import fs from "node:fs/promises";
import http from "node:http";
import path from "node:path";
import { randomUUID } from "node:crypto";
import puppeteer from "puppeteer-core";
import { PNG } from "pngjs";

const REPO_ROOT = path.resolve("/home/meswork/cnc_wams");
const QA_ROOT = path.join(REPO_ROOT, "qa/web-rtcp-5axis-site-test");
const OUTPUT_DIR = path.join(QA_ROOT, "output");
const CHROME_PATH = process.env.CHROME_PATH || process.env.CHROMIUM || "/usr/bin/google-chrome";
const TARGET_URL = process.env.TARGET_URL || "";
const APP_URL = process.env.APP_URL || "/web-rtcp-5axis-sim-plan/app/index.html";
const EVIDENCE_SCOPE = process.env.EVIDENCE_SCOPE || (TARGET_URL ? "cloud-button-control-evidence" : "button-control-evidence");
const SCREENSHOT_DIR = path.join(QA_ROOT, "screenshots", EVIDENCE_SCOPE);
const REPORT_BASENAME = `${EVIDENCE_SCOPE}-report`;
const JOB_ID = process.env.JOB_ID || `btn-${new Date().toISOString().replace(/[-:.TZ]/g, "").slice(0, 14)}-${randomUUID().slice(0, 8)}`;
const REPORT_ID = process.env.REPORT_ID || `report-${JOB_ID}`;

await fs.mkdir(OUTPUT_DIR, { recursive: true });
await fs.mkdir(SCREENSHOT_DIR, { recursive: true });

let server = null;
let targetUrl = TARGET_URL;
if (!targetUrl) {
  server = createStaticServer(REPO_ROOT);
  await new Promise((resolve) => server.listen(0, "127.0.0.1", resolve));
  const address = server.address();
  if (!address || typeof address === "string") throw new Error("failed to start static server");
  targetUrl = `http://127.0.0.1:${address.port}${APP_URL}`;
}

const browser = await puppeteer.launch({
  headless: true,
  executablePath: CHROME_PATH,
  defaultViewport: { width: 1500, height: 1050, deviceScaleFactor: 1 },
  ignoreHTTPSErrors: true,
  args: [
    "--ignore-certificate-errors",
    "--disable-gpu",
    "--enable-webgl",
    "--use-angle=swiftshader",
    "--enable-unsafe-swiftshader",
    "--no-sandbox",
  ],
});

const page = await browser.newPage();
const consoleErrors = [];
const pageErrors = [];
page.on("console", (msg) => {
  if (msg.type() === "error") consoleErrors.push(msg.text());
});
page.on("pageerror", (error) => pageErrors.push(error.message));

const report = {
  jobId: JOB_ID,
  reportId: REPORT_ID,
  evidenceScope: EVIDENCE_SCOPE,
  generatedAt: new Date().toISOString(),
  targetUrl,
  chromePath: CHROME_PATH,
  screenshotsDir: SCREENSHOT_DIR,
  steps: [],
  checks: [],
  consoleErrors,
  pageErrors,
};

try {
  await page.goto(report.targetUrl, { waitUntil: "networkidle2", timeout: 60000 });
  await page.waitForSelector('[data-shell="gmoccapy-5axis"]', { timeout: 15000 });
  await page.waitForFunction(() => Boolean(window.webRtcp5AxisSimulation?.getState), { timeout: 15000 });
  await page.waitForFunction(() => {
    const canvas = document.querySelector("[data-five-axis-canvas]");
    return canvas?.dataset?.threeReady === "true";
  }, { timeout: 20000 });
  await windowReady();
  await captureStep("01-initial", "Initial UI", "Browser app loaded before machine preparation.");

  await loadOperatorProgram();
  await captureStep("02-program-loaded", "Program loaded", "Short operator G-code loaded through LinuxCNC interpreter WASM.");

  await click("power");
  await waitForState((state) => state.machine.powerOn === true, 10000, "power on");
  await click("mode-manual");
  await waitForState((state) => state.machine.mode === "manual", 10000, "manual mode");
  await captureStep("03-before-home", "Before HOME", "Machine powered on in manual mode before HOME.");

  await click("HOME");
  await waitForState((state) => state.machine.allHomed === true && state.machine.mode === "manual", 10000, "HOME complete");
  await captureStep("04-after-home", "After HOME", "HOME command preserves allHomed state in Web/task gate.");

