import { access, mkdir, readFile, writeFile } from "node:fs/promises";
import { dirname, resolve } from "node:path";
import { fileURLToPath } from "node:url";

import { createMemorySessionStorage } from "../app/src/runtime/five-axis-session.js";
import { parseLinuxCncIni } from "../app/src/runtime/linuxcnc-ini-runtime.js";
import {
  selectMachineFileProgram,
  stageProfileMachineFiles,
} from "../app/src/runtime/linuxcnc-machine-file-staging.js";
import {
  applyToolCommandSequence,
  createToolDbSimulation,
  createToolRuntimeState,
  extractToolCommandSequenceFromProgram,
  parseLinuxCncToolTable,
} from "../app/src/runtime/tool-db-simulation.js";
import { createSimulationStore } from "../app/src/state/store.js";
import { getFiveAxisProfile } from "../app/src/profiles/index.js";
import { buildVismachModelState } from "../app/src/runtime/vismach-model-state.js";

const SAMPLE_PERIOD_MS = 20;
const repoRoot = resolve(dirname(fileURLToPath(import.meta.url)), "../..");
const projectRoot = resolve(repoRoot, "web-rtcp-5axis-xyzbc-trt-sim-plan");
const outputPath = process.argv[2]
  || resolve(projectRoot, "working/evidence/web-xyzbc-trt-evidence.json");
const sourceRel = "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc";

const profile = getFiveAxisProfile("xyzbc-trt");
const wasmArtifacts = await inspectWasmArtifacts();
const iniText = await readFile(
  resolve(repoRoot, "wasm-port/vendor/linuxcnc", profile.iniPath),
  "utf8",
);
const ini = parseLinuxCncIni(iniText, {
  path: profile.iniPath,
  profileId: profile.id,
});

const storage = createMemorySessionStorage();
const staged = await stageProfileMachineFiles(profile, { storage });
const selectedPlan = selectMachineFileProgram(staged.plan, staged.save, sourceRel);
const store = createSimulationStore();
const storeStage = await store.stageMachineFiles({ storage: createMemorySessionStorage() });
store.dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel });
const state = store.getState();
const paths = await collectPathEvidence({
  profile,
  staged,
  selectedPlan,
  wasmArtifacts,
});
const toolRuntime = buildToolRuntimeEvidence({
  profile,
  staged,
  selectedPlan,
  fallbackToolLength: state.toolPreview?.length,
});
const semanticFields = buildSemanticFields({ profile, ini, staged, state, toolRuntime });

