"""Sweep variants with the real-proxy check; compact table. python design_variants2.py s u px cle (lists comma separated)"""
import os, sys, json, subprocess, itertools
from concurrent.futures import ThreadPoolExecutor
HERE = os.path.dirname(os.path.abspath(__file__)); ROOT = os.path.dirname(HERE)
BL = r"E:\Steam\steamapps\common\Blender\blender.exe"; PY = r"E:\Tools\Programs\Python\python.exe"
CTX = os.path.join(ROOT, "source", "ship_context_2026-10-16.blend")
step = os.environ.get("DRA_STEP", "4")
lists = [a.split(",") for a in sys.argv[1:5]]
vers = os.environ.get("DRA_VERS", "A,B").split(",")
os.makedirs(os.path.join(HERE, "var"), exist_ok=True)


def run(combo):
    s, u, px, cle = combo
    tag = "_".join(combo)
    dj = os.path.join(HERE, "var", "d_%s.json" % tag)
    env = dict(os.environ, DRA_S=s, DRA_U=u, DRA_PX=px, DRA_CLE=cle, DRA_OUT=dj)
    subprocess.run([PY, os.path.join(HERE, "design_make_json.py")], env=env, capture_output=True)
    res = []
    for dk in os.environ.get("DRA_DOORS", "AFT").split(","):
        for ver in vers:
            out = os.path.join(HERE, "var", "c_%s_%s_%s.json" % (tag, dk, ver))
            subprocess.run([BL, "-b", "--factory-startup", CTX, "--python", os.path.join(HERE, "design_ik_check.py"), "--", dk, ver, out, step, "0.05"], env=env, capture_output=True)
            try:
                res.append((dk + " " + ver, json.load(open(out))))
            except Exception as e:
                res.append((dk + " " + ver, {"fail": str(e)}))
    return combo, res


combos = list(itertools.product(*lists))
with ThreadPoolExecutor(max_workers=4) as ex:
    for combo, res in ex.map(run, combos):
        for ver, r in res:
            if "joints" not in r or r.get("fail"):
                print(",".join(combo), ver, "FAIL", r.get("fail"))
                continue
            j = r["joints"]
            c = r["clear_sorted"][0]; sf = r["self_sorted"][0]
            print("%s %s | elb %4.0f..%4.0f |q5| %3.0f..%3.0f J1r %3.0f J2 %4.0f..%4.0f J3 %4.0f..%4.0f rod %.2f..%.2f | ctx %+.3f %s f%d | self %+.3f %s f%d" % (
                ",".join(combo), ver, r["elbow_inner_deg"][0], r["elbow_inner_deg"][1], r["min_abs_q5_deg"], max(abs(j["J5"][0]), abs(j["J5"][1])),
                j["J1"][1] - j["J1"][0], j["J2"][0], j["J2"][1], j["J3"][0], j["J3"][1], r["rod"]["length"][0], r["rod"]["length"][1],
                c[1], c[0][:48], c[2], sf[1], sf[0][:60], sf[2]))
            if os.environ.get("DRA_DETAIL"):
                for k in r["clear_sorted"][:8]:
                    print("      ctx  %+.3f f%3d %s" % (k[1], k[2], k[0]))
                for k in r["self_sorted"][:8]:
                    print("      self %+.3f f%3d %s" % (k[1], k[2], k[0]))
                print("      pose err mm %.5f deg %.5f | max step deg %s | wc axis min %.2f | reach %s | rod %s" % (r["pose_err_mm"], r["pose_err_deg"], r["max_step_deg"], r["wc_from_J1_axis_min"], r["reach_ratio"], r["rod"]))