// GLB 关节识别与 TRT 标定推导的单测（纯 Node，不需要浏览器）。
// 运行：node web/workspace/test_glb_axis_naming.mjs

import assert from "node:assert/strict";
import { readFileSync } from "node:fs";
import { fileURLToPath } from "node:url";
import { dirname, resolve } from "node:path";
import { classifyAxisNodeName, deriveTrtCalibration, selectAxisNodes } from "./glb-axis-naming.mjs";
import managerSettings from "./machine-manager-settings.json" with { type: "json" };

const repoRoot = resolve(dirname(fileURLToPath(import.meta.url)), "../..");
const profileOf = (coordinates) => managerSettings.profiles.find((profile) => profile.coordinates === coordinates) ?? null;

// ---------------------------------------------------------------- 命名规则
const NAMING_CASES = [
  // [节点名, 期望轴, 期望等级, 期望优先级, 说明]
  ["JT_X", "X", "high", 0, "JT_ 精确名"],
  ["JT_C", "C", "high", 0, "JT_ 精确名"],
  ["X_AXIS", "X", "medium", 1, "轴字母 + AXIS"],
  ["AXIS_Z", "Z", "medium", 1, "AXIS + 轴字母"],
  ["b_axis", "B", "medium", 1, "轴字母 + AXIS"],
  ["b_axis_bearing", "B", "low", 4, "同轴零件：优先级低于 b_axis"],
  ["b_axis_axis", "B", "low", 4, "同轴零件：优先级低于 b_axis"],
  ["a_axis_bearings", "A", "low", 4, "同轴零件：优先级低于 a_outer_table"],
  ["x_slide", "X", "medium", 2, "直线滑台"],
  ["y_saddle", "Y", "medium", 2.2, "Y 鞍座"],
  ["y_saddle_casting", "Y", "medium", 2.22, "铸件：优先级低于 y_saddle"],
  ["z_ram", "Z", "medium", 2.8, "Z 滑枕"],
  ["moving_x_table", "X", "medium", 2.5, "轴字母在部件词之前"],
  ["a_outer_table", "A", "medium", 2.5, "外转台 = A"],
  ["b_inner_table", "B", "medium", 2.5, "内转台 = B"],
  ["c_table", "C", "medium", 2.5, "回转工作台 = C"],
  ["b_trunnion", "B", "medium", 2.3, "B 轴摇篮"],
  ["a_tilt_frame", "A", "medium", 2.4, "A 轴倾转架"],
  ["w_tool_direction", "W", "medium", 2.9, "W 刀具方向轴"],
  ["x_linear_rail_guide", "X", "low", 4, "导轨属于零件级线索"],
  ["bolt_x_1", "X", "low", 4, "螺栓属于零件级线索"],
];
for (const [name, axis, confidence, rank, note] of NAMING_CASES) {
  const result = classifyAxisNodeName(name);
  assert.ok(result, `${name} 应当被识别为轴（${note}）`);
  assert.equal(result.axis, axis, `${name} 轴`);
  assert.equal(result.confidence, confidence, `${name} 可信度`);
  assert.ok(Math.abs(result.rank - rank) < 1e-9, `${name} 优先级应为 ${rank}，实际 ${result.rank}`);
}

for (const name of ["tilt_axis", "rotary_axis", "tilt_table", "rotary_axis_bearing", "work_platter"]) {
  const result = classifyAxisNodeName(name);
  assert.ok(result?.ambiguous, `${name} 应当是需要消歧的通用部件名`);
}

for (const name of ["j1_base", "j2_shoulder", "portal_column", "column.001", "fixture_plate", "machine_root", "支腿", "", "tool"]) {
  assert.equal(classifyAxisNodeName(name), null, `${name} 不应被识别为数控轴`);
}
// 通用词 + 零件词的优先级低于主轴节点，避免把 tilt_bearing 当成倾转轴。
assert.ok(classifyAxisNodeName("tilt_bearing_49").rank > classifyAxisNodeName("tilt_table").rank);
assert.ok(classifyAxisNodeName("trunnion_pedestal_48").rank > classifyAxisNodeName("tilt_table").rank);