  await click("mode-auto");
  await waitForState((state) => state.machine.mode === "auto", 10000, "auto mode");
  await captureStep("05-ready-for-run", "Ready for RUN", "POWER, HOME, AUTO, and loaded G-code are ready before RUN.");

  await click("RUN");
  await waitForState((state) => (
    state.runState === "running" &&
    state.programRuntimeFeedback?.sourceMode === "linuxcnc-task-motion-hal-wasm"
  ), 15000, "RUN active");
  await wait(250);
  await captureStep("06-after-run", "After RUN", "RUN starts task/HAL backed program execution.");

  await captureStep("07-before-pause", "Before PAUSE", "Program is running before PAUSE.");
  await click("PAUSE");
  await waitForState((state) => state.runState === "paused" && state.machine.taskPaused === true, 10000, "PAUSE active");
  await captureStep("08-after-pause", "After PAUSE", "PAUSE sets runState paused and taskPaused true.");

  await captureStep("09-before-resume", "Before RESUME", "Program is paused before RESUME.");
  await click("RESUME");
  await waitForState((state) => state.runState === "running" && state.machine.interpState === "reading", 10000, "RESUME active");
  await wait(150);
  await captureStep("10-after-resume", "After RESUME", "RESUME returns task/HAL execution to running/reading.");

  await click("PAUSE");
  await waitForState((state) => state.runState === "paused" && state.machine.taskPaused === true, 10000, "PAUSE before STEP");
  await captureStep("11-before-step", "Before STEP", "Program is paused before STEP.");

  await click("STEP");
  await waitForState((state) => (
    state.machine.interpState === "paused" &&
    state.machine.taskPaused === true &&
    state.taskHalStatus?.task?.singleStepping === true
  ), 10000, "STEP active");
  await captureStep("12-after-step", "After STEP", "STEP sends EMC_TASK_PLAN_STEP and leaves task paused with singleStepping true.");

  await captureStep("13-before-stop", "Before STOP", "Paused single-step state before STOP.");
  await click("STOP");
  await waitForState((state) => (
    state.runState === "stopped" &&
    state.machine.interpState === "idle" &&
    state.taskHalStatus?.motionStatus?.motion?.aborted === true
  ), 10000, "STOP active");
  await captureStep("14-after-stop", "After STOP", "STOP aborts task/HAL motion and returns interpreter state to idle.");

  addChecks();
  report.status = report.checks.every((check) => check.pass) && pageErrors.length === 0 ? "PASS" : "FAIL";

  const jsonPath = path.join(OUTPUT_DIR, `${REPORT_BASENAME}.json`);
  report.jsonPath = jsonPath;
  const pdfPath = path.join(OUTPUT_DIR, `${REPORT_BASENAME}.pdf`);
  report.pdfPath = pdfPath;
  await fs.writeFile(jsonPath, `${JSON.stringify(report, null, 2)}\n`, "utf8");
  await writePdfReport(pdfPath, report);
  console.log(`button_control_evidence_status=${report.status}`);
  console.log(`button_control_evidence_job_id=${report.jobId}`);
  console.log(`button_control_evidence_report_id=${report.reportId}`);
  console.log(`button_control_evidence_json=${jsonPath}`);
  console.log(`button_control_evidence_pdf=${pdfPath}`);
  console.log(`button_control_evidence_screenshots=${SCREENSHOT_DIR}`);
  if (report.status !== "PASS") process.exitCode = 1;
} finally {
  await page.close().catch(() => {});
  await browser.close().catch(() => {});
  if (server) await new Promise((resolve) => server.close(resolve));
}

async function windowReady() {
  await waitForState((state) => (
    state.kinematicsRuntimeReadiness?.loaded === true &&
    state.interpreterRuntimeReadiness?.loaded === true &&
    state.taskHalRuntimeReadiness?.loaded === true
  ), 30000, "runtime readiness");
  await waitForState((state) => (
    !state.interpreterExecutionPending &&
    state.machineFileStaging?.status === "staged"
  ), 30000, "machine file seed ready")
    .catch(() => null);
}