const evidence = {
  apiName: "xyzbc-trt-web-opfs-wasm-evidence",
  status: wasmArtifacts.ready ? "ready-for-wasm-runtime" : "blocked",
  collectedAt: new Date().toISOString(),
  profile: {
    id: profile.id,
    machineName: profile.machineName,
    iniPath: profile.iniPath,
    pyvcpXmlPath: profile.pyvcpXmlPath,
    toolTablePath: profile.toolTablePath,
    coordinates: profile.coordinates,
    kinematics: profile.kinematics,
    kinematicsModuleId: profile.kinematicsModuleId,
    defaultProgramFilename: profile.machineFileStaging?.defaultProgramFilename,
    samplePrograms: profile.samplePrograms,
    switchkinsTypes: profile.kinematicsParameters?.switchkinsTypes,
    halPins: profile.halPins,
  },
  ini: {
    ready: ini.validation.ready,
    machineName: ini.machineName,
    coordinates: ini.traj.coordinates,
    kinematicsName: ini.kinematics.name,
    kinematicsModuleId: ini.kinematicsModuleId,
    remaps: ini.rs274ngc.remaps,
    haluiMdiCommands: ini.halui.mdiCommands,
    toolTable: ini.emcio.toolTable,
    parameterFile: ini.rs274ngc.parameterFile,
    jointConfig: ini.jointConfig,
    display: ini.display,
    traj: ini.traj,
    axisLimits: ini.axisLimits,
    hal: ini.hal,
  },
  opfsStaging: {
    storageMode: staged.save.storageMode,
    opfsRoot: staged.save.opfsRoot,
    fileCount: staged.save.fileCount,
    summary: staged.save.summary,
    files: staged.save.files.map((file) => ({
      sourceRel: file.sourceRel,
      opfsPath: file.opfsPath,
      wasmPath: file.wasmPath,
      kind: file.kind,
      bytes: file.bytes,
      executable: file.executable,
    })),
    gcodeSources: staged.save.gcodeSources,
    selectedProgram: {
      sourceRel: selectedPlan.selectedProgramSourceRel,
      filename: selectedPlan.selectedProgramFilename,
      wasmProgramPath: selectedPlan.wasmProgramPath,
    },
  },
  store: {
    machineProfile: state.machineProfile,
    sessionName: state.sessionName,
    machineProjectRoot: state.machineProject?.projectRoot || storeStage.save.opfsRoot,
    activeProgram: state.activeProgram,
    programSource: state.programSource,
    programLineCount: state.programLines.length,
    selectedGcodeSourceRel: state.machineFileStaging.selectedGcodeSourceRel,
  },
  pathSampling: createPathSampling(),
  previewPath: paths.previewPath,
  executionPath: paths.executionPath,
  toolRuntime,
  ...semanticFields,
  wasm: wasmArtifacts,
  coverage: {
    profileDefaultXyzbc: profile.id === "xyzbc-trt",
    iniReady: ini.validation.ready,
    opfsStaged: staged.save.status === "saved" && staged.save.fileCount > 0,
    pyvcpXmlStaged: staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc-trt.xml")),
    remapsStaged: ["428remap.ngc", "429remap.ngc", "430remap.ngc"].every((name) => (
      staged.save.files.some((file) => file.sourceRel.endsWith(`/remap_subs/${name}`))
    )),
    toolTableStaged: staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc-trt.tbl")),
    parameterFileStaged: staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc.var")),
    defaultProgramStaged: staged.save.gcodeSources.some((source) => source.filename === "xyzbc_switchkins.ngc"),
    boatProgramStaged: staged.save.gcodeSources.some((source) => source.filename === "boat-xyzbc.ngc"),
    ngcguiSubroutinesStaged: ["xyzbc_switchkins_sub.ngc", "centering.ngc", "helix_bc.ngc"].every((name) => (
      staged.save.files.some((file) => file.sourceRel.endsWith(`/remap_subs/${name}`))
    )),
    postguiHalEquivalent: semanticFields.halNets.some((net) => net.source === "pyvcp.type1-button" && net.target === "halui.mdi-command-01"),
    kinematicsPinsCovered: semanticFields.kinematicsPins.xOffset === -20
      && semanticFields.kinematicsPins.zOffset === -15
      && semanticFields.kinematicsPins.conventionalDirections === 0,
    axisJointLimitsCovered: semanticFields.axisJointLimits.coordinates === "XYZBC"
      && semanticFields.axisJointLimits.jointCount === 5
      && Boolean(semanticFields.axisJointLimits.axisLimits.B)
      && Boolean(semanticFields.axisJointLimits.axisLimits.C),
    previewPathAvailable: paths.previewPath.sampleCount > 0,
    executionPathAvailable: paths.executionPath.sampleCount > 0,
    toolTableToToolOffsetClosed: toolRuntime.ready
      && toolRuntime.toolTable.toolCount > 0
      && toolRuntime.activeOffsetApplied
      && toolRuntime.kinematics.toolOffsetZ === toolRuntime.pathTool.length
      && toolRuntime.vismach.toolOffset === toolRuntime.pathTool.length,
    wasmArtifactsReady: wasmArtifacts.ready,
  },
  blockers: [
    ...(wasmArtifacts.ready ? [] : [{
      id: "missing-wasm-artifacts",
      detail: "wasm-port/build/wasm does not contain all required kinematics/core/tp/task-hal artifacts.",
      required: wasmArtifacts.required,
      missing: wasmArtifacts.missing,
    }]),
    ...(staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc.var")) ? [] : [{
      id: "missing-parameter-file-staging",
      detail: "xyzbc.var is referenced by INI but absent from wasm-port/vendor manifest in this workspace.",
    }]),
    ...(paths.previewPath.sampleCount > 0 ? [] : [{
      id: "web-preview-path-unavailable",
      detail: paths.previewPath.unavailableReason,
    }]),
    ...(paths.executionPath.sampleCount > 0 ? [] : [{
      id: "web-execution-path-unavailable",
      detail: paths.executionPath.unavailableReason,
    }]),
  ],
  semanticBoundary: "web_opfs_wasm_runtime_readiness_for_linuxcnc_xyzbc_trt",
};