// ---------------------------------------------------------------- 真实 GLB 名称
function readDescriptor(path) {
  const buffer = readFileSync(path);
  const jsonLength = buffer.readUInt32LE(12);
  const json = JSON.parse(buffer.subarray(20, 20 + jsonLength).toString("utf8"));
  const nodes = json.nodes ?? [];
  const depth = new Array(nodes.length).fill(0);
  const walk = (index, level) => { depth[index] = level; for (const child of nodes[index].children ?? []) walk(child, level + 1); };
  const scene = json.scenes?.[json.scene ?? 0];
  (scene?.nodes ?? []).forEach((index) => walk(index, 0));
  const urdf = scene?.extras?.linuxcncMachine?.urdf;
  const declared = scene?.extras?.linuxcncMachine?.coordinates ?? (typeof urdf === "string"
    ? [...new Set([...urdf.matchAll(/<cnc:axis\s+coordinate="([XYZABCUVW])"/g)].map((match) => match[1]))].join("")
    : null);
  return {
    // Joint metadata written by scripts/generate_physical_case_glbs.mjs is the
    // authoritative axis hint; single-letter slot names carry no other clue.
    nodes: nodes.map((node, index) => ({ name: node.name ?? "", path: `scene/${index}`, depth: depth[index], explicitAxis: node.extras?.linuxcncJoint?.axis ?? node.extras?.["linuxcnc.axis"] ?? null })),
    declared: typeof declared === "string" && declared.length === 5 ? declared : null,
  };
}

const analysis = (relativePath) => {
  const { nodes, declared } = readDescriptor(resolve(repoRoot, relativePath));
  const profile = declared ? profileOf(declared) : null;
  return selectAxisNodes(nodes, { declaredCoordinates: declared, tiltAxis: profile?.tiltAxis ?? null, rotaryAxis: profile?.rotaryAxis ?? null });
};
const boundAxes = (result) => result.axes.filter((item) => item.autoBind).map((item) => `${item.axis}:${item.name}`);

// 真实机床（带 JT_ 命名）与自带案例：不依赖任何提示即可绑定。
const AUTO_CASES = [
  ["glb/m1.glb", "XYZAC", ["X:JT_X", "Y:JT_Y", "Z:JT_Z", "A:JT_A", "C:JT_C"]],
  ["web/react/public/machine-cases/physical/xyzac-trt.glb", "XYZAC", ["X:x", "Y:y", "Z:z", "A:a", "C:c"]],
  ["web/react/public/machine-cases/physical/xyzbc-trt.glb", "XYZBC", ["X:x", "Y:y", "Z:z", "B:b", "C:c"]],
  ["web/react/public/machine-cases/physical/xyzab-tdr.glb", "XYZAB", ["X:x", "Y:y", "Z:z", "A:a", "B:b"]],
  ["web/react/public/machine-cases/physical/trivkins-xyzab.glb", "XYZAB", ["X:x", "Y:y", "Z:z", "A:a", "B:b"]],
  ["web/react/public/machine-cases/physical/trivkins-xyzcw.glb", "XYZCW", ["X:x", "Y:y", "Z:z", "C:c", "W:w"]],
];
for (const [file, coordinates, expected] of AUTO_CASES) {
  const result = analysis(file);
  assert.equal(result.suggestedCoordinates, coordinates, `${file} 机型`);
  assert.deepEqual(boundAxes(result), expected, `${file} 绑定节点`);
  assert.deepEqual(result.missingAxes, [], `${file} 不应缺轴`);
}

