brightness=_frame_brightness(frame),
    )
    previous = analyses[-1] if analyses else None
    analyses.append(frame_analysis)
    session["frame_analyses"] = analyses[-24:]

    scene_changed_flag = _scene_changed(
        previous,
        frame_analysis,
        float(session.get("scene_change_threshold", SCENE_BRIGHTNESS_DELTA)),
    )

    tracks = (
        _build_tracks(session["frame_analyses"], frame.size)
        if "tracking" in session["enabled_pipelines"]
        else session.get("tracks", [])
    )
    timeline = (
        _build_scenes(session["frame_analyses"])
        if "scene_timeline" in session["enabled_pipelines"]
        else session.get("timeline", [])
    )
    session["tracks"] = tracks
    session["timeline"] = timeline

    should_run_ocr = "ocr" in session["enabled_pipelines"] and (
        scene_changed_flag or frame_index % max(int(session.get("ocr_interval", 12)), 1) == 0
    )
    ocr_results: list[OCRTextBlock] = []
    ocr_model = "disabled"
    ocr_fallback = False
    if should_run_ocr:
        ocr_results, ocr_model, ocr_fallback = _extract_ocr_blocks(frame)

    poses = (
        _estimate_pose_from_detections(detections)
        if "pose_estimation" in session["enabled_pipelines"]
        else []
    )
    masks = (
        _segment_from_detections(frame, detections)
        if "segmentation" in session["enabled_pipelines"]
        else []
    )
    actions = (
        _predict_actions(detections) if "action_recognition" in session["enabled_pipelines"] else []
    )
    alerts = (
        _live_alerts(frame_analysis, scene_changed_flag)
        if "anomaly_detection" in session["enabled_pipelines"]
        else []
    )
    alerts.extend(
        _evaluate_alert_rules(
            detections, list(session.get("alert_rules", [])), session["camera_id"]
        )
    )
    reid_matches = _update_reid_index(session, tracks, frame_analysis) if tracks else []

    session["latest_snapshot"] = _image_to_data_url(frame)
    session["latest_result"] = {
        "summary": frame_analysis.summary,
        "frame_index": frame_index,
        "model": model_name,
        "fallback_used": fallback_used,
        "width": frame.size[0],
        "height": frame.size[1],
        "detections": [item.model_dump() for item in detections],
        "results": [item.model_dump() for item in ocr_results],
        "poses": [item.model_dump() for item in poses],
        "masks": [item.model_dump() for item in masks],
        "actions": [item.model_dump() for item in actions],
        "tracks": [item.model_dump() for item in tracks],
        "scenes": [item.model_dump() for item in timeline],
        "alerts": alerts,
        "reid_matches": reid_matches,
        "ocr_model": ocr_model,
        "ocr_fallback_used": ocr_fallback,
    }

    events: list[LiveEvent] = [
        _append_session_event(
            session,
            _create_live_event(
                session["camera_id"],
                "analysis_result",
                f"Live frame {frame_index} analizēts ar {len(detections)} detekcijām.",
                payload={
                    "frame_index": frame_index,
                    "detection_count": len(detections),
                    "scene_changed": scene_changed_flag,
                },
            ),
        )
    ]

    if tracks:
        events.append(
            _append_session_event(
                session,
                _create_live_event(
                    session["camera_id"],
                    "track_update",
                    f"Track layer atjaunināts ar {len(tracks)} aktīvām trajektorijām.",
                    payload={"track_count": len(tracks)},
                ),
            )
        )
    if timeline:
        latest_scene = timeline[-1]
        events.append(
            _append_session_event(
                session,
                _create_live_event(
                    session["camera_id"],
                    "timeline_update",
                    latest_scene.summary,
                    payload=latest_scene.model_dump(),
                ),
            )
        )
    for alert in alerts:
        events.append(
            _append_session_event(
                session,
                _create_live_event(
                    session["camera_id"],
                    "alert",
                    alert["summary"],
                    severity=alert["severity"],
                    payload=alert,
                ),
            )
        )
    for match in reid_matches:
        events.append(
            _append_session_event(
                session,
                _create_live_event(
                    session["camera_id"],
                    "reid_match",
                    match["summary"],
                    severity="info",
                    payload=match,
                ),
            )
        )

    return session["latest_result"], events


async def _save_generation(event: str, metadata: dict[str, Any]) -> None:
    from maris_core.utils.hf_integration import HFIntegration

    hf = HFIntegration()
    await hf.save_generation("vision", event, metadata)


