import assert from "node:assert/strict";
import { readFile } from "node:fs/promises";
import createModule from "../../build-wasm/linuxcnc-sim-core.js";
import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs";
import { SimSession, CONTEXT_ID } from "./sim-session.mjs";

const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini";
const PROGRAM = "G21 G90\nG0 X0 Y0 Z10 A0 C0\nG1 X20 Y5 Z5 A30 C45 F100\nM2\n";
const fetchImpl = async (url) => {
  try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; }
  catch { return { ok: false, text: async () => "" }; }
};
const bundle = await loadSimulationCase({ path: CASE, fetchImpl });
const wasmBinary = await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url));

async function open(sessionId) {
  const core = await createModule({ wasmBinary });
  const session = new SimSession(core, { sessionId });
  const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: sessionId };
  let seq = 0;
  const send = (kind, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: `${sessionId}-${seq}`, payload });
  send("HELLO"); send("SESSION_ATTACH");
  assert.equal(send("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified");
  return { session, send };
}

const first = await open("xyzac-followups-a");
const blocked = first.send("MDI_EXECUTE", { block: "G0 X1" });
assert.equal(blocked.kind, "ERROR");
assert.equal(blocked.payload.code, "axis_gate");
assert.equal(blocked.payload.reason, "xyzac_machine_off");
assert.equal(blocked.payload.message_key, "xyzac_machine_off");
first.send("POWER", { active: true });
assert.equal(first.send("HOME", { all: true }).kind, "COMMAND_RESULT");
for (let tick = 0; tick < 500 && !first.session.wasmHomeLimit.read().state.homed; tick++) first.send("SIM_STEP", { cycles: 1 });
assert.equal(first.session.wasmHomeLimit.read().state.homed, true);
assert.equal(first.send("PROGRAM_LOAD", { source: PROGRAM, path: "followups.ngc" }).kind, "COMMAND_RESULT");
assert.equal(first.send("PROGRAM_RUN").kind, "COMMAND_RESULT");
const compact = first.send("SIM_STEP", { cycles: 1, response: "motion_delta" });
assert.equal(compact.payload.snapshot_mode, "motion_delta");
assert.equal(compact.payload.panel_snapshot, undefined);
assert.ok(compact.payload.motion_sample?.pose);
const full = first.send("SIM_STEP", { cycles: 1 });
const compactBytes = Buffer.byteLength(JSON.stringify(compact));
const fullBytes = Buffer.byteLength(JSON.stringify(full));
assert.ok(compactBytes < fullBytes / 2, `${compactBytes} >= ${fullBytes / 2}`);
const off = first.send("POWER", { active: false });
assert.equal(off.payload.recovery_checkpoint.schema, "xyzac-power-off-checkpoint.v1");
assert.equal(off.payload.recovery_checkpoint.state.task.state, "STOPPED");
assert.ok(Buffer.byteLength(JSON.stringify(off.payload.recovery_checkpoint)) < 512 * 1024);

const second = await open("xyzac-followups-b");
const restored = second.send("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle), recovery_checkpoint: off.payload.recovery_checkpoint });
assert.equal(restored.payload.power_off_recovery.status, "verified");
assert.equal(restored.payload.task.state, "STOPPED");
assert.equal(restored.payload.panel_snapshot.program.program_status, "loaded");

console.log(JSON.stringify({
  schema: "xyzac-runtime-followups.v1",
  status: "verified",
  motion_delta: { compact_bytes: compactBytes, full_bytes: fullBytes, reduction_ratio: Number((1 - compactBytes / fullBytes).toFixed(3)) },
  errors: { code: blocked.payload.code, reason: blocked.payload.reason, message_key: blocked.payload.message_key },
  power_off_persistence: { schema: off.payload.recovery_checkpoint.schema, bytes: Buffer.byteLength(JSON.stringify(off.payload.recovery_checkpoint)), restored: restored.payload.power_off_recovery.status },
}));