async function loadOperatorProgram() {
  await page.evaluate(() => {
    window.webRtcp5AxisSimulation.dispatch({
      type: "LOAD_PROGRAM",
      filename: "button-control-evidence.ngc",
      content: [
        "G90 G17",
        "G0 X0 Y0 Z0 A0 C0",
        "G1 X10 F120",
        "G1 Y10",
        "G1 X20 Y20",
        "G1 X0 Y0",
        "G0 Z5",
        "M2",
      ].join("\n"),
    });
  });
  await waitForState((state) => (
    state.activeProgram === "button-control-evidence.ngc" &&
    state.programExecutionSourceMode === "linuxcnc-interpreter-wasm" &&
    state.programExecution?.summary?.motionEventCount >= 4
  ), 10000, "operator program loaded");
}

async function click(action) {
  await page.evaluate((selector) => {
    const button = document.querySelector(selector);
    if (!button) throw new Error(`missing button ${selector}`);
    button.click();
  }, `[data-action="${action}"]`);
}

async function captureStep(name, title, description) {
  const screenshotPath = path.join(SCREENSHOT_DIR, `${name}.png`);
  await page.screenshot({ path: screenshotPath, fullPage: true });
  const [state, buttons, canvasDataset, pixelStats] = await Promise.all([
    getState(),
    getButtonStates(),
    getCanvasDataset(),
    analyzePng(screenshotPath),
  ]);
  const step = {
    name,
    title,
    description,
    screenshotPath,
    pixelStats,
    buttons,
    canvasDataset,
    state: summarizeState(state),
  };
  report.steps.push(step);
  return step;
}

async function writePdfReport(pdfPath, data) {
  const reportPage = await browser.newPage();
  const rows = data.checks.map((item) => `
    <tr>
      <td>${escapeHtml(item.name)}</td>
      <td class="${item.pass ? "pass" : "fail"}">${item.pass ? "PASS" : "FAIL"}</td>
      <td>${escapeHtml(item.detail)}</td>
    </tr>
  `).join("");
  const steps = data.steps.map((step) => `
    <section>
      <h2>${escapeHtml(step.name)} - ${escapeHtml(step.title)}</h2>
      <p>${escapeHtml(step.description)}</p>
      <p><strong>Screenshot:</strong> ${escapeHtml(step.screenshotPath)}</p>
      <p><strong>State:</strong> ${escapeHtml(JSON.stringify({
        runState: step.state.runState,
        machine: step.state.machine,
        task: step.state.taskHalStatus?.task,
        motion: step.state.taskHalStatus?.motionStatus?.motion,
      }))}</p>
    </section>
  `).join("");
  await reportPage.setContent(`<!doctype html>
    <html>
      <head>
        <meta charset="utf-8" />
        <style>
          body { font-family: Arial, sans-serif; margin: 28px; color: #17202a; }
          h1 { font-size: 22px; margin-bottom: 6px; }
          h2 { font-size: 16px; margin-top: 18px; }
          table { border-collapse: collapse; width: 100%; margin-top: 14px; }
          th, td { border: 1px solid #9aa5b1; padding: 6px; font-size: 11px; vertical-align: top; }
          th { background: #eef2f7; }
          .pass { color: #126b37; font-weight: 700; }
          .fail { color: #a61b1b; font-weight: 700; }
          .meta { font-size: 12px; line-height: 1.45; }
          section { break-inside: avoid; border-top: 1px solid #d8dee6; padding-top: 8px; }
          code { font-family: Consolas, monospace; }
        </style>
      </head>
      <body>
        <h1>Web RTCP 5 Axis Button Control Evidence</h1>
        <div class="meta">
          <div><strong>Status:</strong> ${escapeHtml(data.status)}</div>
          <div><strong>Job ID:</strong> ${escapeHtml(data.jobId)}</div>
          <div><strong>Report ID:</strong> ${escapeHtml(data.reportId)}</div>
          <div><strong>Target:</strong> ${escapeHtml(data.targetUrl)}</div>
          <div><strong>Generated:</strong> ${escapeHtml(data.generatedAt)}</div>
          <div><strong>Screenshots:</strong> ${escapeHtml(data.screenshotsDir)}</div>
        </div>
        <h2>Checks</h2>
        <table>
          <thead><tr><th>Check</th><th>Status</th><th>Evidence</th></tr></thead>
          <tbody>${rows}</tbody>
        </table>
        <h2>Steps</h2>
        ${steps}
      </body>
    </html>`, { waitUntil: "load" });
  await reportPage.pdf({
    path: pdfPath,
    format: "A4",
    printBackground: true,
    margin: { top: "12mm", right: "10mm", bottom: "12mm", left: "10mm" },
  });
  await reportPage.close();
}

