"""
piNail2 Configuration Management

JSON-based config with named fields, load/save, defaults, and hot-reload support.
Replaces the old positional P_I_D_values.txt format.
"""

import json
import os
import logging
import copy

log = logging.getLogger(__name__)

DEFAULT_CONFIG = {
    "pid": {
        "kP": 113.1768,
        "kI": 3.5335,
        "kD": 500.0,
        "proportional_on_measurement": False
    },
    "control": {
        "setpoint": 530,
        "loop_size_ms": 1800,
        "sleep_time": 0.2,
        "enabled": False
    },
    "flight": {
        "mode": "grounded",
        "takeoff_seconds": 300,
        "descent_seconds": 300,
        "turbo": False,
        "descent_target_f": 120,
        "ambient_temp_f": 75
    },
    "scheduler": {
        "enabled": True,
        "cutoff_times": [
            "23:00"
        ]
    },
    "safety": {
        "max_temp_f": 800,
        "spike_threshold_f": 50.0,
        "idle_shutoff_minutes": 30,
        "watchdog_timeout_s": 10,
        "min_temp_f": 0,
        "sensor_stale_seconds": 8,
        "sensor_stale_delta_f": 0.8,
        "stale_output_ratio": 0.65
    },
    "gpio": {
        "relay_pin": 2,
        "clk": 3,
        "cs": 14,
        "do": 4
    },
    "logging": {
        "log_resolution": 1,
        "log_directory": "./logs",
        "max_log_lines": 10000
    },
    "presets": {
        "Low Temp": 450,
        "Medium": 530,
        "High": 650
    },
    "web": {
        "host": "0.0.0.0",
        "port": 5000,
        "update_interval_ms": 500
    },
    "autotune": {
        "hysteresis_f": 8.0,
        "cycles": 4
    },
    "nails": {
        "nail1": {
            "pid": {
                "kP": 113.1768,
                "kI": 3.5335,
                "kD": 500.0,
                "proportional_on_measurement": False
            },
            "control": {
                "setpoint": 530,
                "loop_size_ms": 1800,
                "sleep_time": 0.2,
                "enabled": False
            },
            "flight": {
                "mode": "grounded",
                "takeoff_seconds": 300,
                "descent_seconds": 300,
                "turbo": False,
                "descent_target_f": 120,
                "ambient_temp_f": 75
            },
            "scheduler": {
                "enabled": True,
                "cutoff_times": [
                    "23:00"
                ]
            },
            "safety": {
                "max_temp_f": 800,
                "spike_threshold_f": 50.0,
                "idle_shutoff_minutes": 30,
                "watchdog_timeout_s": 10,
                "min_temp_f": 0,
                "sensor_stale_seconds": 8,
                "sensor_stale_delta_f": 0.8,
                "stale_output_ratio": 0.65
            },
            "gpio": {
                "relay_pin": 2,
                "clk": 3,
                "cs": 14,
                "do": 4
            },
            "logging": {
                "log_resolution": 1,
                "log_directory": "./logs/nail1",
                "max_log_lines": 10000
            },
            "autotune": {
                "hysteresis_f": 8.0,
                "cycles": 4
            }
        },
        "nail2": {
            "pid": {
                "kP": 113.1768,
                "kI": 3.5335,
                "kD": 500.0,
                "proportional_on_measurement": False
            },
            "control": {
                "setpoint": 530,
                "loop_size_ms": 1800,
                "sleep_time": 0.2,
                "enabled": False
            },
            "flight": {
                "mode": "grounded",
                "takeoff_seconds": 300,
                "descent_seconds": 300,
                "turbo": False,
                "descent_target_f": 120,
                "ambient_temp_f": 75
            },
            "scheduler": {
                "enabled": True,
                "cutoff_times": [
                    "23:00"
                ]
            },
            "safety": {
                "max_temp_f": 800,
                "spike_threshold_f": 50.0,
                "idle_shutoff_minutes": 30,
                "watchdog_timeout_s": 10,
                "min_temp_f": 0,
                "sensor_stale_seconds": 8,
                "sensor_stale_delta_f": 0.8,
                "stale_output_ratio": 0.65
            },
            "gpio": {
                "relay_pin": 22,
                "clk": 27,
                "cs": 18,
                "do": 17
            },
            "logging": {
                "log_resolution": 1,
                "log_directory": "./logs/nail2",
                "max_log_lines": 10000
            },
            "autotune": {
                "hysteresis_f": 8.0,
                "cycles": 4
            }
        }
    }
}


class Config:
    """Thread-safe configuration manager with file persistence."""

    def __init__(self, config_path="config.json"):
        self._path = config_path
        self._data = copy.deepcopy(DEFAULT_CONFIG)
        self._mtime = 0
        self.load()

    def load(self):
        """Load config from disk, merging with defaults for any missing keys."""
        if not os.path.exists(self._path):
            log.info("No config file found at %s, creating with defaults", self._path)
            self.save()
            return

        try:
            with open(self._path, 'r') as f:
                user_config = json.load(f)
            self._data = self._deep_merge(copy.deepcopy(DEFAULT_CONFIG), user_config)
            self._mtime = os.path.getmtime(self._path)
            log.info("Config loaded from %s", self._path)
        except (json.JSONDecodeError, IOError) as e:
            log.error("Failed to load config from %s: %s. Using defaults.", self._path, e)
            self._data = copy.deepcopy(DEFAULT_CONFIG)

    def save(self):
        """Write current config to disk."""
        try:
            with open(self._path, 'w') as f:
                json.dump(self._data, f, indent=2)
            self._mtime = os.path.getmtime(self._path)
            log.info("Config saved to %s", self._path)
        except IOError as e:
            log.error("Failed to save config to %s: %s", self._path, e)

    def reload_if_changed(self):
        """Reload config from disk if the file has been modified externally."""
        try:
            current_mtime = os.path.getmtime(self._path)
            if current_mtime > self._mtime:
                log.info("Config file changed on disk, reloading")
                self.load()
                return True
        except OSError:
            pass
        return False

    def get(self, section, key=None):
        """Get a config value. If key is None, returns the entire section."""
        if key is None:
            return copy.deepcopy(self._data.get(section, {}))
        return self._data.get(section, {}).get(key)

    def set(self, section, key, value):
        """Set a config value and save to disk."""
        if section not in self._data:
            self._data[section] = {}
        self._data[section][key] = value
        self.save()

    def update_section(self, section, values):
        """Update multiple keys in a section and save to disk."""
        if section not in self._data:
            self._data[section] = {}
        self._data[section].update(values)
        self.save()

    @property
    def data(self):
        """Return a deep copy of the full config dict."""
        return copy.deepcopy(self._data)

    @staticmethod
    def _deep_merge(base, override):
        """Recursively merge override into base. Override values win."""
        result = base.copy()
        for key, value in override.items():
            if key in result and isinstance(result[key], dict) and isinstance(value, dict):
                result[key] = Config._deep_merge(result[key], value)
            else:
                result[key] = value
        return result