import {z} from 'zod'

export type GetApiPeripheryCamerasCaptureDepthArgs = {result_type: 'json' | 'rgb_png' | 'jpeg', near?: (number | null) | undefined, far?: (number | null) | undefined, unit?: ('mm' | 'm') | undefined, camera_prim_path?: (string | null) | undefined, width?: number | undefined, height?: number | undefined};

export type GetApiPeripheryCamerasCaptureDepthOptions = {baseUrl: string, fetch?: typeof fetch | undefined};

export const depthCaptureResult = z.object({depth: z.array(z.array(z.number())), camera_intrinsics: z.array(z.array(z.number())), unit: z.enum(["mm", "m"]).optional()});

export const validateResponse = async <Output>(
  schema: {
    readonly '~standard': {
      readonly validate: (value: unknown) => ({ readonly value: Output; readonly issues?: undefined } | { readonly issues: ReadonlyArray<{ readonly message: string; readonly path?: ReadonlyArray<PropertyKey | { readonly key: PropertyKey }> | undefined }> }) | Promise<{ readonly value: Output; readonly issues?: undefined } | { readonly issues: ReadonlyArray<{ readonly message: string; readonly path?: ReadonlyArray<PropertyKey | { readonly key: PropertyKey }> | undefined }> }>
    }
  },
  value: unknown
): Promise<Output> => {
  const result = await schema['~standard'].validate(value)

  if (result.issues !== undefined) {
    const detail = result.issues
      .map(({ message, path }) =>
        path?.length
          ? `${path.map((segment) => String(typeof segment === 'object' ? segment.key : segment)).join('.')}: ${message}`
          : message
      )
      .join('; ')

    throw new Error(`Response does not match the schema: ${detail}`, { cause: { issues: result.issues } })
  }

  return result.value
};

/**
 * Capture Depth Image
 * 
 * GET /periphery/cameras/capture/depth
 */
export const getApiPeripheryCamerasCaptureDepth = async (args: GetApiPeripheryCamerasCaptureDepthArgs, options: GetApiPeripheryCamerasCaptureDepthOptions) => {
const {baseUrl, fetch: fetchFn = fetch} = options ?? {}

const query = new URLSearchParams()
const headers = new Headers()
headers.set('accept', "application/json")

if (args.result_type != null) query.append("result_type", String(args.result_type))
if (args.near != null) query.append("near", String(args.near))
if (args.far != null) query.append("far", String(args.far))
if (args.unit != null) query.append("unit", String(args.unit))
if (args.camera_prim_path != null) query.append("camera_prim_path", String(args.camera_prim_path))
if (args.width != null) query.append("width", String(args.width))
if (args.height != null) query.append("height", String(args.height))

const url = `${baseUrl.replace(/\/+$/, '')}/periphery/cameras/capture/depth${query.size > 0 ? `?${query}` : ''}`

const res = await fetchFn(url, {method: "GET", headers})

if (!res.ok) throw new Error(`Request failed with status ${res.status}`, {cause: {status: res.status, body: await res.text()}})

return validateResponse(depthCaptureResult, await res.json())
};