"""Mako: read-only probe of models/docking-arm/DockArm_Carousel.blend (never saved). Where the clamp head's parts are in the
Tender's frame at BOARD (arm 1 let down 5.3 m, the Tender hanging with its origin 1.94 m under the wrist and the clamp axis at
(0, -0.09)), claws shut and open: for every head part within 0.9 m of the clamp axis and below z 1.8, its lowest point, its
radius range from the axis and its azimuth range (deg from the Tender's +X, port, toward +Y, aft). Tells how small the holder
clips can be: the claw pads must find a clip wall behind them, the landing feet a clip top under them.
Writes checks/head_parts.json."""
import bpy, os, json, math
from mathutils import Vector, Matrix
HERE = os.path.dirname(os.path.abspath(__file__))
arm = bpy.data.objects["Arm1"]
parts = [o for o in bpy.data.objects if o.type == 'MESH' and o.name.startswith("Arm1_")]
dg = bpy.context.evaluated_depsgraph_get()
out = {}
for claw in (0.0, 1.0):
    arm["lower_m"] = 5.3
    arm["claw_open"] = claw
    for ob in bpy.data.objects:
        if ob.name.startswith("Arm1"):
            ob.update_tag()
    bpy.context.view_layer.update()
    dg.update()
    head = bpy.data.objects["Arm1_Head"].matrix_world
    o = head.translation - Vector((0, 0, 1.94))
    M = Matrix.Translation(o) @ Matrix.Rotation(math.pi / 2, 4, 'Z') @ Matrix.Translation((0, 0.09, 0))   # as clamp_check, nose +x
    Mi = M.inverted()
    rows = {}
    for ob in parts:
        ev = ob.evaluated_get(dg)
        me = ev.to_mesh()
        W = ev.matrix_world
        pts = []
        for v in me.vertices:
            p = Mi @ (W @ v.co)
            r = math.hypot(p.x, p.y + 0.09)
            if r < 0.9 and p.z < 1.8:
                pts.append((r, math.degrees(math.atan2(p.y + 0.09, p.x)) % 360, p.z))
        ev.to_mesh_clear()
        if not pts:
            continue
        zs = [q[2] for q in pts]
        low = [q for q in pts if q[2] < min(zs) + 0.03]
        rows[ob.name] = {"n": len(pts), "z_min": round(min(zs), 3), "z_max": round(max(zs), 3),
                         "r_min": round(min(q[0] for q in pts), 3), "r_max": round(max(q[0] for q in pts), 3),
                         "lowest_r": [round(min(q[0] for q in low), 3), round(max(q[0] for q in low), 3)],
                         "lowest_az": sorted({int(q[1] // 5 * 5) for q in low})}
    out["claws_open" if claw else "claws_shut"] = rows
json.dump(out, open(os.path.join(HERE, "checks", "head_parts.json"), "w"), indent=1)
for k, rows in out.items():
    for nm, r in sorted(rows.items(), key=lambda kv: kv[1]["z_min"]):
        print("HEAD", k, nm, json.dumps(r))