/**
 * Robotics Navigation: Adaptive Real-Time Path Planning
 *
 * Use Case: Autonomous robots need real-time similarity search
 * for environment matching and obstacle avoidance.
 *
 * Optimization Priority: BALANCED (latency + accuracy)
 */

import { UnifiedMetrics } from '../../types';

export const ROBOTICS_ATTENTION_CONFIG = {
  heads: 8,                        // Optimal balance (validated)
  forwardPassTargetMs: 10,         // 10ms for 100Hz control loop
  batchSize: 4,                    // Small batches for real-time
  precision: 'float16' as const,   // Reduced precision for edge devices
  edgeOptimized: true,             // NVIDIA Jetson, Intel NCS optimization

  // Dynamic attention based on environment complexity
  dynamicHeads: {
    enabled: true,
    simple: 4,                     // 4 heads for simple environments
    complex: 12,                   // 12 heads for complex scenes
    adaptationStrategy: 'scene-complexity' as const
  },

  // Dynamic-k based on navigation context
  dynamicK: {
    min: 5,
    max: 20,
    adaptationStrategy: 'obstacle-density' as const  // More obstacles = more candidates
  },

  // Self-healing for continuous operation
  selfHealing: {
    enabled: true,
    adaptationIntervalMs: 100,
    degradationThreshold: 0.05,
    hardwareMonitoring: true       // Battery, temperature, GPU
  }
};

// Robotics-specific metrics
export interface RoboticsMetrics extends UnifiedMetrics {
  controlLoopLatencyMs: number;    // Control loop latency (10ms target)
  navigationAccuracy: number;      // Path planning accuracy
  obstacleDetectionRate: number;   // Obstacle detection success rate
  powerConsumptionW: number;       // Power consumption (battery life)
  temperatureCelsius: number;      // Hardware temperature monitoring
}

// Robot context interface
export interface RobotContext {
  velocity: number;
  batteryPercent: number;
  temperatureCelsius: number;
  missionCriticality: 'low' | 'medium' | 'high';
}

// Navigation plan interface
export interface NavigationPlan {
  bestMatch: any;
  suggestedPath: any;
  confidence: number;
  latencyMs: number;
}

// Example: Environment matching for navigation
export async function matchEnvironment(
  currentSensorData: Float32Array,  // LIDAR, camera, IMU
  knownEnvironments: any,           // HNSWGraph type
  robotContext: RobotContext,
  applyAttention: (data: Float32Array, config: any) => Promise<Float32Array>,
  analyzeSceneComplexity: (data: Float32Array) => number,
  calculateObstacleDensity: (data: Float32Array) => number,
  computePath: (matches: any[]) => any
): Promise<NavigationPlan> {
  const startTime = Date.now();
  const config = ROBOTICS_ATTENTION_CONFIG;

  // Adaptive attention based on scene complexity
  const sceneComplexity = analyzeSceneComplexity(currentSensorData);
  const adaptiveHeads = sceneComplexity > 0.7 ? 12 : 4;

  // Apply attention with adaptive heads
  const enhanced = await applyAttention(currentSensorData, {
    ...config,
    heads: adaptiveHeads
  });

  // Dynamic-k based on obstacle density
  const obstacleDensity = calculateObstacleDensity(currentSensorData);
  const k = Math.round(5 + obstacleDensity * 15);  // 5-20 range

  // Search for similar environments
  const matches = await knownEnvironments.search(enhanced, k);

  return {
    bestMatch: matches[0],
    suggestedPath: computePath(matches),
    confidence: matches[0].score,
    latencyMs: Date.now() - startTime  // Track real-time performance
  };
}

// Performance targets for robotics
export const ROBOTICS_PERFORMANCE_TARGETS = {
  controlLoopLatencyMs: 10,        // 10ms for 100Hz control
  navigationAccuracy: 0.95,        // 95% path planning accuracy
  p99LatencyMs: 15,                // 15ms p99 (real-time critical)
  powerConsumptionW: 20,           // 20W max (battery life)
  uptimePercent: 99.0              // 99% uptime (2 nines, field operation)
};

// Robot platform-specific configurations
export const ROBOTICS_CONFIG_VARIATIONS = {
  // High-performance robots (Boston Dynamics Spot, ANYmal)
  highPerformance: {
    ...ROBOTICS_ATTENTION_CONFIG,
    heads: 12,
    forwardPassTargetMs: 5,        // 5ms for 200Hz control
    precision: 'float32' as const,  // Full precision available
    powerConsumptionW: 100         // Higher power budget
  },

  // Consumer drones (DJI, Parrot)
  consumerDrone: {
    ...ROBOTICS_ATTENTION_CONFIG,
    heads: 6,
    forwardPassTargetMs: 20,       // 50Hz control acceptable
    precision: 'float16' as const,
    powerConsumptionW: 15          // Battery constrained
  },

  // Industrial AGVs (warehouse robots)
  industrialAGV: {
    ...ROBOTICS_ATTENTION_CONFIG,
    heads: 8,
    forwardPassTargetMs: 15,
    precision: 'float32' as const,
    dynamicK: { min: 10, max: 30, adaptationStrategy: 'warehouse-density' as const }
  },

  // Embedded robots (Raspberry Pi, Arduino)
  embedded: {
    ...ROBOTICS_ATTENTION_CONFIG,
    heads: 4,
    forwardPassTargetMs: 50,       // Slower acceptable
    precision: 'int8' as const,    // Quantized for embedded
    powerConsumptionW: 5           // Very power constrained
  }
};

// Environment adaptation
export function adaptConfigToEnvironment(
  baseConfig: typeof ROBOTICS_ATTENTION_CONFIG,
  environment: 'indoor' | 'outdoor' | 'underground' | 'aerial'
): typeof ROBOTICS_ATTENTION_CONFIG {
  switch (environment) {
    case 'indoor':
      return {
        ...baseConfig,
        heads: 8,
        dynamicK: { ...baseConfig.dynamicK, min: 5, max: 15 }
      };
    case 'outdoor':
      return {
        ...baseConfig,
        heads: 10,                 // More complexity
        dynamicK: { ...baseConfig.dynamicK, min: 10, max: 25 },
        selfHealing: { ...baseConfig.selfHealing, adaptationIntervalMs: 50 }
      };
    case 'underground':
      return {
        ...baseConfig,
        heads: 6,                  // Limited sensors
        forwardPassTargetMs: 15
        // Note: Network resilience handled at transport layer
      };
    case 'aerial':
      return {
        ...baseConfig,
        heads: 12,                 // Complex 3D navigation
        forwardPassTargetMs: 8,
        dynamicK: { ...baseConfig.dynamicK, min: 8, max: 20 }
      };
  }
}

// Power-aware configuration adjustment
export function adaptConfigToPower(
  baseConfig: typeof ROBOTICS_ATTENTION_CONFIG,
  batteryPercent: number
): typeof ROBOTICS_ATTENTION_CONFIG {
  if (batteryPercent < 20) {
    // Critical battery - minimize computation
    return {
      ...baseConfig,
      heads: 4,
      batchSize: 1
      // Note: Precision optimization coming in future release
    };
  } else if (batteryPercent < 50) {
    // Low battery - reduce quality slightly
    return {
      ...baseConfig,
      heads: 6,
      precision: 'float16' as const
    };
  } else {
    // Normal operation
    return baseConfig;
  }
}