"""Client for the marker-finder service (port 8082).

Marker-finder accepts OpenCV intrinsics (`camera_matrix` 3x3 + `dist_coeffs`)
either as a per-request `intrinsics` form field on `/detect`, or as a stored
default via `POST /intrinsics`. We push the live Nuwa intrinsics at startup
(see main.py) so every subsequent `/detect` produces correct poses with no
extra work, and we still expose a per-call override for unusual cases.
"""

from __future__ import annotations

import json
from typing import Any

import httpx


class MarkerClient:
    def __init__(self, base_url: str, timeout_s: float = 5.0):
        self.base_url = base_url.rstrip("/")
        self.timeout_s = timeout_s

    def detect_url(self, markers: list[dict[str, Any]], image_url: str,
                   intrinsics: dict[str, Any] | None = None) -> dict[str, Any]:
        """Returns {'found': [...], 'not_found': [...]}.

        Each found item includes 'corners' (Nx2), 'id', 'size_mm', 'position_m',
        'rotation_matrix', 'quaternion_xyzw'. Pose is computed by marker-finder
        with the active default intrinsics (or the per-request override).

        Args:
            intrinsics: optional per-call override, OpenCV format
                `{"camera_matrix": [[fx,0,cx],[0,fy,cy],[0,0,1]],
                  "dist_coeffs": [k1,k2,p1,p2,k3]}`
                (mostly unused now that we push the Nuwa defaults at startup;
                kept for tools that want to detect against a custom camera).
        """
        data = {"markers": json.dumps(markers), "image_url": image_url}
        if intrinsics is not None:
            data["intrinsics"] = json.dumps(intrinsics)
        with httpx.Client(timeout=self.timeout_s) as c:
            r = c.post(f"{self.base_url}/detect", data=data)
        r.raise_for_status()
        return r.json()

    def get_intrinsics(self) -> dict[str, Any]:
        """Currently-active default intrinsics on marker-finder."""
        with httpx.Client(timeout=self.timeout_s) as c:
            r = c.get(f"{self.base_url}/intrinsics")
        r.raise_for_status()
        return r.json()

    def set_intrinsics(self, camera_matrix: list[list[float]],
                       dist_coeffs: list[float],
                       persist: bool = False) -> dict[str, Any]:
        """Replace marker-finder's default intrinsics.

        `persist=True` writes them into marker-finder's config.yaml so they
        survive a restart. We default to in-memory only — presa-mano repushes
        them at every startup, so persisting would just create config drift.
        """
        body = {"camera_matrix": camera_matrix, "dist_coeffs": dist_coeffs}
        with httpx.Client(timeout=self.timeout_s) as c:
            r = c.post(f"{self.base_url}/intrinsics",
                       params={"persist": "true" if persist else "false"},
                       json=body)
        r.raise_for_status()
        return r.json()