import assert from "node:assert/strict";
import { readFileSync } from "node:fs";
import { fileURLToPath } from "node:url";
import { dirname, resolve } from "node:path";

import { createLinuxCncTaskHalSdk } from "../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js";
import { wrapTaskHalSdk } from "../../app/src/runtime/linuxcnc-task-hal-runtime.js";
import { createSimulationStore } from "../../app/src/state/store.js";

const __filename = fileURLToPath(import.meta.url);
const __dirname = dirname(__filename);
const rootDir = resolve(__dirname, "../../..");
const wasmPath = resolve(rootDir, "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm");

const sdk = await createLinuxCncTaskHalSdk({
  wasmBinary: readFileSync(wasmPath),
  print() {},
  printErr(message) {
    console.error(message);
  },
});
const runtime = wrapTaskHalSdk(sdk);
const store = createSimulationStore({
  programLines: [
    "G0 X1 Y2 Z-3 A10 C20",
    "G1 X2 Y3 Z-4 A11 C21",
    "M428",
    "G1 X3 Y4 Z-5 A12 C22",
  ],
  activeProgram: "task-hal-store-smoke.ngc",
});

store.dispatch({ type: "ATTACH_TASK_HAL_RUNTIME", runtime });
assert.equal(store.getState().taskHalRuntimeReadiness.taskRuntimeReady, true);
assert.equal(store.getState().taskHalRuntimeReadiness.motionRuntimeReady, true);
assert.equal(store.getState().taskHalRuntimeReadiness.halRuntimeReady, true);

store.dispatch({ type: "TOGGLE_POWER" });
await waitForTaskHal(store);
store.dispatch({ type: "HOME" });
store.dispatch({ type: "SET_MODE", mode: "auto" });
await waitForTaskHal(store);
store.dispatch({ type: "RUN" });
await waitForTaskHal(store);

let state = store.getState();
assert.equal(state.taskHalStatus.summary.taskRuntimeReady, true);
assert.equal(state.taskHalStatus.summary.halSyncReady, true);
assert.equal(state.taskHalStatus.ui.activeLine >= 1, true);
assert.equal(state.axisPose.x >= 1, true);
assert.equal(state.programExecutionSourceMode, "linuxcnc-task-motion-hal-wasm");
assert.equal(state.fullExecutionBoundary.nativeTaskReady, true);
assert.equal(state.fullExecutionBoundary.nativeHalSyncReady, true);

store.dispatch({ type: "SET_MODE", mode: "mdi" });
await waitForTaskHal(store);
store.dispatch({ type: "RUN_MDI", command: "M428" });
await waitForTaskHal(store);
state = store.getState();
assert.equal(state.taskHalStatus.ui.switchkinsType, 1);
assert.equal(state.kinsType, "tcp-xyzac");
assert.equal(state.rtcpState, "on");

store.dispatch({ type: "SET_MODE", mode: "manual" });
await waitForTaskHal(store);
store.dispatch({ type: "JOG", axis: "x", direction: 1, increment: 0.5 });
await waitForTaskHal(store);
state = store.getState();
assert.equal(state.taskHalStatus.motionStatus.motion.teleopMode, 1);
assert.equal(state.programRuntimeFeedback.sourceMode, "linuxcnc-task-motion-hal-wasm");

store.dispatch({ type: "SET_MODE", mode: "auto" });
await waitForTaskHal(store);
store.dispatch({ type: "PAUSE" });
await waitForTaskHal(store);
assert.equal(store.getState().machine.interpState, "paused");

store.dispatch({ type: "RESUME" });
await waitForTaskHal(store);
assert.equal(store.getState().machine.interpState, "reading");

console.log("linuxcnc_task_hal_runtime_smoke=ok");
console.log("task_hal_machine_file_smoke=ok");
console.log("switchkins_remap_hal_sync_smoke=ok");
console.log("browser_task_hal_worker_smoke=ok");

async function waitForTaskHal(store) {
  for (let attempt = 0; attempt < 30; attempt += 1) {
    if (!store.getState().taskHalExecutionPending) {
      await new Promise((resolve) => setTimeout(resolve, 0));
      if (!store.getState().taskHalExecutionPending) return store.getState();
    }
    await new Promise((resolve) => setTimeout(resolve, 0));
  }
  throw new Error("task/HAL store command did not settle");
}