"""AsteroidNET Two-Stage Classifier (RF → CNN)."""
from __future__ import annotations
import logging
from dataclasses import dataclass
from pathlib import Path
from typing import Optional

import numpy as np
from asteroidnet.tracklet_linker.linker import Tracklet

logger = logging.getLogger(__name__)


@dataclass
class Classification:
    tracklet: Tracklet
    rf_score: float
    cnn_score: float
    is_asteroid: bool
    priority: str    # 'ROUTINE' | 'HIGH' | 'HAZARDOUS'


def classify_tracklets(
    tracklets: list[Tracklet],
    data_frames: list[np.ndarray],
    config: Optional[dict] = None,
) -> list[Classification]:
    """
    Two-stage classification: Random Forest (fast) → CNN (high precision).

    RF stage uses kinematic features of the tracklet.
    CNN stage uses 63×63 pixel cutouts from the detection positions.
    """
    cfg = (config or {}).get("classifier", {})
    rf_thresh  = float(cfg.get("rf_threshold", 0.7))
    cnn_thresh = float(cfg.get("cnn_threshold", 0.9))

    rf_model  = _load_rf(cfg)
    cnn_model = _load_cnn(cfg)

    results: list[Classification] = []

    for tracklet in tracklets:
        # ── RF stage ─────────────────────────────────────────────────────
        features = _extract_features(tracklet)
        rf_score = _rf_predict(rf_model, features)
        if rf_score < rf_thresh:
            continue

        # ── Satellite filter ──────────────────────────────────────────────
        if _is_satellite(tracklet):
            logger.debug("Satellite filter rejected tracklet (vel=%.3f, pa=%.1f)",
                         tracklet.velocity_arcsec_s, tracklet.position_angle_deg)
            continue

        # ── CNN stage ─────────────────────────────────────────────────────
        cutouts = _extract_cutouts(tracklet, data_frames)
        cnn_score = _cnn_predict(cnn_model, cutouts)

        is_asteroid = cnn_score >= cnn_thresh
        if not is_asteroid:
            continue

        priority = _assign_priority(tracklet, cfg)
        results.append(Classification(
            tracklet=tracklet,
            rf_score=rf_score,
            cnn_score=cnn_score,
            is_asteroid=True,
            priority=priority,
        ))

    results.sort(key=lambda c: c.cnn_score, reverse=True)
    logger.info("Classification: %d/%d tracklets confirmed", len(results), len(tracklets))
    return results


# ── Feature extraction ────────────────────────────────────────────────────────

def _extract_features(t: Tracklet) -> np.ndarray:
    """12-dimensional kinematic feature vector for RF classifier."""
    snrs = [d["snr"] for d in t.detections]
    mags = [d["mag"] for d in t.detections if d["mag"] < 90]
    return np.array([
        t.velocity_arcsec_s,
        t.velocity_ra_arcsec_s,
        t.velocity_dec_arcsec_s,
        t.position_angle_deg / 360.0,
        t.rms_residual_arcsec,
        t.time_span_min,
        len(t.detections),
        float(np.mean(snrs)) if snrs else 0.0,
        float(np.std(snrs))  if len(snrs) > 1 else 0.0,
        float(np.mean(mags)) if mags else 25.0,
        float(np.ptp(mags))  if len(mags) > 1 else 0.0,
        len(set(t.frame_ids)),
    ], dtype=np.float32)


def _extract_cutouts(
    t: Tracklet,
    data_frames: list[np.ndarray],
    size: int = 63,
) -> Optional[np.ndarray]:
    """Extract stacked cutouts from detection positions."""
    if not data_frames:
        return None
    half = size // 2
    cutouts = []
    for det in t.detections:
        fid = det.get("frame_id", 0)
        if fid >= len(data_frames):
            continue
        data = data_frames[fid]
        x, y = int(round(det.get("x", 0))), int(round(det.get("y", 0)))
        h, w = data.shape
        if x - half < 0 or y - half < 0 or x + half >= w or y + half >= h:
            continue
        cutout = data[y-half:y+half+1, x-half:x+half+1].copy()
        if cutout.shape == (size, size):
            finite = cutout[np.isfinite(cutout)]
            if len(finite) > 0:
                med = np.median(finite); mad = max(np.median(np.abs(finite-med)), 1e-10)
                cutout = np.clip((cutout - med) / (3*mad), -3, 3)
            cutouts.append(np.nan_to_num(cutout.astype(np.float32)))
    return np.stack(cutouts) if cutouts else None


# ── Model loading ─────────────────────────────────────────────────────────────

def _load_rf(cfg: dict):
    """Load RF model if available, else return None (heuristic fallback)."""
    path = cfg.get("rf_model_path", "models/rf_classifier.pkl")
    if Path(path).exists():
        try:
            import joblib
            return joblib.load(path)
        except Exception as exc:
            logger.warning("Could not load RF model %s: %s", path, exc)
    return None


def _load_cnn(cfg: dict):
    """Load CNN model if available, else return None (heuristic fallback)."""
    path = cfg.get("cnn_model_path", "models/cnn_classifier.pth")
    if Path(path).exists():
        try:
            import torch
            model = torch.load(path, map_location="cpu")
            model.eval()
            return model
        except Exception as exc:
            logger.warning("Could not load CNN model %s: %s", path, exc)
    return None


def _rf_predict(model, features: np.ndarray) -> float:
    """RF prediction — heuristic if model not trained yet."""
    if model is not None:
        try:
            p = model.predict_proba(features.reshape(1, -1))[0, 1]
            return float(p)
        except Exception:
            pass
    # Heuristic: based on velocity, SNR, residual
    vel  = features[0]
    snr  = features[7]
    rms  = features[4]
    score = 0.3
    if 0.01 <= vel <= 5.0:  score += 0.3
    if snr >= 5.0:          score += 0.2
    if rms <= 0.8:          score += 0.2
    return min(score, 0.99)


def _cnn_predict(model, cutouts: Optional[np.ndarray]) -> float:
    """CNN prediction — heuristic if model not trained yet."""
    if model is not None and cutouts is not None:
        try:
            import torch
            x = torch.from_numpy(cutouts).unsqueeze(0).float()
            with torch.no_grad():
                out = model(x)
                return float(torch.sigmoid(out).mean().item())
        except Exception:
            pass
    # Heuristic: check if any cutout has a point source at center
    if cutouts is not None and len(cutouts) > 0:
        peaks = [float(np.max(c[28:35, 28:35])) if c.shape == (63, 63)
                 else float(np.nanmax(c)) for c in cutouts]
        return min(0.95, max(0.0, float(np.mean(peaks)) / 3.0 + 0.5))
    return 0.5


def _is_satellite(t: Tracklet) -> bool:
    """Simple satellite/aircraft filter."""
    if t.velocity_arcsec_s > 8.0:
        return True
    if t.rms_residual_arcsec < 0.01 and t.velocity_arcsec_s > 5.0:
        return True
    return False


def _assign_priority(t: Tracklet, cfg: dict) -> str:
    high_v = float(cfg.get("high_velocity_threshold", 1.0))
    haz_v  = float(cfg.get("hazardous_velocity_threshold", 3.0))
    if t.velocity_arcsec_s >= haz_v:
        return "HAZARDOUS"
    if t.velocity_arcsec_s >= high_v:
        return "HIGH"
    return "ROUTINE"