@router.post("/analyze", response_model=VisionAnalyzeResponse)
async def analyze_image(req: ImageSourceRequest) -> VisionAnalyzeResponse:
    """Analizē attēlu ar objektu noteikšanu."""
    image = await _load_image(req)
    detections, model_name, fallback_used = _detect_image_payload(
        image,
        threshold=req.confidence_threshold,
        max_detections=req.max_detections,
    )
    width, height = image.size
    summary = (
        _fallback_summary(image, "Objekta noteikšanas modelis šobrīd nav pieejams.")
        if fallback_used and not detections
        else _build_detection_summary(detections, width, height)
    )
    await _save_generation(
        "vision/analyze",
        {
            "model": model_name,
            "width": width,
            "height": height,
            "detections": len(detections),
            "fallback_used": fallback_used,
            "session_id": req.session_id,
            "camera_id": req.camera_id,
        },
    )
    if req.session_id:
        memory_store.remember_message(
            req.session_id,
            "assistant",
            summary,
            source="vision_camera" if req.camera_id else "vision_analyze",
        )
    return VisionAnalyzeResponse(
        summary=summary,
        detections=detections,
        width=width,
        height=height,
        model=model_name,
        fallback_used=fallback_used,
    )


@router.post("/ocr", response_model=VisionOCRResponse)
async def ocr_image(req: ImageSourceRequest) -> VisionOCRResponse:
    """Izlasa tekstu no attēla."""
    image = await _load_image(req)
    width, height = image.size
    results, model_name, fallback_used = _extract_ocr_blocks(image)
    summary = (
        f"OCR pabeigts: atrasti {len(results)} teksta bloki attēlā ({width}x{height})."
        if results
        else _fallback_summary(image, "OCR modelis šobrīd nav pieejams vai teksts nav atrasts.")
    )
    await _save_generation(
        "vision/ocr",
        {
            "model": model_name,
            "width": width,
            "height": height,
            "blocks": len(results),
            "fallback_used": fallback_used,
        },
    )
    return VisionOCRResponse(
        summary=summary,
        results=results,
        width=width,
        height=height,
        model=model_name,
        fallback_used=fallback_used,
    )


@router.post("/pose-estimate", response_model=VisionPoseResponse)
async def estimate_pose(req: ImageSourceRequest) -> VisionPoseResponse:
    """Aprēķina aptuvenus ķermeņa punktus no noteiktām personām."""
    image = await _load_image(req)
    detections, _, detection_fallback = _detect_image_payload(
        image,
        threshold=req.confidence_threshold,
        max_detections=req.max_detections,
    )
    poses = _estimate_pose_from_detections(detections)
    width, height = image.size
    fallback_used = detection_fallback or not poses
    model_name = "bbox-derived-pose-v1"
    summary = (
        f"Pose estimation pabeigta: atrasti {len(poses)} cilvēku skeleti attēlā ({width}x{height})."
        if poses
        else _fallback_summary(
            image, "Pose estimation nevarēja atrast personu bbox, no kā atvasināt skeletu."
        )
    )
    await _save_generation(
        "vision/pose-estimate",
        {
            "model": model_name,
            "width": width,
            "height": height,
            "poses": len(poses),
            "fallback_used": fallback_used,
        },
    )
    return VisionPoseResponse(
        summary=summary,
        poses=poses,
        width=width,
        height=height,
        model=model_name,
        fallback_used=fallback_used,
    )