await mkdir(dirname(outputPath), { recursive: true });
await writeFile(outputPath, JSON.stringify(evidence, null, 2) + "\n", "utf8");
console.log(`web_xyzbc_trt_evidence=${outputPath}`);

async function inspectWasmArtifacts() {
  const required = [
    "wasm-port/build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.js",
    "wasm-port/build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.wasm",
    "wasm-port/build/wasm/core/linuxcnc_interp.js",
    "wasm-port/build/wasm/core/linuxcnc_interp.wasm",
    "wasm-port/build/wasm/tp/linuxcnc_tp.js",
    "wasm-port/build/wasm/tp/linuxcnc_tp.wasm",
    "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.js",
    "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm",
  ];
  const files = [];
  const missing = [];
  for (const rel of required) {
    const abs = resolve(repoRoot, rel);
    try {
      await access(abs);
      files.push(rel);
    } catch {
      missing.push(rel);
    }
  }
  return {
    required,
    files,
    missing,
    ready: missing.length === 0,
    emscriptenAvailable: Boolean(await commandExists("emcc")),
  };
}

async function commandExists(command) {
  const { spawn } = await import("node:child_process");
  return new Promise((resolveCommand) => {
    const child = spawn("bash", ["-lc", `command -v ${command}`], { stdio: "ignore" });
    child.on("exit", (code) => resolveCommand(code === 0));
  });
}

async function collectPathEvidence({ profile, staged, selectedPlan, wasmArtifacts }) {
  if (!wasmArtifacts.files.includes("wasm-port/build/wasm/core/linuxcnc_interp.js")
    || !wasmArtifacts.files.includes("wasm-port/build/wasm/core/linuxcnc_interp.wasm")) {
    return {
      previewPath: emptyPath("web-preview", "missing linuxcnc_interp WASM artifacts"),
      executionPath: emptyPath("web-task-hal", "missing task/HAL WASM runtime artifacts"),
    };
  }

  try {
    const { createLinuxCncInterpreterRuntime } = await import("../app/src/runtime/linuxcnc-interpreter-runtime.js");
    const runtime = await createLinuxCncInterpreterRuntime();
    const execution = runtime.runMachineFileProgram({
      plan: selectedPlan,
      files: staged.save.files,
      executionMode: "fiveAxisRemap",
    });
    const toolRuntime = buildToolRuntimeEvidence({
      profile,
      staged,
      selectedPlan,
    });
    const previewPath = pathFromWebMotion(execution, profile, toolRuntime.pathTool);
    return {
      previewPath,
      executionPath: wasmArtifacts.ready
        ? await pathFromTaskHalExecution({ profile, staged, selectedPlan, execution, toolRuntime })
        : emptyPath("web-task-hal", "missing task/HAL WASM runtime artifacts"),
    };
  } catch (error) {
    return {
      previewPath: emptyPath("web-preview", error instanceof Error ? error.message : String(error)),
      executionPath: emptyPath("web-task-hal", "preview runtime failed before task/HAL execution capture"),
    };
  }
}

function pathFromWebMotion(execution, profile, pathTool = null) {
  const plannerSamples = execution.plannerTiming?.samples || [];
  const motion = execution.motion || [];
  const motionByIndex = new Map(motion.map((event, index) => [index, event]));
  const resampled = resamplePlannerSamples(plannerSamples, SAMPLE_PERIOD_MS);
  const samples = resampled.map((sample, index) => {
    const event = motionByIndex.get(sample.motionIndex) || {};
    const axes = sample.axes || event.axes || {};
    return normalizePathSample({
      sampleIndex: index,
      timeMs: sample.timeMs,
      line: sample.line ?? event.line ?? 0,
      motionType: motionTypeFromCanonical(sample.type || event.type),
      activeKinematics: activeKinematics(event),
      axes,
      tool: pathTool || firstTool(profile),
      feed: sample.currentVelocityMmPerMin ?? event.feedRate ?? 0,
      spindle: 0,
    });
  });
  return {
    source: "web-linuxcnc-interpreter-preview",
    samplePeriodMs: SAMPLE_PERIOD_MS,
    status: samples.length > 0 ? "ok" : "blocked",
    unavailableReason: samples.length > 0 ? null : "interpreter produced no planner samples",
    sampleCount: samples.length,
    samples,
  };
}

