"""Door robot arm: the fit's linear carriage schedules (c = A + B * door x, as the rig's driver) for one design,
scored along every quarter frame of both doors (dra_fit3d.evaluate). 2026-10-18, scale-up.

    python build/dra_fit3d_linear.py '<design json>' c_closed,c_closed.. c_open,c_open..
"""
import sys
import json
import math
sys.path.insert(0, __import__("os").path.dirname(__import__("os").path.abspath(__file__)))
import dra_fit3d as F3     # noqa: E402


def run(Dz, c_closed, c_open, step=4, keys=("AFT", "FORE"), verbose=False):
    worst = (9.0, None)
    rows = []
    for key in keys:
        sg = 1.0 if key == "AFT" else -1.0
        dr = F3.BASE["doors"][key]
        cc = c_closed if key == "AFT" else 2 * 3.05 - c_closed
        co = c_open if key == "AFT" else 2 * 3.05 - c_open
        B = (cc - co) / (dr["closed_x"] - dr["open_x"])
        A = cc - B * dr["closed_x"]
        for f, x, y, z in F3.DP[key][::step]:
            c = A + B * x
            w = F3.evaluate(Dz, key, (x, y, z), c)
            s = F3.score(w)
            rows.append((key, f, round(c, 3), round(s, 3), w))
            if s < worst[0]:
                worst = (s, (key, f, round(c, 3), w))
    return worst, rows


if __name__ == "__main__":
    d = json.loads(sys.argv[1])
    Dz = F3.make_design(**d)
    for ccl in [float(a) for a in sys.argv[2].split(",")]:
        for cop in [float(a) for a in sys.argv[3].split(",")]:
            (s, info), rows = run(Dz, ccl, cop, step=int(sys.argv[4]) if len(sys.argv) > 4 else 8)
            w = info[3]
            print("c_closed %.2f c_open %.2f -> min score %+.3f at %s f%s c %.2f | lev %d %s/%s door %.2f joints %.1f %s" % (
                ccl, cop, s, info[0], info[1], info[2], w["lev"], w["link"], str(w["who"])[:30], w["door"], w["joint"], w.get("jname", "")),
                flush=True)