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

const repoRoot = resolve(dirname(fileURLToPath(import.meta.url)), "../..");
const projectRoot = resolve(repoRoot, "web-rtcp-5axis-xyzbc-trt-sim-plan");
const nativePath = process.argv[2] || resolve(projectRoot, "working/evidence/native-xyzbc-trt-evidence.json");
const webPath = process.argv[3] || resolve(projectRoot, "working/evidence/web-xyzbc-trt-evidence.json");
const outputPath = process.argv[4] || resolve(projectRoot, "working/evidence/compare-xyzbc-trt-evidence.json");

const nativeEvidence = JSON.parse(await readFile(nativePath, "utf8"));
const webEvidence = JSON.parse(await readFile(webPath, "utf8"));
const pathComparison = comparePathEvidence(nativeEvidence, webEvidence);

const checks = [
  check("profile", "native axis mask is XYZBC", nativeEvidence.coverage?.axisProfile === true, {
    nativeAxisMask: nativeEvidence.after?.axisMask ?? nativeEvidence.before?.axisMask,
  }),
  check("profile", "web default profile is xyzbc-trt", webEvidence.coverage?.profileDefaultXyzbc === true, {
    webProfile: webEvidence.profile?.id,
  }),
  check("ini", "native loaded xyzbc switchkins program", nativeEvidence.coverage?.xyzbcProgramOpen === true, {
    nativeFile: nativeEvidence.after?.file ?? nativeEvidence.before?.file,
  }),
  check("ini", "web INI parse is ready", webEvidence.coverage?.iniReady === true, {
    webIniReady: webEvidence.ini?.ready,
  }),
  check("switchkins", "native switchkins pin readable", nativeEvidence.coverage?.switchkinsPinReadable === true, {
    nativePin: nativeEvidence.hal?.pins?.["motion.switchkins-type"],
  }),
  check("switchkins", "web remap files staged", webEvidence.coverage?.remapsStaged === true, {
    remaps: webEvidence.ini?.remaps,
  }),
  check("program", "web default xyzbc_switchkins program staged", webEvidence.coverage?.defaultProgramStaged === true, {
    selected: webEvidence.opfsStaging?.selectedProgram,
  }),
  check("tool-table", "web tool table staged", webEvidence.coverage?.toolTableStaged === true, {
    toolTable: webEvidence.ini?.toolTable,
  }),
  check("pyvcp", "web PyVCP XML staged", webEvidence.coverage?.pyvcpXmlStaged === true, {
    pyvcpXmlPath: webEvidence.profile?.pyvcpXmlPath,
  }),
  check("positions", "native joint feedback readable", nativeEvidence.coverage?.jointFeedbackReadable === true, {
    joints: nativeEvidence.after?.jointActualPosition,
  }),
  check("wasm", "required WASM artifacts available", webEvidence.coverage?.wasmArtifactsReady === true, {
    missing: webEvidence.wasm?.missing,
  }),
  check("parameters", "parameter file staged", webEvidence.coverage?.parameterFileStaged === true, {
    parameterFile: webEvidence.ini?.parameterFile,
  }),
  check("program", "web boat-xyzbc demo program staged", webEvidence.coverage?.boatProgramStaged === true, {
    demoPrograms: webEvidence.demoPrograms,
  }),
  check("ngcgui", "web Ngcgui/remap subroutines staged", webEvidence.coverage?.ngcguiSubroutinesStaged === true, {
    ngcguiSubroutines: webEvidence.ngcguiSubroutines,
  }),
  check("postgui-hal", "web PyVCP to HALUI POSTGUI nets represented", webEvidence.coverage?.postguiHalEquivalent === true, {
    halNets: webEvidence.halNets,
  }),
  check("kinematics", "web kinematics HAL pins represented", webEvidence.coverage?.kinematicsPinsCovered === true, {
    kinematicsPins: webEvidence.kinematicsPins,
  }),
  check("limits", "web TRAJ/AXIS/JOINT limits represented", webEvidence.coverage?.axisJointLimitsCovered === true, {
    axisJointLimits: webEvidence.axisJointLimits,
  }),
  check("path-preview", "native and web preview path sample period is 20ms", pathComparison.previewVsPreview.periodsMatch === true, {
    nativeSamplePeriodMs: pathComparison.previewVsPreview.nativeSamplePeriodMs,
    webSamplePeriodMs: pathComparison.previewVsPreview.webSamplePeriodMs,
  }),
  check("path-preview", "native and web preview paths have samples", pathComparison.previewVsPreview.comparable === true, {
    nativeSampleCount: pathComparison.previewVsPreview.nativeSampleCount,
    webSampleCount: pathComparison.previewVsPreview.webSampleCount,
    unavailable: pathComparison.previewVsPreview.unavailable,
  }),
  check("path-execution", "native and web execution path sample period is 20ms", pathComparison.executionVsExecution.periodsMatch === true, {
    nativeSamplePeriodMs: pathComparison.executionVsExecution.nativeSamplePeriodMs,
    webSamplePeriodMs: pathComparison.executionVsExecution.webSamplePeriodMs,
  }),
  check("path-execution", "native and web execution paths have samples", pathComparison.executionVsExecution.comparable === true, {
    nativeSampleCount: pathComparison.executionVsExecution.nativeSampleCount,
    webSampleCount: pathComparison.executionVsExecution.webSampleCount,
    unavailable: pathComparison.executionVsExecution.unavailable,
  }),
  check("path-preview-execution-consistency", "native preview and execution paths are comparable", pathComparison.previewVsExecutionNative.comparable === true, {
    nativePreviewSampleCount: pathComparison.previewVsExecutionNative.leftSampleCount,
    nativeExecutionSampleCount: pathComparison.previewVsExecutionNative.rightSampleCount,
    unavailable: pathComparison.previewVsExecutionNative.unavailable,
  }),
  check("path-preview-execution-consistency", "web preview and execution paths are comparable", pathComparison.previewVsExecutionWeb.comparable === true, {
    webPreviewSampleCount: pathComparison.previewVsExecutionWeb.leftSampleCount,
    webExecutionSampleCount: pathComparison.previewVsExecutionWeb.rightSampleCount,
    unavailable: pathComparison.previewVsExecutionWeb.unavailable,
  }),
];