function resamplePlannerSamples(plannerSamples = [], samplePeriodMs = SAMPLE_PERIOD_MS) {
  if (!Array.isArray(plannerSamples) || plannerSamples.length === 0) return [];
  const normalized = plannerSamples
    .map((sample) => ({
      ...sample,
      timeMs: Math.round(Number(sample.timeSeconds || 0) * 1000),
    }))
    .filter((sample) => Number.isFinite(sample.timeMs))
    .sort((left, right) => left.timeMs - right.timeMs);
  if (normalized.length === 0) return [];
  const firstMs = 0;
  const lastMs = normalized.at(-1).timeMs;
  const output = [];
  let rightIndex = 0;
  for (let timeMs = firstMs; timeMs <= lastMs; timeMs += samplePeriodMs) {
    while (rightIndex < normalized.length - 1 && normalized[rightIndex].timeMs < timeMs) {
      rightIndex += 1;
    }
    const right = normalized[rightIndex];
    const left = normalized[Math.max(0, rightIndex - 1)] || right;
    output.push(interpolatePlannerSample(left, right, timeMs));
  }
  return output;
}

function interpolatePlannerSample(left, right, timeMs) {
  if (!left || !right || left.timeMs === right.timeMs) {
    return { ...(right || left), timeMs };
  }
  const ratio = Math.max(0, Math.min(1, (timeMs - left.timeMs) / (right.timeMs - left.timeMs)));
  const axes = {};
  for (const axis of ["x", "y", "z", "a", "b", "c", "u", "v", "w"]) {
    axes[axis] = lerpNumber(left.axes?.[axis], right.axes?.[axis], ratio);
  }
  return {
    ...right,
    timeMs,
    axes,
    currentVelocityMmPerMin: lerpNumber(left.currentVelocityMmPerMin, right.currentVelocityMmPerMin, ratio),
    currentVelocity: lerpNumber(left.currentVelocity, right.currentVelocity, ratio),
    distanceToGo: lerpNumber(left.distanceToGo, right.distanceToGo, ratio),
  };
}

async function pathFromTaskHalExecution({ profile, staged, selectedPlan, execution, toolRuntime = null }) {
  try {
    const { createLinuxCncTaskHalSdk } = await import("../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js");
    const {
      buildTaskHalProgramMotionPlan,
      buildTaskHalSessionFromMachineFiles,
      wrapTaskHalSdk,
    } = await import("../app/src/runtime/linuxcnc-task-hal-runtime.js");
    const wasmBinary = await readFile(resolve(repoRoot, "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm"));
    const taskHal = wrapTaskHalSdk(await createLinuxCncTaskHalSdk({
      wasmBinary,
      print() {},
      printErr() {},
    }));
    const session = buildTaskHalSessionFromMachineFiles({
      profile,
      plan: selectedPlan,
      save: staged.save,
      selectedProgramRel: selectedPlan.selectedProgramSourceRel,
    });
    const programFile = staged.save.files.find((file) => (
      (file.wasmPath || file.path) === session.programPath
    ));
    const programLines = String(programFile?.text || "").split(/\r?\n/);
    taskHal.initSession(session);
    taskHal.stageFiles(session.files);
    taskHal.openProgram(session.programPath);
    taskHal.loadProgramMotionPlan(buildTaskHalProgramMotionPlan({
      programPath: session.programPath,
      motion: execution.motion,
      timing: execution.plannerTiming,
      linearUnits: execution.plannerTiming?.linearUnits || "mm",
      programLines,
    }));
    taskHal.sendCommand({ type: "EMC_TASK_SET_STATE", state: "ON" });
    taskHal.sendCommand({ type: "EMC_TASK_SET_MODE", mode: "AUTO" });
    taskHal.sendCommand({ type: "EMC_TASK_PLAN_RUN", line: 0 });

