"""
协议模型定义 - Cloud Voice Protocol v1.0 (text_uplink)
所有消息都遵循协议文档 F 节规范
"""
from __future__ import annotations

from pydantic import BaseModel, Field, ConfigDict, model_validator
from typing import Optional, List, Dict, Any
import uuid

from app.config import settings
from enum import Enum
from datetime import datetime


# ==================== 协议常量 ====================
PROTO_VERSION = "1.0"
TRANSPORT_PROFILE = "text_uplink"
PCM_ASR_TRANSPORT_PROFILE = "pcm_asr_uplink"
DIALOG_RESULT_PROTOCOL_V1 = "cloud_voice_dialog_v1"


# ==================== 枚举定义 ====================
class RoutingType(str, Enum):
    """路由类型"""
    FLIGHT_INTENT = "flight_intent"
    CHITCHAT = "chitchat"
    ERROR = "error"


class FlightActionType(str, Enum):
    """飞控动作类型（与 FLIGHT_INTENT_SCHEMA v1 §3 一致）"""

    TAKEOFF = "takeoff"
    LAND = "land"
    RETURN_HOME = "return_home"
    HOVER = "hover"
    HOLD = "hold"
    GOTO = "goto"
    WAIT = "wait"


class SourceType(str, Enum):
    """文本来源类型"""
    DEVICE_STT = "device_stt"
    DEBUG_KEYBOARD = "debug_keyboard"
    TEXT_ONLY = "text_only"
    CLOUD_FUN_ASR = "cloud_fun_asr"


class ErrorCode(str, Enum):
    """错误码枚举"""
    UNAUTHORIZED = "UNAUTHORIZED"
    INVALID_MESSAGE = "INVALID_MESSAGE"
    LLM_FAILED = "LLM_FAILED"
    LLM_TIMEOUT = "LLM_TIMEOUT"
    TTS_FAILED = "TTS_FAILED"
    ASR_FAILED = "ASR_FAILED"
    RATE_LIMIT = "RATE_LIMIT"
    INTERNAL = "INTERNAL"


# ==================== 客户端 -> 服务端消息 ====================
class ClientCapabilities(BaseModel):
    """客户端能力"""
    playback_sample_rate_hz: int = 24000
    prefer_tts_codec: str = "pcm_s16le"


class ClientProtocolDecl(BaseModel):
    """session.start.client.protocol — 见 CLOUD_VOICE_DIALOG_v1.md §8"""

    model_config = ConfigDict(extra="forbid")

    dialog_result: Optional[str] = None


class Px4VehicleProfile(BaseModel):
    """
    机载 PX4 上下文：由客户端在 session.start 上报，供云端 LLM 按真实机型消歧义。
    均可选；未提供时模型按 unknown 处理并在 summary 中保守说明假设。
    """

    # 与 PX4 airframe / MAV_TYPE 对齐的粗分类（客户端可二选一或同时给）
    vehicle_class: str = Field(
        default="unknown",
        description=(
            "multicopter | fixed_wing | vtol_standard | vtol_tailsitter | "
            "rover | boat | submarine | other | unknown"
        ),
    )
    mav_type: Optional[int] = Field(
        default=None,
        description="MAVLink HEARTBEAT.mav_type（0–255），与 ArduPilot 共用枚举值",
    )
    px4_version: Optional[str] = Field(
        default=None, description="PX4 固件版本，如 1.14.3"
    )
    airframe_id: Optional[str] = Field(
        default=None, description="PX4 机型 id / QGC 显示的 airframe 名，便于日志"
    )

    # 控制与任务能力（机端已知时建议带上）
    default_setpoint_frame: str = Field(
        default="local_ned",
        description="默认相对位移 frame：local_ned | body_ned 等",
    )
    offboard_capable: bool = Field(
        default=False, description="Companion 能否稳定进入并维持 Offboard"
    )
    mission_capable: bool = Field(default=True, description="是否可执行 Mission / 航点任务")
    rtl_available: bool = Field(default=True, description="RTL / 返航是否可用（含 Home 参数已配置）")
    home_position_valid: bool = Field(
        default=False, description="Home 是否已记入飞控（影响 RTL 语义）"
    )