@router.post("/segment", response_model=VisionSegmentationResponse)
async def segment_image(req: ImageSourceRequest) -> VisionSegmentationResponse:
    """Atgriež objektu segmentācijas maskas."""
    image = await _load_image(req)
    detections, _, detection_fallback = _detect_image_payload(
        image,
        threshold=req.confidence_threshold,
        max_detections=req.max_detections,
    )
    masks, model_name, segmentation_fallback = _extract_segmentation_masks(image, detections)
    width, height = image.size
    fallback_used = segmentation_fallback or detection_fallback
    summary = (
        f"Segmentation pabeigta: ģenerētas {len(masks)} maskas attēlā ({width}x{height})."
        if masks
        else _fallback_summary(image, "Segmentācijas modelis nevarēja izveidot maskas.")
    )
    await _save_generation(
        "vision/segment",
        {
            "model": model_name,
            "width": width,
            "height": height,
            "masks": len(masks),
            "fallback_used": fallback_used,
        },
    )
    return VisionSegmentationResponse(
        summary=summary,
        masks=masks,
        width=width,
        height=height,
        model=model_name,
        fallback_used=fallback_used,
    )


@router.post("/action-recognize", response_model=VisionActionResponse)
async def recognize_action(req: ImageSourceRequest) -> VisionActionResponse:
    """Atgriež darbību prognozes no viena kadra."""
    image = await _load_image(req)
    detections, _, detection_fallback = _detect_image_payload(
        image,
        threshold=req.confidence_threshold,
        max_detections=req.max_detections,
    )
    actions = _predict_actions(detections)
    width, height = image.size
    fallback_used = detection_fallback or not actions
    model_name = "vision-action-heuristics-v1"
    summary = (
        f"Action recognition pabeigta: atrastas {len(actions)} darbību hipotēzes attēlā ({width}x{height})."
        if actions
        else _fallback_summary(
            image, "Darbību noteikšanai vajadzīgs vismaz viens person objekts kadrā."
        )
    )
    await _save_generation(
        "vision/action-recognize",
        {
            "model": model_name,
            "width": width,
            "height": height,
            "actions": len(actions),
            "fallback_used": fallback_used,
        },
    )
    return VisionActionResponse(
        summary=summary,
        actions=actions,
        width=width,
        height=height,
        model=model_name,
        fallback_used=fallback_used,
    )


@router.post("/tracking", response_model=VisionTrackingResponse)
async def track_objects(req: FrameSequenceRequest) -> VisionTrackingResponse:
    """Seko objektiem kadru secībā."""
    frames = await _load_frames(req)
    analyses, model_name, fallback_used = _build_frame_analysis(
        frames,
        threshold=req.confidence_threshold,
        max_detections=req.max_detections,
    )
    tracks = _build_tracks(analyses, frames[0].size)
    summary = (
        f"Tracking pabeigts: {len(tracks)} trajektorijas pāri {len(frames)} kadriem."
        if tracks
        else "Tracking pabeigts bez stabilām trajektorijām — pārbaudi ievades kadrus vai modeļa pieejamību."
    )
    await _save_generation(
        "vision/tracking",
        {
            "model": model_name,
            "frame_count": len(frames),
            "tracks": len(tracks),
            "fallback_used": fallback_used,
        },
    )
    return VisionTrackingResponse(
        summary=summary,
        tracks=tracks,
        frame_count=len(frames),
        model=model_name,
        fallback_used=fallback_used,
    )


@router.post("/frame-analysis", response_model=VisionFrameAnalysisResponse)
async def analyze_frames(req: FrameSequenceRequest) -> VisionFrameAnalysisResponse:
    """Analizē katru video kadru atsevišķi."""
    frames = await _load_frames(req)
    analyses, model_name, fallback_used = _build_frame_analysis(
        frames,
        threshold=req.confidence_threshold,
        max_detections=req.max_detections,
    )
    summary = f"Frame-by-frame analīze pabeigta {len(analyses)} kadriem."
    await _save_generation(
        "vision/frame-analysis",
        {
            "model": model_name,
            "frame_count": len(frames),
            "fallback_used": fallback_used,
        },
    )
    return VisionFrameAnalysisResponse(
        summary=summary,
        frames=analyses,
        frame_count=len(analyses),
        model=model_name,
        fallback_used=fallback_used,
    )