const failed = checks.filter((item) => item.status !== "pass");
const blockers = [
  ...(nativeEvidence.status === "blocked" ? nativeEvidence.blocker ? [nativeEvidence.blocker] : ["native-blocked"] : []),
  ...(webEvidence.blockers || []).map((blocker) => blocker.id),
];

const report = {
  apiName: "xyzbc-trt-native-web-evidence-comparison",
  status: failed.length === 0 ? "pass" : "fail",
  comparedAt: new Date().toISOString(),
  nativePath,
  webPath,
  summary: {
    checkCount: checks.length,
    passCount: checks.length - failed.length,
    failCount: failed.length,
    blockers,
    nativeStatus: nativeEvidence.status,
    webStatus: webEvidence.status,
  },
  checks,
  pathComparison,
  requiredImprovements: failed.map((item) => ({
    category: item.category,
    requirement: item.requirement,
    evidence: item.evidence,
  })),
  semanticBoundary: "native_linuxcnc_vs_web_opfs_wasm_xyzbc_trt_evidence_comparison",
};

await mkdir(dirname(outputPath), { recursive: true });
await writeFile(outputPath, JSON.stringify(report, null, 2) + "\n", "utf8");
console.log(`compare_xyzbc_trt_evidence=${outputPath}`);
if (failed.length > 0) {
  console.log(`compare_xyzbc_trt_status=fail fail_count=${failed.length}`);
} else {
  console.log("compare_xyzbc_trt_status=pass");
}

function check(category, requirement, passed, evidence = {}) {
  return {
    category,
    requirement,
    status: passed ? "pass" : "fail",
    evidence,
  };
}

function comparePathEvidence(nativeEvidence, webEvidence) {
  const samplePeriodMs = 20;
  return {
    samplePeriodMs,
    previewVsPreview: compareNamedPaths({
      left: nativeEvidence.previewPath,
      right: webEvidence.previewPath,
      leftName: "native",
      rightName: "web",
      expectedSamplePeriodMs: samplePeriodMs,
    }),
    executionVsExecution: compareNamedPaths({
      left: nativeEvidence.executionPath,
      right: webEvidence.executionPath,
      leftName: "native",
      rightName: "web",
      expectedSamplePeriodMs: samplePeriodMs,
    }),
    previewVsExecutionNative: compareNamedPaths({
      left: nativeEvidence.previewPath,
      right: nativeEvidence.executionPath,
      leftName: "nativePreview",
      rightName: "nativeExecution",
      expectedSamplePeriodMs: samplePeriodMs,
    }),
    previewVsExecutionWeb: compareNamedPaths({
      left: webEvidence.previewPath,
      right: webEvidence.executionPath,
      leftName: "webPreview",
      rightName: "webExecution",
      expectedSamplePeriodMs: samplePeriodMs,
    }),
  };
}

