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/3axis-tutorial/3axis-tutorial.ini";
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));

function create() {
  const corePromise = createModule({ wasmBinary });
  return corePromise.then((core) => {
    const session = new SimSession(core, { sessionId: "axis3-tutorial-motion" });
    const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId };
    let seq = 0;
    const send = (kind, operationId, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: operationId, payload });
    send("HELLO", "hello"); send("SESSION_ATTACH", "attach");
    const load = send("LOAD_WORKSPACE", "load", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
    assert.equal(load.payload.configuration.state, "TASK_READY");
    return { session, send };
  });
}

const run = await create();
assert.equal(run.send("HOME", "home-z", { axis: "z" }).payload.status, "verified");
assert.equal(run.send("HOME", "home-x", { axis: "x" }).payload.status, "verified");
assert.equal(run.send("HOME", "home-y", { axis: "y" }).payload.status, "verified");
assert.equal(run.send("JOG_START", "x-start", { axis: "x", direction: 1, speed: 10 }).payload.status, "verified");
const x = run.send("SIM_STEP", "x-step", { cycles: 10 });
assert.ok(x.payload.motion.axes.x > 0);
assert.equal(x.payload.motion.axes.y, 0);
assert.equal(x.payload.motion.axes.z, 0);
run.send("JOG_STOP", "x-stop");
run.send("JOG_START", "y-start", { axis: "y", direction: -1, speed: 5 });
const y = run.send("SIM_STEP", "y-step", { cycles: 5 });
assert.ok(y.payload.motion.axes.y < 0);
run.send("JOG_STOP", "y-stop");
run.send("JOG_START", "z-start", { axis: "z", direction: -1, speed: 2 });
const z = run.send("SIM_STEP", "z-step", { cycles: 5 });
assert.ok(z.payload.motion.axes.z < 0);
run.send("JOG_STOP", "z-stop");
assert.equal(run.send("LIMIT_SET", "limit", { axis: "x", active: true }).payload.status, "verified");
const limited = run.send("JOG_START", "limit-jog", { axis: "x", direction: 1, speed: 1 });
assert.equal(limited.kind, "ERROR");
assert.equal(limited.payload.code, "motion_faulted");
assert.equal(run.send("LIMIT_SET", "limit-clear", { axis: "x", active: false }).payload.status, "verified");
assert.equal(run.send("FOLLOWING_ERROR", "ferror", { value: 0.02 }).payload.status, "verified");
const ferror = run.send("JOG_START", "ferror-jog", { axis: "x", direction: 1, speed: 1 });
assert.equal(ferror.kind, "ERROR");
assert.equal(ferror.payload.code, "motion_faulted");

const report = run.send("SNAPSHOT_REQUEST", "snapshot");
console.log(JSON.stringify({ schema: "axis3-tutorial-motion.v1", status: "verified", case: CASE, axes: ["X", "Y", "Z"], home: true, positions: { x: x.payload.motion.axes.x, y: y.payload.motion.axes.y, z: z.payload.motion.axes.z }, limits: { blocked_code: limited.payload.code, cleared: true }, following_error: { blocked_code: ferror.payload.code }, snapshot_hash: report.payload.state_hash }));