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 { compareEndpoints, createEndpoint, endpointHash } from "./endpoint-replay.mjs";
import { SimSession, CONTEXT_ID } from "./sim-session.mjs";

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: "linuxcnc/configs/sim/axis/minimal_xyz.ini", fetchImpl });
assert.equal(bundle.status, "ready");
const wasmBinary = await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url));

function createSession(id, core) {
  const session = new SimSession(core, { sessionId: id });
  const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: id };
  let seq = 0;
  const send = (kind, operationId, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: operationId, payload });
  return { session, send };
}

const core = await createModule({ wasmBinary });
const run = createSession("minimal-s8-04", core);
assert.equal(run.send("HELLO", "hello").kind, "CAPABILITIES");
assert.equal(run.send("SESSION_ATTACH", "attach").kind, "SESSION_READY");
const loaded = run.send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
assert.equal(loaded.kind, "COMMAND_RESULT");
assert.equal(loaded.payload.configuration.state, "TASK_READY");
assert.equal(run.send("HOME", "home").payload.status, "verified");
assert.equal(run.send("JOG_START", "jog-start", { axis: "x", direction: 1, speed: 2 }).payload.status, "verified");
const jogStep = run.send("SIM_STEP", "jog-step", { cycles: 10 });
assert.equal(jogStep.payload.motion.homed, true);
assert.ok(jogStep.payload.motion.axes.x > 0);
assert.equal(run.send("JOG_STOP", "jog-stop").payload.status, "verified");
const override = run.send("SET_OVERRIDE", "override", { feed: 0.5, spindle: 1.2 });
assert.equal(override.payload.state.feed_override, 0.5);

const program = run.send("PROGRAM_LOAD", "program", { path: "minimal-s8-04.ngc", source: "G21 G90\nG0 X0 Y0 Z0\nG1 X2 F60\nG1 Y1\nM2\n" });
assert.equal(program.payload.status, "verified");
assert.equal(run.send("PROGRAM_RUN", "run").payload.task.state, "RUNNING");
const checkpoint = run.send("CHECKPOINT", "checkpoint").payload.checkpoint;
run.send("SIM_STEP", "program-step-1", { cycles: 1 });
const continuous = createEndpoint({ session: run.session });
const recovered = run.session.restoreCheckpoint(checkpoint, run.session.timeline.export(), (operation) => operation);
assert.equal(recovered.status, "recovered");
const recoveryParity = compareEndpoints(continuous, createEndpoint({ session: run.session }));
assert.equal(recoveryParity.equal, true, JSON.stringify(recoveryParity));
const controlCore = await createModule({ wasmBinary });
const controls = createSession("minimal-s8-04-controls", controlCore);
controls.send("HELLO", "hello"); controls.send("SESSION_ATTACH", "attach");
controls.send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
controls.send("PROGRAM_LOAD", "program", { path: "minimal-s8-04-controls.ngc", source: "G21 G90\nG0 X0 Y0 Z0\nG1 X2 F60\nG1 Y1\nM2\n" });
assert.equal(controls.send("PROGRAM_RUN", "run").payload.task.state, "RUNNING");
controls.send("SIM_STEP", "program-step-1", { cycles: 1 });
assert.equal(controls.send("PROGRAM_PAUSE", "pause").payload.task.state, "PAUSED");
assert.equal(controls.send("PROGRAM_RESUME", "resume").payload.task.state, "RUNNING");
const finished = controls.send("SIM_STEP", "program-step-2", { cycles: 4 });
assert.equal(finished.payload.program.program_status, "completed");
assert.equal(finished.payload.task.state, "STOPPED");
assert.equal(controls.send("PROGRAM_ABORT", "abort").payload.task.program_status, "aborted");
assert.equal(controls.send("PROGRAM_RESTART", "restart").payload.task.program_status, "loaded");
const mdi = controls.send("MDI_EXECUTE", "mdi", { block: "G0 X1" });
assert.equal(mdi.payload.status, "verified");

const estopCore = await createModule({ wasmBinary });
const estop = createSession("minimal-s8-04-estop", estopCore);
estop.send("HELLO", "hello"); estop.send("SESSION_ATTACH", "attach");
estop.send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
estop.send("HOME", "home");
const estopResult = estop.send("ESTOP", "estop", { active: true });
assert.equal(estopResult.kind, "ERROR");
assert.equal(estopResult.payload.code, "sim_io_estop");
assert.equal(estopResult.payload.task.state, "ESTOP");
assert.equal(estop.send("JOG_START", "blocked-jog", { axis: "x", direction: 1, speed: 1 }).kind, "ERROR");
assert.equal(estop.send("ESTOP", "clear-estop", { active: false }).payload.status, "verified");
assert.equal(estop.send("IO_RECOVER", "recover").payload.status, "verified");
assert.equal(estop.send("JOG_START", "jog-after-recover", { axis: "x", direction: 1, speed: 1 }).payload.status, "verified");

console.log(JSON.stringify({ schema: "minimal-xyz-vertical-s8-04-sample.v1", status: "verified", case: bundle.entrypoint, startup_state: loaded.payload.configuration.state, jog: { tick: jogStep.payload.motion.tick, x: jogStep.payload.motion.axes.x }, override: { feed: override.payload.state.feed_override, spindle: override.payload.state.spindle_override }, program: { status: finished.payload.program.program_status, line: finished.payload.program.line, mdi: mdi.payload.status }, recovery: { status: recovered.status, parity: recoveryParity }, estop: { blocked_code: estopResult.payload.code, recovered: estop.send("SNAPSHOT_REQUEST", "snapshot").payload.task.state }, endpoint_hash: endpointHash(continuous), checkpoint_hash: checkpoint.checkpoint_hash }));