function compareNamedPaths({ left, right, leftName, rightName, expectedSamplePeriodMs }) {
  const leftSamplePeriodMs = left?.samplePeriodMs ?? null;
  const rightSamplePeriodMs = right?.samplePeriodMs ?? null;
  const periodsMatch = leftSamplePeriodMs === expectedSamplePeriodMs
    && rightSamplePeriodMs === expectedSamplePeriodMs;
  const leftSamples = Array.isArray(left?.samples) ? left.samples : [];
  const rightSamples = Array.isArray(right?.samples) ? right.samples : [];
  const comparable = periodsMatch && leftSamples.length > 0 && rightSamples.length > 0;
  const unavailable = [
    ...(leftSamples.length > 0 ? [] : [`${leftName}: ${left?.unavailableReason || "missing samples"}`]),
    ...(rightSamples.length > 0 ? [] : [`${rightName}: ${right?.unavailableReason || "missing samples"}`]),
    ...(periodsMatch ? [] : [`sample period mismatch ${leftSamplePeriodMs}/${rightSamplePeriodMs}`]),
  ];
  const stats = comparable ? pathStats(leftSamples, rightSamples) : emptyStats(leftSamples, rightSamples);
  return {
    status: comparable ? "pass" : "fail",
    comparable,
    periodsMatch,
    [`${leftName}SamplePeriodMs`]: leftSamplePeriodMs,
    [`${rightName}SamplePeriodMs`]: rightSamplePeriodMs,
    nativeSamplePeriodMs: leftName === "native" ? leftSamplePeriodMs : undefined,
    webSamplePeriodMs: rightName === "web" ? rightSamplePeriodMs : undefined,
    leftSampleCount: leftSamples.length,
    rightSampleCount: rightSamples.length,
    nativeSampleCount: leftName === "native" ? leftSamples.length : undefined,
    webSampleCount: rightName === "web" ? rightSamples.length : undefined,
    unavailable,
    ...stats,
  };
}

function pathStats(leftSamples, rightSamples) {
  const count = Math.min(leftSamples.length, rightSamples.length);
  const missingSamples = [];
  let maxTcpErrorMm = 0;
  let sumTcpErrorSquared = 0;
  let maxJointError = 0;
  let sumJointErrorSquared = 0;
  let maxToolAxisAngleDeg = 0;
  for (let index = 0; index < count; index += 1) {
    const left = leftSamples[index];
    const right = rightSamples[index];
    if (left.sampleIndex !== right.sampleIndex || left.timeMs !== right.timeMs) {
      missingSamples.push({ index, leftSampleIndex: left.sampleIndex, rightSampleIndex: right.sampleIndex });
    }
    const tcpError = vectorError(left.tcp, right.tcp, ["x", "y", "z"]);
    const jointError = vectorError(left.joint, right.joint, ["x", "y", "z", "b", "c"]);
    const angleError = toolAxisAngleDeg(left.toolAxis, right.toolAxis);
    maxTcpErrorMm = Math.max(maxTcpErrorMm, tcpError);
    sumTcpErrorSquared += tcpError ** 2;
    maxJointError = Math.max(maxJointError, jointError);
    sumJointErrorSquared += jointError ** 2;
    maxToolAxisAngleDeg = Math.max(maxToolAxisAngleDeg, angleError);
  }
  return {
    maxTcpErrorMm,
    rmsTcpErrorMm: count > 0 ? Math.sqrt(sumTcpErrorSquared / count) : 0,
    maxJointError,
    rmsJointError: count > 0 ? Math.sqrt(sumJointErrorSquared / count) : 0,
    maxToolAxisAngleDeg,
    sampleCountDelta: Math.abs(leftSamples.length - rightSamples.length),
    missingSamples,
  };
}

function emptyStats(leftSamples, rightSamples) {
  return {
    maxTcpErrorMm: null,
    rmsTcpErrorMm: null,
    maxJointError: null,
    rmsJointError: null,
    maxToolAxisAngleDeg: null,
    sampleCountDelta: Math.abs(leftSamples.length - rightSamples.length),
    missingSamples: [],
  };
}

function vectorError(left = {}, right = {}, keys = []) {
  return Math.sqrt(keys.reduce((sum, key) => (
    sum + (numberOrZero(left[key]) - numberOrZero(right[key])) ** 2
  ), 0));
}

function toolAxisAngleDeg(left = {}, right = {}) {
  const dot = numberOrZero(left.i) * numberOrZero(right.i)
    + numberOrZero(left.j) * numberOrZero(right.j)
    + numberOrZero(left.k) * numberOrZero(right.k);
  const leftLen = vectorError(left, { i: 0, j: 0, k: 0 }, ["i", "j", "k"]);
  const rightLen = vectorError(right, { i: 0, j: 0, k: 0 }, ["i", "j", "k"]);
  if (leftLen <= 0 || rightLen <= 0) return 0;
  const cosine = Math.max(-1, Math.min(1, dot / (leftLen * rightLen)));
  return Math.acos(cosine) * 180 / Math.PI;
}

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