#!/usr/bin/env python3
"""Evaluate a fixed deployment (no optimization)."""

from __future__ import annotations

import argparse
from pathlib import Path

import matplotlib.pyplot as plt

from uavsearch.geometry import RectRegion
from uavsearch.problem import CoverageProblem, evaluate_deployment, random_deployment
from uavsearch.sim import PatrolVisualizer


def main() -> None:
  parser = argparse.ArgumentParser(description="Evaluate one UAV deployment")
  parser.add_argument("--width", type=float, default=1000.0)
  parser.add_argument("--height", type=float, default=800.0)
  parser.add_argument("--uavs", type=int, default=4)
  parser.add_argument("--radius", type=float, default=50.0)
  parser.add_argument("--speed", type=float, default=15.0)
  parser.add_argument("--seed", type=int, default=42)
  parser.add_argument("--partition", choices=["uniform", "voronoi"], default="uniform")
  parser.add_argument("--grid-density", type=float, default=4.0)
  parser.add_argument("--save", type=str, default=None)
  args = parser.parse_args()

  region = RectRegion.from_size(args.width, args.height)
  problem = CoverageProblem(
    region=region,
    n_uavs=args.uavs,
    sensor_radius=args.radius,
    speed=args.speed,
    partition_mode=args.partition,
    grid_density=args.grid_density,
  )

  positions = random_deployment(problem, seed=args.seed)
  result = evaluate_deployment(problem, positions)

  print(f"Objective T_max = {result.objective_value:.2f}s")
  print(result.summary_line())

  from uavsearch.sim import PatrolSimulator

  sim = PatrolSimulator(
    region, result.solution.paths, args.speed, args.radius, grid_density=args.grid_density
  )
  sim.run(result.max_patrol_period * 2.5)

  viz = PatrolVisualizer(region)
  fig = viz.plot_simulation_snapshot(
    sim,
    result.solution.paths,
    result.solution.metrics,
    title="Deployment Evaluation",
    partition=result.solution.partition,
  )

  if args.save:
    Path(args.save).parent.mkdir(parents=True, exist_ok=True)
    fig.savefig(args.save, dpi=150, bbox_inches="tight")
  else:
    plt.show()


if __name__ == "__main__":
  main()