    # 当前 NAV_STATE / 用户可读模式名（MAVROS / px4_msgs 可映射字符串）
    current_nav_state: Optional[str] = Field(
        default=None, description="如 POSITION_MODE、OFFBOARD、MISSION、AUTO.LAND"
    )

    # 运行包线（口语里的「高一点」可结合默认高度尺度；单位_meter）
    cruise_alt_m_agl: Optional[float] = Field(
        default=None, description="典型巡航相对高度_m，缺省时仅靠用户口述"
    )

    extras: Dict[str, Any] = Field(
        default_factory=dict,
        description="扩展键值（如 estimator、GPS 状态），原样进入 LLM 上下文",
    )


class ClientInfo(BaseModel):
    """客户端信息"""
    device_id: str
    locale: str = "zh-CN"
    capabilities: ClientCapabilities = Field(default_factory=ClientCapabilities)
    px4: Optional[Px4VehicleProfile] = Field(
        default=None, description="PX4 载具与能力上下文；强烈建议填写 vehicle_class"
    )
    protocol: Optional[ClientProtocolDecl] = Field(
        default=None,
        description='声明 dialog_result 形状；dialog_result=="cloud_voice_dialog_v1" 启用 §3',
    )


class SessionStartMessage(BaseModel):
    """session.start - 客户端发起会话"""
    type: str = "session.start"
    proto_version: str = PROTO_VERSION
    transport_profile: str  # text_uplink | pcm_asr_uplink
    session_id: str
    auth_token: Optional[str] = None
    client: ClientInfo


class TurnTextMessage(BaseModel):
    """turn.text - 客户端发送文本"""
    type: str = "turn.text"
    proto_version: str = PROTO_VERSION
    transport_profile: str = TRANSPORT_PROFILE  # 兼容旧机端；可与 session 不一致时以 session 为准
    turn_id: str
    text: str
    is_final: bool = True
    source: SourceType = SourceType.DEVICE_STT


class TurnAudioStartMessage(BaseModel):
    """turn.audio.start - 开始一轮云端 ASR 上行（pcm_asr_uplink）"""

    type: str = "turn.audio.start"
    proto_version: str = PROTO_VERSION
    transport_profile: str = PCM_ASR_TRANSPORT_PROFILE
    turn_id: str
    sample_rate_hz: int = Field(default=16000, description="须与 Fun-ASR 约定一致，默认 16000")
    format: str = Field(default="pcm_s16le", description="小端 mono int16")


class TurnAudioChunkMessage(BaseModel):
    """turn.audio.chunk - PCM 分片（base64）"""

    type: str = "turn.audio.chunk"
    proto_version: str = PROTO_VERSION
    transport_profile: str = PCM_ASR_TRANSPORT_PROFILE
    turn_id: str
    pcm_base64: str = Field(..., description="raw PCM s16le 字节序列的 base64")


class TurnAudioEndMessage(BaseModel):
    """turn.audio.end - 本轮麦克风推流结束，触发识别收尾并入队 LLM"""

    type: str = "turn.audio.end"
    proto_version: str = PROTO_VERSION
    transport_profile: str = PCM_ASR_TRANSPORT_PROFILE
    turn_id: str


class TtsSynthesizeMessage(BaseModel):
    """tts.synthesize - 仅 TTS 播报，无 LLM / dialog_result / 历史"""
    type: str = "tts.synthesize"
    proto_version: str = PROTO_VERSION
    transport_profile: str = TRANSPORT_PROFILE
    turn_id: str
    text: str


class SessionEndMessage(BaseModel):
    """session.end - 客户端结束会话"""
    type: str = "session.end"
    proto_version: str = PROTO_VERSION
    session_id: str


