from __future__ import annotations

from app.models import LinkDef, RobotDraft
from app.services.a7_gold import A7_LINK_ORDER, enforce_a7_gold_kinematics, gold_joint_defs


def _norm(name: str) -> str:
    return name.strip()


def group_links_a7(product_names: list[str], robot_name: str = "ARM7_urdf") -> RobotDraft:
    """ARM7 gold kinematics; part_names filled later (Solid_N clustered on client)."""
    names = [_norm(n) for n in product_names if _norm(n)]
    # Spread Solid_* across gold links by index so apply has a starting bind.
    links = [LinkDef(name=n, part_names=[]) for n in A7_LINK_ORDER]
    solids = [n for n in names if n.lower().startswith("solid")]
    other = [n for n in names if not n.lower().startswith("solid")]
    if solids:
        n_link = len(links)
        for i, sn in enumerate(solids):
            links[min(i * n_link // max(len(solids), 1), n_link - 1)].part_names.append(sn)
    if other:
        links[0].part_names.extend(other)

    draft = RobotDraft(
        name=robot_name or "ARM7_urdf",
        profile="a7",
        links=links,
        joints=gold_joint_defs(),
        notes=[
            "A7 profile: joints from ARM7_urdf.urdf gold standard.",
            "Axes: A1/3/5=[0,0,-1], A2/4/6=[1,0,0], A7=[0,1,0], A8=fixed.",
        ],
        raw_parts=names,
    )
    return enforce_a7_gold_kinematics(draft)


def seed_generic(product_names: list[str], robot_name: str = "robot") -> RobotDraft:
    names = [_norm(n) for n in product_names if _norm(n)]
    return RobotDraft(
        name=robot_name or "robot",
        profile="generic",
        links=[LinkDef(name="base_link", part_names=[])],
        joints=[],
        notes=["Generic seed; joints come from LLM."],
        raw_parts=names,
    )


def apply_profile(profile: str, product_names: list[str], robot_name: str) -> RobotDraft:
    if profile == "a7":
        return group_links_a7(product_names, robot_name=robot_name)
    return seed_generic(product_names, robot_name=robot_name)