import assert from "node:assert/strict";
import { readFile } from "node:fs/promises";

import { createMemorySessionStorage } from "../../app/src/runtime/five-axis-session.js";
import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js";
import {
  createMachineFileStagingPlan,
  selectMachineFileProgram,
  stageProfileMachineFiles,
} from "../../app/src/runtime/linuxcnc-machine-file-staging.js";
import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js";
import {
  buildTaskHalProgramMotionPlan,
  buildTaskHalSessionFromMachineFiles,
  wrapTaskHalSdk,
} from "../../app/src/runtime/linuxcnc-task-hal-runtime.js";
import { getFiveAxisProfile } from "../../app/src/profiles/index.js";
import { createSimulationStore } from "../../app/src/state/store.js";
import { createLinuxCncTaskHalSdk } from "../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js";

const profile = getFiveAxisProfile();

assert.equal(profile.id, "xyzbc-trt");
assert.equal(profile.machineName, "sim-xyzbc-trt-kins (switchkins)");
assert.equal(profile.traj.coordinates, "XYZBC");
assert.deepEqual(profile.coordinates, ["X", "Y", "Z", "B", "C"]);
assert.equal(profile.kinematics, "xyzbc-trt-kins");
assert.equal(profile.kinematicsModuleId, "xyzbc-trt");
assert.equal(profile.machineFileStaging.defaultProgramFilename, "xyzbc_switchkins.ngc");
assert.equal(profile.panelSchema.id, "xyzbc-trt-switchkins-pyvcp");
assert.ok(profile.halPins.includes("xyzbc-trt-kins.x-offset"));
assert.ok(profile.halPins.includes("motion.switchkins-type"));
assert.deepEqual(profile.samplePrograms, [
  "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc",
  "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc",
]);
assert.ok(profile.remaps.some((remap) => remap.code === "M428" && remap.switchkinsType === 1));
assert.ok(profile.remaps.some((remap) => remap.code === "M429" && remap.switchkinsType === 0));
assert.ok(profile.remaps.some((remap) => remap.code === "M430" && remap.switchkinsType === 2));

const iniText = await readFile(
  new URL("../../../wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", import.meta.url),
  "utf8",
);
const ini = parseLinuxCncIni(iniText, {
  path: profile.iniPath,
  profileId: profile.id,
});

assert.equal(ini.validation.ready, true);
assert.equal(ini.machineName, "sim-xyzbc-trt-kins (switchkins)");
assert.equal(ini.kinematics.name, "xyzbc-trt-kins");
assert.equal(ini.kinematicsModuleId, "xyzbc-trt");
assert.equal(ini.traj.coordinates, "XYZBC");
assert.equal(ini.rs274ngc.halPinVars, true);
assert.equal(ini.rs274ngc.parameterFile, "xyzbc.var");
assert.equal(ini.emcio.toolTable, "xyzbc-trt.tbl");
assert.equal(ini.jointConfig[3].axis, "B");
assert.equal(ini.jointConfig[4].axis, "C");
assert.deepEqual(ini.halui.mdiCommands, ["M429", "M428", "M430"]);

const storage = createMemorySessionStorage();
const staged = await stageProfileMachineFiles(profile, { storage });

assert.equal(staged.plan.profileId, "xyzbc-trt");
assert.equal(staged.plan.wasmDir, "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt");
assert.equal(staged.save.status, "saved");
assert.equal(staged.save.storageMode, "memory");
assert.ok(staged.save.opfsRoot.endsWith("/xyzbc-trt"));
assert.ok(staged.save.files.every((file) => file.opfsPath.startsWith("web-rtcp-5axis-xyzbc-trt-sim-plan/machines/xyzbc-trt/")));
assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc-trt.ini") && file.kind === "ini"));
assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc-trt.xml") && file.kind === "pyvcp"));
assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc-trt.tbl") && file.kind === "toolTable"));
assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/428remap.ngc") && file.kind === "remap"));
assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/429remap.ngc") && file.kind === "remap"));
assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/430remap.ngc") && file.kind === "remap"));
assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/xyzbc_switchkins_sub.ngc") && file.kind === "remap"));
assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/centering.ngc") && file.kind === "remap"));
assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/helix_bc.ngc") && file.kind === "remap"));
assert.ok(staged.save.gcodeSources.some((source) => source.filename === "xyzbc_switchkins.ngc"));
assert.ok(staged.save.gcodeSources.some((source) => source.filename === "boat-xyzbc.ngc"));
assert.equal(staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc.var") && file.kind === "parameters"), true);

