#!/usr/bin/env bash
set -euo pipefail

ROOT_DIR="$(cd "$(dirname "$0")/.." && pwd)"
LINUXCNC_ROOT="${LINUXCNC_ROOT:-$ROOT_DIR/../linuxcnc}"
UPSTREAM_TASKINTF="$LINUXCNC_ROOT/src/emc/task/taskintf.cc"
UPSTREAM_MOTION="$LINUXCNC_ROOT/src/emc/motion/motion.h"
SUBSET_SRC="$ROOT_DIR/vendor/linuxcnc/src/emc/task/taskintf_wasm_subset.cc"
SUBSET_HDR="$ROOT_DIR/vendor/linuxcnc/src/emc/task/taskintf_wasm_subset.hh"
LCMOT_HDR="$ROOT_DIR/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.h"
LCMOT_SRC="$ROOT_DIR/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c"
TASK_WRAPPER="$ROOT_DIR/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp"
WASM_TEST="$ROOT_DIR/tests/wasm/node/verify_task_hal_wasm.mjs"
MATRIX="$ROOT_DIR/working/04-任务矩阵.md"

fail() {
  printf 'task_taskintf_traj_control_status=fail\n'
  printf 'task_taskintf_traj_control_error=%s\n' "$1"
  exit 1
}

require_file() {
  local label="$1"
  local file="$2"
  [[ -f "$file" ]] || fail "$label missing: $file"
  printf 'task_taskintf_traj_control_%s=ok\n' "$label"
}

require_text() {
  local label="$1"
  local file="$2"
  local text="$3"
  grep -Fq "$text" "$file" || fail "$label missing"
  printf 'task_taskintf_traj_control_%s=ok\n' "$label"
}

require_file upstream_taskintf "$UPSTREAM_TASKINTF"
require_file upstream_motion "$UPSTREAM_MOTION"
require_file subset_source "$SUBSET_SRC"
require_file subset_header "$SUBSET_HDR"
require_file lcmot_header "$LCMOT_HDR"
require_file lcmot_source "$LCMOT_SRC"
require_file task_wrapper "$TASK_WRAPPER"
require_file wasm_test "$WASM_TEST"
require_file matrix "$MATRIX"

for fn in emcTrajSetMotionId emcTrajEnable emcTrajDisable emcTrajAbort emcTrajPause emcTrajStep emcTrajResume; do
  require_text "upstream_taskintf_$fn" "$UPSTREAM_TASKINTF" "int $fn("
done

for cmd in EMCMOT_ENABLE EMCMOT_DISABLE EMCMOT_ABORT EMCMOT_PAUSE EMCMOT_STEP EMCMOT_RESUME; do
  require_text "upstream_motion_$cmd" "$UPSTREAM_MOTION" "$cmd"
done

require_text subset_has_enable_enum "$SUBSET_HDR" "LC_TASKINTF_SUBSET_COMMAND_TRAJ_ENABLE"
require_text subset_has_disable_enum "$SUBSET_HDR" "LC_TASKINTF_SUBSET_COMMAND_TRAJ_DISABLE"
require_text subset_has_motion_id_enum "$SUBSET_HDR" "LC_TASKINTF_SUBSET_COMMAND_TRAJ_SET_MOTION_ID"
require_text subset_has_enable_fn "$SUBSET_HDR" "lc_taskintf_subset_traj_enable"
require_text subset_has_disable_fn "$SUBSET_HDR" "lc_taskintf_subset_traj_disable"
require_text subset_has_motion_id_fn "$SUBSET_HDR" "lc_taskintf_subset_traj_set_motion_id"
require_text subset_anchor_list "$SUBSET_SRC" "emcTrajSetMotionId,emcTrajEnable,emcTrajDisable,emcTrajAbort,emcTrajPause,emcTrajStep,emcTrajResume"

require_text lcmot_snapshot_enabled "$LCMOT_HDR" "motion_enabled"
require_text lcmot_snapshot_next_id "$LCMOT_HDR" "next_motion_id"
require_text lcmot_enable_command "$LCMOT_SRC" "LCMOT_CMD_ENABLE"
require_text lcmot_disable_command "$LCMOT_SRC" "LCMOT_CMD_DISABLE"
require_text lcmot_motion_id_command "$LCMOT_SRC" "LCMOT_CMD_SET_MOTION_ID"
require_text lcmot_accepts_enable "$LCMOT_SRC" "EMC_TRAJ_ENABLE"
require_text lcmot_accepts_disable "$LCMOT_SRC" "EMC_TRAJ_DISABLE"
require_text lcmot_accepts_motion_id "$LCMOT_SRC" "EMC_TRAJ_SET_MOTION_ID"

require_text wrapper_uses_enable "$TASK_WRAPPER" "lc_taskintf_subset_traj_enable"
require_text wrapper_uses_disable "$TASK_WRAPPER" "lc_taskintf_subset_traj_disable"
require_text wrapper_uses_motion_id "$TASK_WRAPPER" "lc_taskintf_subset_traj_set_motion_id"
require_text wrapper_exports_traj_count "$TASK_WRAPPER" "trajControlIssueCount"
require_text wasm_test_prints_traj "$WASM_TEST" "taskintf_traj_control_status=ok"
require_text wasm_test_asserts_traj "$WASM_TEST" "trajControlAnchors"

require_text matrix_t034_done "$MATRIX" '| T-034 | `taskintf.cc` traj control 子集 | 完成 |'
require_text matrix_t035_done "$MATRIX" '| T-035 | `taskintf.cc` linear move issue 子集 | 完成 |'

printf 'task_taskintf_traj_control_status=ok\n'