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: "wasm-canonical-state" });
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 loaded = send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
assert.equal(loaded.payload.motion_authority, "wasm");
assert.equal(loaded.payload.task_authority, "wasm_task_canonical");
assert.equal(loaded.payload.wasm_home_limit.state.source, "wasm_home_limit");

const taskBefore = session.task.export();
session.task.state.state = "FAULT";
const canonicalSnapshot = send("SNAPSHOT_REQUEST", "canonical-snapshot");
assert.equal(canonicalSnapshot.payload.task.state, taskBefore.state);
assert.equal(canonicalSnapshot.payload.task.mode, taskBefore.mode);
assert.equal(canonicalSnapshot.payload.task.program_status, taskBefore.program_status);
assert.equal(canonicalSnapshot.payload.task_authority, "wasm_task_canonical");

const home = send("HOME", "home-z", { axis: "z" });
assert.equal(home.payload.wasm_home_limit.state.source, "wasm_home_limit");
assert.equal(home.payload.wasm_home_limit.state.homed, true);
assert.equal(home.payload.wasm_home_limit.state.home_sequence, 5);
assert.equal(home.payload.wasm_home_limit.state.last_error, 0);

send("HOME", "home-x", { axis: "x" });
send("HOME", "home-y", { axis: "y" });
send("JOG_START", "jog", { axis: "x", direction: 1, speed: 2 });
const stepped = send("SIM_STEP", "jog-step", { cycles: 3 });
assert.equal(stepped.payload.task_authority, "wasm_task_canonical");
assert.equal(stepped.payload.wasm_home_limit.state.source, "wasm_home_limit");
assert.ok(stepped.payload.wasm_home_limit.state.tick > home.payload.wasm_home_limit.state.tick);
assert.deepEqual({ x: stepped.payload.motion.axes.x, y: stepped.payload.motion.axes.y, z: stepped.payload.motion.axes.z }, { x: stepped.payload.motion.joints[0], y: stepped.payload.motion.joints[1], z: stepped.payload.motion.joints[2] });

const limit = send("LIMIT_SET", "limit", { axis: "x", active: true });
assert.equal(limit.payload.wasm_home_limit.state.source, "wasm_home_limit");

console.log(JSON.stringify({
  schema: "wasm-canonical-state-t4.v1",
  status: "verified",
  case: CASE,
  task_authority: loaded.payload.task_authority,
  home_authority: loaded.payload.wasm_home_limit.state.source,
  home_sequence: home.payload.wasm_home_limit.state.home_sequence,
  home_tick: home.payload.wasm_home_limit.state.tick,
  motion_tick: stepped.payload.motion.tick,
  home_limit_tick: stepped.payload.wasm_home_limit.state.tick,
  js_task_tamper_ignored: canonicalSnapshot.payload.task.state === taskBefore.state,
}));