@router.post("/scene-timeline", response_model=VisionSceneTimelineResponse)
async def scene_timeline(req: FrameSequenceRequest) -> VisionSceneTimelineResponse:
    """Saspiež kadru analīzi ainu laika skalā."""
    frames = await _load_frames(req)
    analyses, model_name, fallback_used = _build_frame_analysis(
        frames,
        threshold=req.confidence_threshold,
        max_detections=req.max_detections,
    )
    scenes = _build_scenes(analyses)
    summary = (
        f"Scene timeline pabeigta: {len(scenes)} ainas pāri {len(frames)} kadriem."
        if scenes
        else "Scene timeline nevarēja atrast ainu robežas dotajos kadros."
    )
    await _save_generation(
        "vision/scene-timeline",
        {
            "model": model_name,
            "frame_count": len(frames),
            "scenes": len(scenes),
            "fallback_used": fallback_used,
        },
    )
    return VisionSceneTimelineResponse(
        summary=summary,
        scenes=scenes,
        frame_count=len(analyses),
        model=model_name,
        fallback_used=fallback_used,
    )


@router.get("/live/cameras", response_model=LiveCameraCatalogResponse)
async def list_live_cameras() -> LiveCameraCatalogResponse:
    cameras = [_session_to_response(session) for session in _LIVE_CAMERAS.values()]
    return LiveCameraCatalogResponse(
        summary=f"Live camera registry satur {len(cameras)} kameras.",
        cameras=cameras,
    )


@router.post("/live/connect", response_model=LiveCameraResponse)
async def connect_live_camera(req: LiveCameraConnectRequest) -> LiveCameraResponse:
    camera_id = (req.camera_id or f"cam_{uuid4().hex[:10]}").strip()
    session = {
        "camera_id": camera_id,
        "source_type": req.source_type,
        "transport": req.transport,
        "url": req.url,
        "device_id": req.device_id,
        "auth": dict(req.auth),
        "resolution": req.resolution.model_dump(),
        "fps": req.fps,
        "status": "connected",
        "health": CameraHealth().model_dump(),
        "enabled_pipelines": req.enabled_pipelines or _default_live_pipelines(),
        "detection_stride": req.detection_stride,
        "ocr_interval": req.ocr_interval,
        "fps_budget": req.fps_budget,
        "scene_change_threshold": SCENE_BRIGHTNESS_DELTA,
        "roi_zones": req.roi_zones,
        "alert_rules": req.alert_rules,
        "latest_snapshot": None,
        "latest_result": {},
        "recent_events": [],
        "frame_analyses": [],
        "timeline": [],
        "tracks": [],
        "frame_counter": 0,
    }
    session["health"]["connected"] = True
    session["health"]["analysis_active"] = False
    _append_session_event(
        session,
        _create_live_event(
            camera_id,
            "camera_connected",
            f"Kamera {camera_id} piereģistrēta ar transportu {req.transport}.",
            payload={
                "source_type": req.source_type,
                "transport": req.transport,
                "device_id": req.device_id,
                "url": req.url,
            },
        ),
    )
    _LIVE_CAMERAS[camera_id] = session
    await _save_generation(
        "vision/live-connect",
        {
            "camera_id": camera_id,
            "source_type": req.source_type,
            "transport": req.transport,
        },
    )
    return LiveCameraResponse(
        summary=f"Live kamera {camera_id} ir savienota.",
        camera=_session_to_response(session),
    )


def _require_live_camera(camera_id: str) -> dict[str, Any]:
    session = _LIVE_CAMERAS.get(camera_id)
    if session is None:
        raise HTTPException(status_code=404, detail="Live kamera nav atrasta.")
    return session


