"""Validate every corrected row, source mapping, seed, composition and checksum."""

from __future__ import annotations

import argparse
import json
from pathlib import Path

import numpy as np
import pyarrow.parquet as pq

from kitti_c2l.release import require, sha256, validate_table


def main() -> None:
    parser = argparse.ArgumentParser(description=__doc__)
    parser.add_argument("--root", type=Path, default=Path(__file__).resolve().parents[1])
    parser.add_argument("--raw-root", type=Path)
    args = parser.parse_args()
    report = json.loads((args.root / "release/v1.1.0/calibration_audit.json").read_text())
    source_root = args.raw_root or args.root / "release/v1.1.0/source_calibration"
    for relative, expected in report["source_calibration_sha256"].items():
        require(
            sha256(source_root / relative) == expected, f"Source calibration checksum: {relative}"
        )
    require(
        report["status"] == "pass" and not report["parameters_estimated_from_recordings"],
        "Calibration claim mismatch",
    )
    for item in report["files"]:
        path = args.root / item["path"]
        require(sha256(path) == item["sha256"], f"Corrected checksum mismatch: {path}")
        legacy_path = args.root / "data" / path.name
        require(
            sha256(legacy_path) == item["legacy_sha256"], f"Legacy checksum mismatch: {path.name}"
        )
        actual = validate_table(
            path, kitti_calib_root=source_root, camera_model="full_projection_v1_1"
        )
        require(actual["rows"] == item["rows"], f"Row count mismatch: {path.name}")
        table, legacy = pq.read_table(path), pq.read_table(legacy_path)
        require(
            table.select(item["unchanged_columns"]).equals(
                legacy.select(item["unchanged_columns"])
            ),
            f"Unexpected non-translation change: {path.name}",
        )
        for date, calibration in report["per_date"].items():
            mask = np.asarray(table["raw_date"].to_pylist()) == date
            if mask.any():
                translation = np.asarray(table["gt_t_cam_from_velo_cm"].to_pylist())[mask]
                require(
                    np.allclose(
                        translation,
                        calibration["full_projection_translation_cm"],
                        atol=2e-5,
                        rtol=0,
                    ),
                    f"Calibration manifest mismatch: {date}",
                )
        print(f"Validated {path.name}: {actual['rows']} rows", flush=True)
    print("Full-projection v1.1 release: pass")


if __name__ == "__main__":
    main()