const selectedPlan = selectMachineFileProgram(
  staged.plan,
  staged.save,
  "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc",
);
assert.equal(selectedPlan.selectedProgramFilename, "xyzbc_switchkins.ngc");
assert.ok(selectedPlan.wasmProgramPath.endsWith("/demos/xyzbc_switchkins.ngc"));

const interpreter = await createLinuxCncInterpreterRuntime();
const execution = interpreter.runMachineFileProgram({
  plan: selectedPlan,
  files: staged.save.files,
  executionMode: "fiveAxisRemap",
});
assert.equal(execution.summary.machineFileExecutionReady, true);
assert.equal(execution.plannerTiming.plannerRuntimeReady, true);
assert.equal(execution.plannerTiming.samples.length > 0, true);

const taskHalWasm = await readFile(
  new URL("../../../wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm", import.meta.url),
);
const taskHal = wrapTaskHalSdk(await createLinuxCncTaskHalSdk({
  wasmBinary: taskHalWasm,
  print() {},
  printErr() {},
}));
const taskHalSession = buildTaskHalSessionFromMachineFiles({
  profile,
  plan: selectedPlan,
  save: staged.save,
  selectedProgramRel: selectedPlan.selectedProgramSourceRel,
});
taskHal.initSession(taskHalSession);
taskHal.stageFiles(taskHalSession.files);
taskHal.openProgram(taskHalSession.programPath);
taskHal.loadProgramMotionPlan(buildTaskHalProgramMotionPlan({
  programPath: taskHalSession.programPath,
  motion: execution.motion,
  timing: execution.plannerTiming,
  linearUnits: execution.plannerTiming.linearUnits || "mm",
  programLines: staged.save.files
    .find((file) => (file.wasmPath || file.path) === taskHalSession.programPath)
    ?.text.split(/\r?\n/) || [],
}));
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 });
taskHal.runCycles({ taskPeriodNs: 20000000, servoPeriodNs: 1000000, taskCycles: 3 });
const taskHalStatus = taskHal.readStatus();
assert.equal(taskHalStatus.summary.taskRuntimeReady, true);
assert.equal(taskHalStatus.summary.halSyncReady, true);
assert.equal(taskHalStatus.ui.activeLine >= 1, true);
assert.equal(Number.isFinite(taskHalStatus.motionStatus.axis.x), true);
assert.equal(Number.isFinite(taskHalStatus.motionStatus.axis.y), true);
assert.equal(Number.isFinite(taskHalStatus.motionStatus.axis.z), true);

const store = createSimulationStore();
const state = store.getState();
assert.equal(state.machineProfile, "xyzbc-trt");
assert.equal(state.profile.id, "xyzbc-trt");
assert.equal(state.sessionName, "xyzbc-trt-web-session");
assert.equal(state.kinematicsRuntimeReadiness, null);

const storeStage = await store.stageMachineFiles({ storage: createMemorySessionStorage() });
const stagedState = store.getState();
assert.equal(storeStage.save.profileId, "xyzbc-trt");
assert.equal(stagedState.machineFileStaging.profileId, "xyzbc-trt");
assert.ok(stagedState.machineProject.projectRoot.startsWith("web-rtcp-5axis-xyzbc-trt-sim-plan/machines/xyzbc-trt"));
assert.ok(stagedState.machineFileStaging.gcodeSources.some((source) => source.filename === "xyzbc_switchkins.ngc"));

const stagingPlan = await createMachineFileStagingPlan({ profile });
assert.equal(stagingPlan.summary.remapFileCount >= 3, true);
assert.equal(stagingPlan.files.some((file) => file.sourceRel.endsWith("xyzbc.var")), true);

console.log("xyzbc_trt_web_app_smoke=ok");