async function getState() {
  return page.evaluate(() => JSON.parse(JSON.stringify(window.webRtcp5AxisSimulation.getState())));
}

async function getButtonStates() {
  return page.evaluate(() => {
    const actions = ["RUN", "STOP", "PAUSE", "RESUME", "STEP", "HOME"];
    return Object.fromEntries(actions.map((action) => {
      const button = document.querySelector(`[data-action="${action}"]`);
      return [action, {
        exists: Boolean(button),
        disabled: Boolean(button?.disabled),
        commandReady: button?.dataset?.commandReady || null,
        ariaDisabled: button?.getAttribute("aria-disabled"),
        title: button?.getAttribute("title") || "",
      }];
    }));
  });
}

async function getCanvasDataset() {
  return page.$eval("[data-five-axis-canvas]", (canvas) => ({ ...canvas.dataset }));
}

async function waitForState(predicate, timeoutMs, label) {
  const started = Date.now();
  let lastState = null;
  while (Date.now() - started < timeoutMs) {
    lastState = await getState();
    if (predicate(lastState)) return lastState;
    await wait(50);
  }
  throw new Error(`timeout waiting for ${label}: ${JSON.stringify(summarizeState(lastState || {}))}`);
}

function addChecks() {
  const byName = Object.fromEntries(report.steps.map((step) => [step.name, step]));
  const afterHome = byName["04-after-home"]?.state;
  const afterRun = byName["06-after-run"]?.state;
  const afterPause = byName["08-after-pause"]?.state;
  const afterResume = byName["10-after-resume"]?.state;
  const afterStep = byName["12-after-step"]?.state;
  const afterStop = byName["14-after-stop"]?.state;
  report.checks.push(
    check("HOME keeps all axes homed", afterHome?.machine?.allHomed === true, JSON.stringify(afterHome?.machine)),
    check("RUN uses task/HAL runtime feedback", afterRun?.runState === "running" && afterRun?.programRuntimeFeedback?.sourceMode === "linuxcnc-task-motion-hal-wasm", JSON.stringify(afterRun?.programRuntimeFeedback)),
    check("PAUSE sets paused state", afterPause?.runState === "paused" && afterPause?.machine?.taskPaused === true, JSON.stringify(afterPause?.machine)),
    check("RESUME returns to reading", afterResume?.runState === "running" && afterResume?.machine?.interpState === "reading", JSON.stringify(afterResume?.machine)),
    check("STEP records single stepping", afterStep?.machine?.taskPaused === true && afterStep?.taskHalStatus?.task?.singleStepping === true, JSON.stringify(afterStep?.taskHalStatus?.task)),
    check("STOP aborts motion", afterStop?.runState === "stopped" && afterStop?.taskHalStatus?.motionStatus?.motion?.aborted === true, JSON.stringify(afterStop?.taskHalStatus?.motionStatus?.motion)),
    check("Screenshots are nonblank", report.steps.every((step) => step.pixelStats.nonBlackRatio > 0.1), report.steps.map((step) => `${step.name}:${step.pixelStats.nonBlackRatio}`).join(", ")),
    check("Control buttons expose readiness attributes", report.steps.every((step) => Object.values(step.buttons).every((button) => button.exists && button.commandReady !== null)), "RUN/STOP/PAUSE/RESUME/STEP/HOME"),
  );
}

