"""Dependency-free task registry and bounded PPO settings."""

import json
import math
import re
from pathlib import Path

CONTRACTS = Path(__file__).resolve().parents[2] / "contracts"
TASK = json.loads((CONTRACTS / "mobile-manipulator-v2.json").read_text())
ROBOTS = {r["id"]: r for r in json.loads((CONTRACTS / "mobile-robots-v1.json").read_text())}
MOBILE_TASKS = {
    "MobileManipulator-LeKiwi-v1": "lekiwi-v1",
    "MobileManipulator-LeKiwi-Bundle": "lekiwi-bundle",
}


def validate_mobile_params(value):
    if not isinstance(value, dict) or value.keys() - {
        "rolloutSteps",
        "objectPosition",
        "goalPosition",
        "stage",
        "sourceJobId",
        "positionJitter",
        "evaluationEpisodes",
        "navigationBootstrapSteps",
    }:
        raise ValueError("mobileParams 包含未知参数")
    steps = value.get("rolloutSteps", 128)
    if isinstance(steps, bool) or not isinstance(steps, int) or not 8 <= steps <= 4096:
        raise ValueError("rolloutSteps 必须为 8–4096 的整数")
    stage = value.get("stage", "navigate")
    if stage not in ("navigate", "reach", "pick-place"):
        raise ValueError("stage 必须为 navigate / reach / pick-place")
    source = value.get("sourceJobId")
    if source is not None and (
        not isinstance(source, str) or not re.fullmatch(r"[0-9a-f]{32}", source)
    ):
        raise ValueError("sourceJobId 必须是服务内的训练作业 ID，不接受 checkpoint 路径")
    jitter = value.get("positionJitter", 0.1)
    if isinstance(jitter, bool) or not isinstance(jitter, (int, float)) or not 0 <= jitter <= 0.3:
        raise ValueError("positionJitter 必须在 0–0.3 m 内")
    episodes = value.get("evaluationEpisodes", 10)
    if isinstance(episodes, bool) or not isinstance(episodes, int) or not 2 <= episodes <= 64:
        raise ValueError("evaluationEpisodes 必须为 2–64 的整数")
    bootstrap = value.get("navigationBootstrapSteps", 4096)
    if isinstance(bootstrap, bool) or not isinstance(bootstrap, int) or not 0 <= bootstrap <= 10000:
        raise ValueError("navigationBootstrapSteps 必须为 0–10000 的整数")
    result = {
        "navigationBootstrapSteps": bootstrap,
        "rolloutSteps": steps,
        "stage": stage,
        "positionJitter": jitter,
        "evaluationEpisodes": episodes,
    }
    if source is not None:
        result["sourceJobId"] = source
    for key, default in (
        ("objectPosition", TASK["objectStart"]),
        ("goalPosition", TASK["goalStart"]),
    ):
        position = value.get(key, default)
        if (
            not isinstance(position, list)
            or len(position) != 3
            or any(
                isinstance(x, bool)
                or not isinstance(x, (float, int))
                or not -TASK["positionScale"] <= x <= TASK["positionScale"]
                or not math.isfinite(x)
                for x in position
            )
            or position[2] < TASK["objectStart"][2]
        ):
            raise ValueError(f"{key} 必须是任务范围内的三维坐标，z 不低于物体半高")
        result[key] = position.copy()
    return result


def mobile_metadata(task_id):
    return {
        "id": task_id,
        "name": f"移动操作 · {ROBOTS[MOBILE_TASKS[task_id]]['label']}",
        "family": "mobile-manipulator",
        "robotId": MOBILE_TASKS[task_id],
        "browserCompatible": True,
        "terrainPresets": [],
        "terrainParameters": {},
        "sensorTypes": [],
        "sensorParameters": {},
        "mapSyncScope": "当前移动操作场景快照",
        "controlDt": TASK["controlDt"],
    }