// 内置示例：场景内嵌 URDF 声明了轴序，按声明消歧后同样"导入即绑定"。
const DECLARED_CASES = [
  ["web/react/public/machines/demo-ac-xyz-head.glb", "XYZAC"],
  ["web/react/public/machines/demo-ac-gantry.glb", "XYZAC"],
  ["web/react/public/machines/demo-bc-gantry.glb", "XYZBC"],
];
for (const [file, coordinates] of DECLARED_CASES) {
  const result = analysis(file);
  assert.equal(result.suggestedCoordinates, coordinates, `${file} 机型`);
  assert.deepEqual(boundAxes(result).map((item) => item.split(":")[0]), [...coordinates], `${file} 应绑定五个轴`);
}

// 重复轴与额外直线轴案例：分析器要求恰好五个唯一字母，因此这两类必须返回
// UNKNOWN，由 machine-visual-bindings.json 按槽位显式绑定。
//   bridge-mill: XYZBCW + 重复 Y —— 六个不同字母
//   xyzya:       XYZ + A + 重复 Y —— 只有四个不同字母
for (const [id, reason] of [["bridge-mill-5axiskins", "六个不同轴字母"], ["trivkins-xyzya", "重复 Y 合并后只有四个字母"]]) {
  const result = analysis(`web/react/public/machine-cases/physical/${id}.glb`);
  assert.equal(result.suggestedCoordinates, "UNKNOWN", `${id} 不按五轴自动识别（${reason}）`);
  assert.deepEqual(boundAxes(result), [], `${id} 不应自动绑定`);
}

// 并联平台与串联机器人不是 XYZABC 语义，保持"需手动绑定"，不误报。
for (const id of ["hexapod-genhexkins", "pentapod-pentakins", "puma-pumakins", "puma-genserkins", "scorbot-kins"]) {
  const result = analysis(`web/react/public/machine-cases/physical/${id}.glb`);
  assert.equal(result.suggestedCoordinates, "UNKNOWN", `${id} 不应被当作五轴 XYZABC 机床`);
  assert.deepEqual(boundAxes(result), [], `${id} 不应自动绑定`);
}

// ---------------------------------------------------------------- TRT 标定推导
const xyzac = profileOf("XYZAC");
const calibration = deriveTrtCalibration({ coordinates: "XYZAC", profile: xyzac, cWorldMm: [10, 20, 30], tiltWorldMm: [110, 50, 70] });
assert.deepEqual(calibration.cOriginMm, [10, 20, 30], "C 轴原点取 C 轴节点世界坐标");
assert.deepEqual(calibration.tiltOffsetMm, [0, 30, 40], "AC 机型把沿 A 轴的 X 分量归零");
assert.equal(calibration.zeroedOffsetValueMm, 100, "记录被归零的分量");
assert.equal(calibration.zeroedOffsetDirection, "x");
assert.deepEqual(calibration.physicalZero, { x: 0, y: 0, z: 0, a: 0, c: 0 });

const xyzbc = profileOf("XYZBC");
const bcCalibration = deriveTrtCalibration({ coordinates: "XYZBC", profile: xyzbc, cWorldMm: [1, 2, 3], tiltWorldMm: [11, 22, 33] });
assert.deepEqual(bcCalibration.tiltOffsetMm, [10, 0, 30], "BC 机型把沿 B 轴的 Y 分量归零");
assert.equal(bcCalibration.zeroedOffsetValueMm, 20);

assert.equal(deriveTrtCalibration({ coordinates: "XYZAB", profile: null, cWorldMm: [0, 0, 0], tiltWorldMm: [1, 1, 1] }), null, "非 TRT 机型不产出原生标定");
assert.equal(deriveTrtCalibration({ coordinates: "XYZAC", profile: xyzac, cWorldMm: null, tiltWorldMm: [1, 1, 1] }), null, "缺坐标时不产出标定");

console.log(JSON.stringify({
  report_id: "glb-axis-naming-v1",
  status: "verified",
  naming_cases: NAMING_CASES.length + 5 + 9,
  auto_binding_cases: AUTO_CASES.length,
  declared_binding_cases: DECLARED_CASES.length,
  manual_only_cases: 5,
  trt_calibration: calibration,
}, null, 1));