function summarizeState(state = {}) {
  return {
    activeProgram: state.activeProgram,
    runState: state.runState,
    activeLine: state.activeLine,
    machine: {
      powerOn: state.machine?.powerOn,
      taskState: state.machine?.taskState,
      mode: state.machine?.mode,
      allHomed: state.machine?.allHomed,
      interpState: state.machine?.interpState,
      taskPaused: state.machine?.taskPaused,
    },
    axisPose: pickAxes(state.axisPose),
    dro: pickAxes(state.dro),
    programRuntimeFeedback: state.programRuntimeFeedback ? {
      sourceMode: state.programRuntimeFeedback.sourceMode,
      line: state.programRuntimeFeedback.line,
      taskCycle: state.programRuntimeFeedback.taskCycle,
      currentVelocityMmPerMin: state.programRuntimeFeedback.currentVelocityMmPerMin,
      axisPose: pickAxes(state.programRuntimeFeedback.axisPose),
    } : null,
    taskHalStatus: state.taskHalStatus ? {
      task: {
        mode: state.taskHalStatus.task?.mode,
        interpState: state.taskHalStatus.task?.interpState,
        taskPaused: state.taskHalStatus.task?.taskPaused,
        singleStepping: state.taskHalStatus.task?.singleStepping,
      },
      ui: {
        activeLine: state.taskHalStatus.ui?.activeLine,
        taskCycle: state.taskHalStatus.ui?.taskCycle,
        servoCycle: state.taskHalStatus.ui?.servoCycle,
      },
      motionStatus: {
        motion: {
          enabled: state.taskHalStatus.motionStatus?.motion?.enabled,
          paused: state.taskHalStatus.motionStatus?.motion?.paused,
          aborted: state.taskHalStatus.motionStatus?.motion?.aborted,
          queueDepth: state.taskHalStatus.motionStatus?.motion?.queueDepth,
        },
      },
    } : null,
    taskHalStatusLoop: state.taskHalStatusLoop,
    operatorMessage: state.operatorMessage,
  };
}

function createStaticServer(rootDir) {
  return http.createServer(async (request, response) => {
    try {
      const requestPath = decodeURIComponent(new URL(request.url || "/", "http://127.0.0.1").pathname);
      const relativePath = requestPath === "/" ? "/index.html" : requestPath;
      const targetPath = path.resolve(rootDir, `.${relativePath}`);
      if (!targetPath.startsWith(rootDir)) {
        response.writeHead(403);
        response.end("forbidden");
        return;
      }
      let filePath = targetPath;
      let stat = await fs.stat(filePath).catch(() => null);
      if (stat?.isDirectory()) {
        filePath = path.join(filePath, "index.html");
        stat = await fs.stat(filePath).catch(() => null);
      }
      if (!stat?.isFile()) {
        response.writeHead(404);
        response.end("not found");
        return;
      }
      const body = await fs.readFile(filePath);
      response.writeHead(200, {
        "Content-Type": contentTypeFor(filePath),
        "Content-Length": String(body.byteLength),
        "Cache-Control": "no-store",
      });
      response.end(body);
    } catch (error) {
      response.writeHead(500);
      response.end(error instanceof Error ? error.message : String(error));
    }
  });
}

function contentTypeFor(filePath) {
  const ext = path.extname(filePath).toLowerCase();
  return {
    ".css": "text/css; charset=utf-8",
    ".html": "text/html; charset=utf-8",
    ".js": "text/javascript; charset=utf-8",
    ".json": "application/json; charset=utf-8",
    ".mjs": "text/javascript; charset=utf-8",
    ".svg": "image/svg+xml",
    ".wasm": "application/wasm",
    ".xml": "application/xml; charset=utf-8",
  }[ext] || "application/octet-stream";
}

async function analyzePng(filePath) {
  const png = PNG.sync.read(await fs.readFile(filePath));
  let luminanceSum = 0;
  let nonBlack = 0;
  for (let index = 0; index < png.data.length; index += 4) {
    const luminance = png.data[index] * 0.2126 + png.data[index + 1] * 0.7152 + png.data[index + 2] * 0.0722;
    luminanceSum += luminance;
    if (luminance > 8) nonBlack += 1;
  }
  const total = png.width * png.height;
  return {
    width: png.width,
    height: png.height,
    averageLuminance: Number((luminanceSum / total).toFixed(2)),
    nonBlackRatio: Number((nonBlack / total).toFixed(4)),
  };
}

function pickAxes(value = {}) {
  return {
    x: Number(value?.x || 0),
    y: Number(value?.y || 0),
    z: Number(value?.z || 0),
    a: Number(value?.a || 0),
    b: Number(value?.b || 0),
    c: Number(value?.c || 0),
  };
}

function check(name, pass, detail) {
  return { name, pass: Boolean(pass), detail: String(detail ?? "-") };
}

function escapeHtml(value) {
  return String(value ?? "")
    .replace(/&/g, "&amp;")
    .replace(/</g, "&lt;")
    .replace(/>/g, "&gt;")
    .replace(/"/g, "&quot;")
    .replace(/'/g, "&#39;");
}

function wait(ms) {
  return new Promise((resolve) => setTimeout(resolve, ms));
}