# ==================== 服务端 -> 客户端消息 ====================
class ServerCapabilities(BaseModel):
    """服务端能力"""
    accepts_audio_uplink: bool = False
    llm: bool = True
    tts_codecs: List[str] = ["pcm_s16le"]
    llm_context_turns: int = 4
    accepts_px4_vehicle_profile: bool = True


class SessionReadyMessage(BaseModel):
    """session.ready - 服务端确认会话"""
    type: str = "session.ready"
    proto_version: str = PROTO_VERSION
    transport_profile: str  # 与 session.start 一致
    session_id: str
    server_caps: ServerCapabilities = Field(default_factory=ServerCapabilities)


class FlightIntentAction(BaseModel):
    """飞控动作 — 每项仅允许 type + args（与 Schema v1 一致）"""

    model_config = ConfigDict(extra="forbid")

    type: str
    args: Dict[str, Any] = Field(default_factory=dict)


class FlightIntentPayload(BaseModel):
    """飞控意图载荷 — 对齐 FLIGHT_INTENT_SCHEMA_v1.md"""

    model_config = ConfigDict(extra="forbid")

    is_flight_intent: bool = True
    version: int = 1
    actions: List[FlightIntentAction]
    summary: str
    trace_id: Optional[str] = Field(default=None, max_length=128)


class UserInput(BaseModel):
    """用户输入信息"""
    text: str
    language: str = "zh"
    is_final: bool = True
    source: str = "device_stt"


class TTSHint(BaseModel):
    """TTS 提示"""
    speak_summary_or_reply: bool = True
    voice_id: str = "default"


class FlightConfirmSpec(BaseModel):
    """routing=flight_intent 时必填 — CLOUD_VOICE_DIALOG_v1.md §3.4"""

    model_config = ConfigDict(extra="forbid")

    required: bool = Field(description="true：首轮禁止执行，需确认窗")
    timeout_sec: float = Field(ge=1, le=600)
    confirm_phrases: List[str] = Field(min_length=1)
    cancel_phrases: List[str] = Field(min_length=1)
    pending_id: str = Field(min_length=1)
    summary_for_user: Optional[str] = None


class DialogResultCloudV1(BaseModel):
    """dialog_result（cloud_voice_dialog_v1）— CLOUD_VOICE_DIALOG_v1.md"""

    model_config = ConfigDict(extra="forbid")

    type: str = "dialog_result"
    proto_version: str = PROTO_VERSION
    transport_profile: str = TRANSPORT_PROFILE
    turn_id: str
    protocol: str = DIALOG_RESULT_PROTOCOL_V1
    user_input: str
    routing: RoutingType
    flight_intent: Optional[FlightIntentPayload] = None
    confirm: Optional[FlightConfirmSpec] = None
    chat_reply: Optional[str] = None

    @model_validator(mode="after")
    def _routing_shape(self):
        if self.routing == RoutingType.CHITCHAT:
            if self.flight_intent is not None or self.confirm is not None:
                raise ValueError("chitchat 不得携带 flight_intent / confirm")
        elif self.routing == RoutingType.FLIGHT_INTENT:
            if self.flight_intent is None or self.confirm is None:
                raise ValueError("flight_intent 路由必须同时携带 flight_intent 与 confirm")
        else:
            raise ValueError("DialogResultCloudV1 仅支持 chitchat / flight_intent")
        return self


class DialogResultMessage(BaseModel):
    """dialog_result（兼容旧机端：无 protocol / confirm，user_input 为对象）"""
    type: str = "dialog_result"
    proto_version: str = PROTO_VERSION
    transport_profile: str = TRANSPORT_PROFILE
    turn_id: str
    user_input: UserInput
    routing: RoutingType
    flight_intent: Optional[FlightIntentPayload] = None
    chat_reply: Optional[str] = None
    tts_hint: TTSHint = Field(default_factory=TTSHint)


class TTSAudioChunkMessage(BaseModel):
    """tts_audio_chunk - TTS 音频块元数据"""
    type: str = "tts_audio_chunk"
    proto_version: str = PROTO_VERSION
    transport_profile: str = TRANSPORT_PROFILE
    turn_id: str
    seq: int = 0
    codec: str = "pcm_s16le"
    sample_rate_hz: int = 24000
    is_final: bool = False


class Metrics(BaseModel):
    """性能指标"""
    llm_ms: Optional[int] = None
    tts_first_byte_ms: Optional[int] = None


class TurnCompleteMessage(BaseModel):
    """turn.complete - 轮次完成"""
    type: str = "turn.complete"
    proto_version: str = PROTO_VERSION
    transport_profile: str = TRANSPORT_PROFILE
    turn_id: str
    metrics: Metrics = Field(default_factory=Metrics)


class ErrorMessage(BaseModel):
    """error - 错误消息"""
    type: str = "error"
    proto_version: str = PROTO_VERSION
    transport_profile: str = TRANSPORT_PROFILE
    turn_id: Optional[str] = None
    code: ErrorCode
    message: str
    retryable: bool = False