@router.post("/live/start", response_model=LiveCameraResponse)
async def start_live_camera(req: LiveSessionCommandRequest) -> LiveCameraResponse:
    session = _require_live_camera(req.camera_id)
    if req.enabled_pipelines is not None:
        session["enabled_pipelines"] = req.enabled_pipelines or _default_live_pipelines()
    if req.detection_stride is not None:
        session["detection_stride"] = req.detection_stride
    if req.ocr_interval is not None:
        session["ocr_interval"] = req.ocr_interval
    if req.fps_budget is not None:
        session["fps_budget"] = req.fps_budget
    session["status"] = "streaming"
    session["health"]["analysis_active"] = True
    _append_session_event(
        session,
        _create_live_event(
            req.camera_id,
            "analysis_started",
            "Live analīzes sesija ir startēta.",
            payload={"enabled_pipelines": session["enabled_pipelines"]},
        ),
    )
    await _save_generation(
        "vision/live-start",
        {"camera_id": req.camera_id, "pipelines": session["enabled_pipelines"]},
    )
    return LiveCameraResponse(
        summary=f"Live analīze kamerai {req.camera_id} ir palaista.",
        camera=_session_to_response(session),
    )


@router.post("/live/config", response_model=LiveCameraResponse)
async def configure_live_camera(req: LiveCameraConfigRequest) -> LiveCameraResponse:
    session = _require_live_camera(req.camera_id)
    session["roi_zones"] = req.roi_zones
    session["alert_rules"] = req.alert_rules
    if req.enabled_pipelines is not None:
        session["enabled_pipelines"] = req.enabled_pipelines or _default_live_pipelines()
    if req.fps_budget is not None:
        session["fps_budget"] = req.fps_budget
    _append_session_event(
        session,
        _create_live_event(
            req.camera_id,
            "config_updated",
            "Kameras ROI, rules vai pipeline konfigurācija tika atjaunināta.",
            payload={
                "roi_zone_count": len(req.roi_zones),
                "alert_rule_count": len(req.alert_rules),
                "enabled_pipelines": session["enabled_pipelines"],
                "fps_budget": session["fps_budget"],
            },
        ),
    )
    await _save_generation(
        "vision/live-config",
        {
            "camera_id": req.camera_id,
            "roi_zone_count": len(req.roi_zones),
            "alert_rule_count": len(req.alert_rules),
        },
    )
    return LiveCameraResponse(
        summary=f"Kameras {req.camera_id} konfigurācija ir atjaunināta.",
        camera=_session_to_response(session),
    )


@router.post("/live/pause", response_model=LiveCameraResponse)
async def pause_live_camera(req: LiveSessionCommandRequest) -> LiveCameraResponse:
    session = _require_live_camera(req.camera_id)
    session["status"] = "paused"
    session["health"]["analysis_active"] = False
    _append_session_event(
        session,
        _create_live_event(req.camera_id, "analysis_paused", "Live analīze ir pauzēta."),
    )
    return LiveCameraResponse(
        summary=f"Live analīze kamerai {req.camera_id} ir pauzēta.",
        camera=_session_to_response(session),
    )


@router.post("/live/stop", response_model=LiveCameraResponse)
async def stop_live_camera(req: LiveSessionCommandRequest) -> LiveCameraResponse:
    session = _require_live_camera(req.camera_id)
    session["status"] = "stopped"
    session["health"]["analysis_active"] = False
    _append_session_event(
        session,
        _create_live_event(req.camera_id, "analysis_stopped", "Live analīze ir apturēta."),
    )
    await _save_generation("vision/live-stop", {"camera_id": req.camera_id})
    return LiveCameraResponse(
        summary=f"Live analīze kamerai {req.camera_id} ir apturēta.",
        camera=_session_to_response(session),
    )