    const totalSeconds = Number(execution.plannerTiming?.totalSeconds || 0);
    const cycleCount = Math.max(
      Math.ceil((totalSeconds * 1000) / SAMPLE_PERIOD_MS) + 5,
      Number(execution.plannerTiming?.samples?.length || 0),
      1,
    );
    const samples = [];
    let previousKey = null;
    let completed = false;
    for (let index = 0; index < cycleCount; index += 1) {
      taskHal.runCycles({
        taskPeriodNs: SAMPLE_PERIOD_MS * 1000000,
        servoPeriodNs: 1000000,
        taskCycles: 1,
      });
      const status = taskHal.readStatus();
      const motion = status.motionStatus?.motion || {};
      const task = status.task || {};
      const activeLine = status.ui?.activeLine ?? motion.programLine ?? 0;
      const sample = normalizePathSample({
        sampleIndex: samples.length,
        timeMs: samples.length * SAMPLE_PERIOD_MS,
        line: activeLine,
        motionType: motionTypeFromCanonical(currentMotionTypeForLine(execution.motion, activeLine)),
        activeKinematics: activeKinematics({
          switchkinsType: status.ui?.switchkinsType ?? motion.switchkinsType,
        }),
        axes: xyzbcAxesFromTaskHalStatus(status),
        tool: toolRuntime?.pathTool || firstTool(profile),
        feed: status.ui?.currentVelocity ?? Number(motion.currentVel || motion.currentVelocity || 0) * 60,
        spindle: spindleFromTaskHalStatus(status),
      });
      const sampleKey = JSON.stringify({ line: sample.line, joint: sample.joint, feed: sample.feed });
      samples.push(sample);
      completed = String(task.execState || "").toUpperCase() === "DONE"
        && String(task.interpState || "").toUpperCase() === "IDLE"
        && samples.length > 2
        && sampleKey === previousKey;
      previousKey = sampleKey;
      if (completed) break;
    }
    return {
      source: "web-linuxcnc-task-hal-execution",
      samplePeriodMs: SAMPLE_PERIOD_MS,
      status: samples.length > 0 ? "ok" : "blocked",
      unavailableReason: samples.length > 0 ? null : "task/HAL execution produced no status samples",
      sampleCount: samples.length,
      samples,
      taskHal: {
        semanticBoundary: "linuxcnc_task_motion_hal_wasm_simulation_runtime",
        sessionProgramPath: session.programPath,
        completed,
        eventCount: taskHal.readEvents()?.events?.length || 0,
      },
    };
  } catch (error) {
    return emptyPath("web-task-hal", error instanceof Error ? error.message : String(error));
  }
}

function buildSemanticFields({ profile, ini, staged, state, toolRuntime }) {
  const postguiNets = [
    { signal: "kinstype.is-0", source: "kinstype.is-0", target: "pyvcp.multilabel.0.legend0", boundary: "postgui-hal" },
    { signal: "kinstype.is-1", source: "kinstype.is-1", target: "pyvcp.multilabel.0.legend1", boundary: "postgui-hal" },
    { signal: "kinstype.is-2", source: "kinstype.is-2", target: "pyvcp.multilabel.0.legend2", boundary: "postgui-hal" },
    { signal: "vismach-clear", source: "pyvcp.vismach-clear", target: "vismach.plotclear", boundary: "postgui-hal" },
    { signal: "type0-button", source: "pyvcp.type0-button", target: "halui.mdi-command-00", command: "M429", boundary: "postgui-hal" },
    { signal: "type1-button", source: "pyvcp.type1-button", target: "halui.mdi-command-01", command: "M428", boundary: "postgui-hal" },
    { signal: "type2-button", source: "pyvcp.type2-button", target: "halui.mdi-command-02", command: "M430", boundary: "postgui-hal" },
  ];
  const profileNets = [
    profile.hal?.halcmd?.switchkinsSelectNet,
    ...(profile.hal?.halcmd?.feedbackNets || []),
    ...(profile.hal?.halcmd?.offsetNets || []),
  ].filter(Boolean).map((net) => ({ ...net, boundary: "ini-halcmd" }));
  const gcodeFiles = staged.save.gcodeFiles || [];
  const vismachModelState = buildVismachModelState({
    ...state,
    toolRuntimeState: toolRuntime,
  });