# ==================== 辅助函数 ====================
def create_error_message(
    code: ErrorCode,
    message: str,
    turn_id: Optional[str] = None,
    retryable: bool = False,
) -> dict:
    """创建错误消息字典"""
    msg = ErrorMessage(
        turn_id=turn_id,
        code=code,
        message=message,
        retryable=retryable,
    )
    return msg.model_dump(exclude_none=True)


def create_asr_partial(
    *,
    turn_id: str,
    text: str,
    is_final: bool,
    transport_profile: str,
) -> dict:
    """云端 Fun-ASR 中间/分句结果，供端上显示听写或状态。"""
    return {
        "type": "asr.partial",
        "proto_version": PROTO_VERSION,
        "transport_profile": transport_profile,
        "turn_id": turn_id,
        "text": text,
        "is_final": is_final,
    }


def create_llm_text_delta(
    turn_id: str,
    delta: str,
    *,
    done: bool = False,
) -> dict:
    """流式大模型增量文本（可先于 dialog_result 下发，便于端上显示打字效果）。"""
    return {
        "type": "llm.text_delta",
        "proto_version": PROTO_VERSION,
        "transport_profile": TRANSPORT_PROFILE,
        "turn_id": turn_id,
        "delta": delta,
        "done": done,
    }


def create_dialog_result(
    turn_id: str,
    user_text: str,
    routing: RoutingType,
    flight_intent: Optional[dict] = None,
    chat_reply: Optional[str] = None,
) -> dict:
    """创建旧版 dialog_result（无 protocol / confirm，user_input 为嵌套对象）。"""
    intent_payload = None
    if flight_intent:
        intent_payload = FlightIntentPayload(**flight_intent)

    msg = DialogResultMessage(
        turn_id=turn_id,
        user_input=UserInput(text=user_text),
        routing=routing,
        flight_intent=intent_payload,
        chat_reply=chat_reply,
    )
    return msg.model_dump(exclude_none=True)


def create_dialog_result_cloud_v1(
    turn_id: str,
    user_text: str,
    routing: RoutingType,
    flight_intent: Optional[dict] = None,
    chat_reply: Optional[str] = None,
    *,
    confirm_required: Optional[bool] = None,
    confirm_timeout_sec: Optional[float] = None,
) -> dict:
    """
    cloud_voice_dialog_v1 — CLOUD_VOICE_DIALOG_v1.md。
    flight 分支自动补 FlightIntentPayload 与 FlightConfirmSpec。
    """
    req = settings.FLIGHT_CONFIRM_REQUIRED if confirm_required is None else confirm_required
    timeout = (
        settings.FLIGHT_CONFIRM_TIMEOUT_SEC
        if confirm_timeout_sec is None
        else confirm_timeout_sec
    )

    intent_payload = None
    confirm_payload = None
    if routing == RoutingType.FLIGHT_INTENT:
        if not flight_intent:
            raise ValueError("flight_intent 路由缺少 flight_intent dict")
        intent_payload = FlightIntentPayload(**flight_intent)
        summary = (intent_payload.summary or "").strip() or "飞控指令"
        confirm_payload = FlightConfirmSpec(
            required=req,
            timeout_sec=float(timeout),
            confirm_phrases=["确认"],
            cancel_phrases=["取消"],
            pending_id=str(uuid.uuid4()),
            summary_for_user=summary,
        )

    msg = DialogResultCloudV1(
        turn_id=turn_id,
        user_input=user_text or "",
        routing=routing,
        flight_intent=intent_payload,
        confirm=confirm_payload,
        chat_reply=chat_reply,
    )
    return msg.model_dump(exclude_none=True)