@router.get("/live/{camera_id}/state", response_model=LiveCameraResponse)
async def live_camera_state(camera_id: str) -> LiveCameraResponse:
    session = _require_live_camera(camera_id)
    return LiveCameraResponse(
        summary=f"Stāvoklis kamerai {camera_id} ir atjaunots.",
        camera=_session_to_response(session),
    )


@router.get("/live/{camera_id}/snapshot", response_model=LiveSnapshotResponse)
async def live_camera_snapshot(camera_id: str) -> LiveSnapshotResponse:
    session = _require_live_camera(camera_id)
    return LiveSnapshotResponse(
        summary=f"Atgriezts pēdējais snapshot kamerai {camera_id}.",
        camera_id=camera_id,
        snapshot_data_url=session.get("latest_snapshot"),
    )


@router.get("/live/{camera_id}/events", response_model=LiveEventsResponse)
async def live_camera_events(camera_id: str) -> LiveEventsResponse:
    session = _require_live_camera(camera_id)
    return LiveEventsResponse(
        summary=f"Atgriezti {len(session.get('recent_events', []))} live notikumi kamerai {camera_id}.",
        camera_id=camera_id,
        events=_camera_events(session),
    )


@router.post("/live/frame", response_model=LiveFrameResponse)
async def process_live_frame(req: LiveFrameRequest) -> LiveFrameResponse:
    session = _require_live_camera(req.camera_id)
    if not session["health"]["analysis_active"]:
        raise HTTPException(status_code=409, detail="Live sesija nav palaista.")

    frame_index = req.frame_index if req.frame_index is not None else int(session["frame_counter"])
    session["frame_counter"] = frame_index + 1
    if req.timestamp_ms is not None:
        last_timestamp_ms = session.get("last_timestamp_ms")
        min_interval_ms = 1000.0 / max(float(session.get("fps_budget", 6.0)), 0.5)
        if (
            isinstance(last_timestamp_ms, int)
            and req.timestamp_ms >= last_timestamp_ms
            and req.timestamp_ms - last_timestamp_ms < min_interval_ms
        ):
            session["health"]["dropped_frames"] = (
                int(session["health"].get("dropped_frames", 0)) + 1
            )
            event = _append_session_event(
                session,
                _create_live_event(
                    req.camera_id,
                    "frame_dropped",
                    "Kadrs tika atmests, lai ievērotu FPS budget un backpressure politiku.",
                    severity="warning",
                    payload={
                        "frame_index": frame_index,
                        "fps_budget": session.get("fps_budget", 6.0),
                    },
                ),
            )
            return LiveFrameResponse(
                summary=f"Live frame {frame_index} tika atmests backpressure dēļ.",
                camera=_session_to_response(session),
                events=[event],
            )
        session["last_timestamp_ms"] = int(req.timestamp_ms)

    image = await _load_image_from_source(None, req.image_base64)
    session["health"]["last_frame_at"] = _utc_now_iso()

    run_detection = (
        frame_index % max(int(session.get("detection_stride", 3)), 1) == 0
        or not session.get("latest_detections")
        or "tracking" in session["enabled_pipelines"]
    )
    if run_detection:
        detections, model_name, fallback_used = _frame_detections(
            image,
            threshold=0.25,
            max_detections=10,
        )
        session["latest_detections"] = [item.model_dump() for item in detections]
        session["latest_model_name"] = model_name
        session["latest_fallback_used"] = fallback_used
    else:
        detections = [
            VisionDetection.model_validate(item) for item in session.get("latest_detections", [])
        ]
        model_name = str(session.get("latest_model_name", "scheduled-cache"))
        fallback_used = bool(session.get("latest_fallback_used", False))

    _, events = _build_live_frame_payload(
        session,
        image,
        frame_index,
        detections,
        model_name,
        fallback_used,
    )
    return LiveFrameResponse(
        summary=f"Live frame {frame_index} apstrādāts kamerai {req.camera_id}.",
        camera=_session_to_response(session),
        events=events,
    )