  return {
    startupSequence: [
      ".desktop",
      "rip-environment",
      "linuxcncsvr",
      "rtapi_app",
      "milltask",
      "halui",
      "LIB:basic_sim.tcl",
      "xyzbc-trt-kins",
      "xyzbc-trt-gui",
      "axis.py",
      "xyzbc-trt.xml",
      "switchkins_postgui.hal",
      "OPEN_FILE ./demos/xyzbc_switchkins.ngc",
    ],
    iniDisplay: {
      ...ini.display,
      coordinates: ini.traj.coordinates,
      positionFeedback: ini.display.positionFeedback,
      positionOffset: ini.display.positionOffset,
    },
    halNets: [
      ...profileNets,
      ...postguiNets,
    ],
    kinematicsPins: {
      xOffset: profile.offsets?.x,
      zOffset: profile.offsets?.z,
      xRotPoint: profile.offsets?.xRotPoint,
      yRotPoint: profile.offsets?.yRotPoint,
      zRotPoint: profile.offsets?.zRotPoint,
      conventionalDirections: profile.offsets?.conventionalDirections,
      toolOffsetSource: "motion.tooloffset.z",
      toolOffsetValue: toolRuntime.kinematics.toolOffsetZ,
      toolOffsetToolNumber: toolRuntime.activeToolNumber,
      pins: profile.halPins,
    },
    axisJointLimits: {
      coordinates: ini.traj.coordinates,
      linearUnits: ini.traj.linearUnits,
      angularUnits: ini.traj.angularUnits,
      jogAxes: ini.display.jogAxes,
      geometry: ini.display.geometry,
      traj: ini.traj,
      axisLimits: ini.axisLimits,
      jointCount: ini.jointConfig.length,
      jointConfig: ini.jointConfig,
    },
    switchkinsTransitions: (profile.kinematicsParameters?.switchkinsTypes || []).map((type) => ({
      ...type,
      remap: profile.remaps?.find((remap) => remap.code === type.mdiCommand) || null,
      haluiCommand: type.mdiCommand,
      halPin: "motion.switchkins-type",
    })),
    uiEquivalence: {
      firstViewport: "axis-equivalent-cnc-console",
      regions: [
        "program",
        "dro",
        "status",
        "mdi-switchkins",
        "override",
        "tool",
        "preview-execution",
      ],
      activeProgram: state.activeProgram,
      selectedGcodeSourceRel: state.machineFileStaging.selectedGcodeSourceRel,
      pyvcpPanelSchema: profile.panelSchema?.id,
      switchkinsButtons: ["IDENTITY", "TCP:XYZBC", "USERK"],
    },
    vismachEquivalent: {
      sourceGui: "src/hal/user_comps/vismach/xyzbc-trt-gui.py",
      webModel: "app/src/visualization/five-axis-scene.js",
      pins: Object.keys(vismachModelState.pins),
      pinValues: vismachModelState.pins,
      transforms: vismachModelState.transforms,
      halNets: vismachModelState.halNets,
      clearTraceSignal: "pyvcp.vismach-clear => vismach.plotclear",
      semanticBoundary: vismachModelState.semanticBoundary,
    },
    toolOffsetClosure: {
      sourceToolTable: toolRuntime.toolTable.sourceRel,
      selectedProgramSourceRel: toolRuntime.selectedProgramSourceRel,
      programToolCommands: toolRuntime.programToolCommands,
      activeToolOffset: toolRuntime.activeToolOffset,
      kinematicsToolOffsetZ: toolRuntime.kinematics.toolOffsetZ,
      pathTool: toolRuntime.pathTool,
      vismachToolOffset: toolRuntime.vismach.toolOffset,
      closed: toolRuntime.ready
        && toolRuntime.activeOffsetApplied
        && toolRuntime.kinematics.toolOffsetZ === toolRuntime.pathTool.length
        && toolRuntime.vismach.toolOffset === toolRuntime.pathTool.length,
      semanticBoundary: "tool_table_current_t_p_z_d_drives_kinematics_path_and_vismach",
    },
    ngcguiSubroutines: ["xyzbc_switchkins_sub.ngc", "centering.ngc", "helix_bc.ngc"].map((filename) => ({
      filename,
      staged: gcodeFiles.some((file) => file.filename === filename),
      sourceRel: gcodeFiles.find((file) => file.filename === filename)?.sourceRel || null,
    })),
    demoPrograms: ["xyzbc_switchkins.ngc", "boat-xyzbc.ngc"].map((filename) => ({
      filename,
      default: filename === profile.machineFileStaging?.defaultProgramFilename,
      staged: staged.save.gcodeSources.some((source) => source.filename === filename),
      sourceRel: staged.save.gcodeSources.find((source) => source.filename === filename)?.sourceRel || null,
    })),
  };
}

