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 core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) });
const session = new SimSession(core, { sessionId: "panel-gates" });
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");
send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
const noProgram = send("PROGRAM_RUN", "run-without-program");
assert.equal(noProgram.kind, "ERROR");
assert.equal(noProgram.payload.code, "axis_gate");
assert.equal(noProgram.payload.gate_reason, "axis_taskfile_missing");

send("PROGRAM_LOAD", "load", { path: "gate.ngc", source: "G21 G90\nG1 X1 F10\nM2\n" });
const running = send("PROGRAM_RUN", "run");
assert.equal(running.payload.task.state, "RUNNING");
const homeWhileRunning = send("HOME", "home-while-running", { axis: "x" });
assert.equal(homeWhileRunning.kind, "ERROR");
assert.equal(homeWhileRunning.payload.code, "axis_gate");
assert.equal(homeWhileRunning.payload.gate_reason, "axis_manual_mode_required");
const mdiWhileRunning = send("MDI_EXECUTE", "mdi-while-running", { block: "G0 X2" });
assert.equal(mdiWhileRunning.kind, "ERROR");
assert.equal(mdiWhileRunning.payload.message_key, "mdi_while_program_active");
send("PROGRAM_ABORT", "abort");
send("SET_MODE", "manual", { mode: "MANUAL" });
send("HOME", "home-x", { axis: "x" });
send("HOME", "home-y", { axis: "y" });
send("HOME", "home-z", { axis: "z" });
const jog = send("JOG_START", "jog", { axis: "x", direction: 1, speed: 1 });
assert.equal(jog.payload.status, "verified");
send("JOG_STOP", "jog-stop");
const estop = send("ESTOP", "estop", { active: true });
assert.equal(estop.kind, "ERROR");
const blockedRun = send("PROGRAM_RUN", "run-estop");
assert.equal(blockedRun.kind, "ERROR");
assert.ok(["axis_estop_active", "axis_fault_active"].includes(blockedRun.payload.gate_reason));
send("ESTOP", "estop-reset", { active: false });
send("IO_RECOVER", "recover");
const reset = send("RESET", "reset");
assert.equal(reset.payload.status, "verified");

console.log(JSON.stringify({
  schema: "panel-gate-matrix.v1",
  status: "verified",
  normal: ["PROGRAM_LOAD", "PROGRAM_RUN", "SET_MODE", "HOME", "JOG_START", "JOG_STOP", "RESET"],
  blocked: [noProgram.payload.gate_reason, homeWhileRunning.payload.gate_reason, blockedRun.payload.gate_reason, mdiWhileRunning.payload.message_key],
  authority: "worker_axis_gate",
}));