function buildToolRuntimeEvidence({ profile, staged, selectedPlan, fallbackToolLength = 0 }) {
  const toolTableFile = staged.save.files.find((file) => file.sourceRel === profile.toolTablePath)
    || staged.save.files.find((file) => file.kind === "toolTable");
  const programFile = staged.save.files.find((file) => (
    file.sourceRel === selectedPlan.selectedProgramSourceRel
    || (file.wasmPath || file.path) === selectedPlan.wasmProgramPath
  ));
  const toolTable = parseLinuxCncToolTable(toolTableFile?.text || "", {
    sourceRel: toolTableFile?.sourceRel || profile.toolTablePath,
    path: toolTableFile?.wasmPath || toolTableFile?.path || null,
  });
  const programToolCommands = extractToolCommandSequenceFromProgram(programFile?.text || "");
  const commands = programToolCommands.length > 0
    ? programToolCommands
    : defaultToolActivationCommands(toolTable);
  const toolDb = applyToolCommandSequence(createToolDbSimulation({
    toolTable,
    profile,
    storageMode: staged.save.storageMode,
  }), commands);
  const runtimeState = createToolRuntimeState(toolDb, { fallbackToolLength });
  return {
    ...runtimeState,
    selectedProgramSourceRel: selectedPlan.selectedProgramSourceRel,
    toolTable: {
      sourceRel: toolTable.sourceRel,
      toolCount: toolTable.toolCount,
      entries: toolTable.entries.map((entry) => ({
        idx: entry.idx,
        toolNumber: entry.toolNumber,
        pocket: entry.pocket,
        z: entry.offset.z,
        diameter: entry.diameter,
      })),
    },
    programToolCommands,
    appliedToolCommands: commands,
    defaultActivationUsed: programToolCommands.length === 0,
  };
}

function defaultToolActivationCommands(toolTable) {
  const preferred = toolTable.entries.find((entry) => entry.offset.z !== 0)
    || toolTable.entries.find((entry) => entry.toolNumber > 0);
  if (!preferred) return [];
  return [
    { code: "T", toolNumber: preferred.toolNumber, source: "default-tool-table-activation" },
    { code: "M6", source: "default-tool-table-activation" },
    { code: "G43", h: preferred.toolNumber, toolNumber: preferred.toolNumber, source: "default-tool-table-activation" },
  ];
}

function createPathSampling() {
  return {
    samplePeriodMs: SAMPLE_PERIOD_MS,
    timeBase: "program-relative-ms",
    resampling: "linear-position-slerp-or-axis-linear",
    coordinateSystem: "machine-xyzbc-and-tcp",
  };
}

function emptyPath(source, reason) {
  return {
    source,
    samplePeriodMs: SAMPLE_PERIOD_MS,
    status: "blocked",
    unavailableReason: reason,
    sampleCount: 0,
    samples: [],
  };
}

function normalizePathSample({
  sampleIndex,
  timeMs,
  line,
  motionType,
  activeKinematics,
  axes,
  tool,
  feed,
  spindle,
}) {
  const joint = {
    x: numberOrZero(axes.x),
    y: numberOrZero(axes.y),
    z: numberOrZero(axes.z),
    b: numberOrZero(axes.b),
    c: numberOrZero(axes.c),
  };
  return {
    sampleIndex,
    timeMs,
    line: Number(line) || 0,
    motionType,
    activeKinematics,
    tool,
    joint,
    tcp: {
      x: joint.x,
      y: joint.y,
      z: joint.z,
    },
    toolAxis: toolAxisFromBc(joint.b, joint.c),
    feed: numberOrZero(feed),
    spindle: numberOrZero(spindle),
  };
}

function firstTool(profile) {
  const tool = profile.toolTable?.tools?.[0] || {};
  return {
    id: Number(tool.tool) || 0,
    length: Number(tool.zOffset) || 0,
    diameter: Number(tool.diameter) || 0,
  };
}

function xyzbcAxesFromTaskHalStatus(status = {}) {
  const axis = status.motionStatus?.axis || {};
  const pins = status.halSnapshot?.pins || {};
  return {
    x: firstFiniteNumber(
      axis.x,
      pins["joint.0.motor-pos-fb"]?.value,
      pins["joint.0.pos-fb"]?.value,
      pins["axis.0.pos-fb"]?.value,
      pins["joint.0.motor-pos-cmd"]?.value,
    ),
    y: firstFiniteNumber(
      axis.y,
      pins["joint.1.motor-pos-fb"]?.value,
      pins["joint.1.pos-fb"]?.value,
      pins["axis.1.pos-fb"]?.value,
      pins["joint.1.motor-pos-cmd"]?.value,
    ),
    z: firstFiniteNumber(
      axis.z,
      pins["joint.2.motor-pos-fb"]?.value,
      pins["joint.2.pos-fb"]?.value,
      pins["axis.2.pos-fb"]?.value,
      pins["joint.2.motor-pos-cmd"]?.value,
    ),
    b: firstFiniteNumber(
      axis.b,
      pins["joint.3.motor-pos-fb"]?.value,
      pins["joint.3.pos-fb"]?.value,
      pins["axis.3.pos-fb"]?.value,
      pins["joint.3.motor-pos-cmd"]?.value,
    ),
    c: firstFiniteNumber(
      axis.c,
      pins["joint.4.motor-pos-fb"]?.value,
      pins["joint.4.pos-fb"]?.value,
      pins["axis.4.pos-fb"]?.value,
      pins["joint.4.motor-pos-cmd"]?.value,
    ),
  };
}

function spindleFromTaskHalStatus(status = {}) {
  const pins = status.halSnapshot?.pins || {};
  return firstFiniteNumber(
    status.motionStatus?.motion?.spindleSpeed,
    pins["spindle.0.speed-out"]?.value,
    pins["motion.spindle-speed-out"]?.value,
    0,
  );
}

function currentMotionTypeForLine(motion = [], line = 0) {
  const number = Number(line);
  if (!Number.isFinite(number) || number <= 0) return null;
  return motion.find((event) => Number(event.line) === number)?.type || null;
}

function activeKinematics(event) {
  if (event.kinsType === "identity" || event.switchkinsType === 0) return "identity";
  if (event.kinsType === "tcp" || event.switchkinsType === 1) return "xyzbc-tcp";
  if (event.kinsType === "userk" || event.switchkinsType === 2) return "userk";
  return "unknown";
}

function motionTypeFromCanonical(type) {
  if (type === "STRAIGHT_TRAVERSE") return "G0";
  if (type === "STRAIGHT_FEED") return "G1";
  if (type === "ARC_FEED") return "G2/G3";
  return "unknown";
}

function toolAxisFromBc(bDeg, cDeg) {
  const b = bDeg * Math.PI / 180;
  const c = cDeg * Math.PI / 180;
  return {
    i: Math.sin(b) * Math.cos(c),
    j: Math.sin(b) * Math.sin(c),
    k: Math.cos(b),
  };
}

function numberOrZero(value) {
  const number = Number(value);
  return Number.isFinite(number) ? number : 0;
}

function lerpNumber(left, right, ratio) {
  const leftNumber = Number(left);
  const rightNumber = Number(right);
  if (!Number.isFinite(leftNumber)) return Number.isFinite(rightNumber) ? rightNumber : 0;
  if (!Number.isFinite(rightNumber)) return leftNumber;
  return leftNumber + (rightNumber - leftNumber) * ratio;
}

function firstFiniteNumber(...values) {
  for (const value of values) {
    const number = Number(value);
    if (Number.isFinite(number)) return number;
  }
  return 0;
}