"""Exercise real Qt widgets against the ROS host with its fake adapter."""
import os
from pathlib import Path
import subprocess
import sys
import textwrap


def test_demo_gui_teach_scan_pause_resume_cancel(tmp_path):
    program = r'''
import json,time,sys
from pathlib import Path
import rclpy
from PyQt5.QtCore import Qt
from PyQt5.QtTest import QTest
from PyQt5.QtWidgets import QApplication,QLabel
from linkerhand_range_calibration.profiles import load_profile,load_station
from linkerhand_range_calibration.runtime import CalibrationRuntime
from linkerhand_range_calibration.ui.window import CalibrationWindow

rclpy.init();app=QApplication([])
station=load_station();station['output_root']=str(Path(sys.argv[1])/'output')
station['teaching_root']=str(Path(sys.argv[1])/'teaching')
station['scan'].update(rate=1000,stable_frames=4,settle_seconds=.01)
node=CalibrationRuntime(load_profile(),station,demo=True)
window=CalibrationWindow(node);window.show()
def until(condition,timeout=6):
 end=time.monotonic()+timeout
 while time.monotonic()<end:
  rclpy.spin_once(node,timeout_sec=.015);app.processEvents();window.refresh()
  if condition():return
 raise AssertionError(str(node.snapshot()))
until(lambda:node.snapshot().get('can_save',False))
assert not node.adapter.sent and not node.adapter.settings_sent
assert len(node.previews())==3
assert len(window.joint_controls)==20
clearance_choices=[window.save_kind.itemData(i)[1] for i in range(window.save_kind.count())
                   if window.save_kind.itemData(i)[0]=='clearances']
assert clearance_choices==[]
first,second=window.joint_controls[:2]
assert first.slider.minimum()==0 and first.slider.maximum()==255
window.sync_targets();window.fill.click()
node._tick()
assert not node.adapter.sent and not node.adapter.settings_sent

# Many drag changes before one runtime tick keep only the latest target.
for value in range(20,101):first.slider.setValue(value)
assert not node.adapter.sent
node._tick();window.refresh()
assert node.engine.state=='TEACHING' and node.adapter.target[0]==100
assert first.isEnabled() and not window.save.isEnabled()
assert len(node.adapter.settings_sent)==1
second.slider.setValue(45)
first.slider.setValue(30)
node._tick()
assert node.adapter.target[:2]==(30,45)
assert first.editor.value()==30 and second.editor.value()==45
assert len(node.adapter.settings_sent)==1
until(lambda:node.engine.state=='IDLE')
assert node.adapter.target[:2]==(30,45)
assert node.adapter.target[2:]==(0,)*18

# Numeric typing waits for confirmation, and then drives the same slider path.
first.editor.setFocus();first.editor.selectAll()
QTest.keyClicks(first.editor,'35')
node._tick()
assert node.adapter.target[0]==30 and not node.pending_jog
QTest.keyClick(first.editor,Qt.Key_Return)
until(lambda:node.engine.state=='IDLE' and node.adapter.target[0]==35)
assert first.slider.value()==35
assert len(node.adapter.settings_sent)==1  # idle between gestures does not resend settings

# Finishing one joint must not overwrite another joint's unconfirmed numeric input.
second.slider.setValue(80);node._tick();window.refresh()
first.editor.setFocus();first.editor.selectAll()
QTest.keyClicks(first.editor,'36')
until(lambda:node.engine.state=='IDLE')
assert first.editor.text()=='36' and node.adapter.target[0]==35
QTest.keyClick(first.editor,Qt.Key_Escape)
window.sync_targets()

# Cancel discards a pending gesture and rejects late events from that UI epoch.
old_epoch=node.snapshot()['manual_epoch']
before=len(node.adapter.sent)
first.slider.setValue(200)
node.submit('cancel')
node.submit('jog',targets={node.profile.joints[0].name:240},epoch=old_epoch)
node._tick();window.refresh()
assert node.engine.state=='CANCELLED' and len(node.adapter.sent)==before
assert first.slider.value()==35

# Pause holds the last sent target, and manual controls remain locked until cancel.
first.slider.setValue(200);node._tick();window.refresh()
assert node.engine.state=='TEACHING'
window.pause.click();until(lambda:node.engine.state=='PAUSED')
assert not first.isEnabled() and not window.resume.isEnabled()
before=len(node.adapter.sent)
node.submit('jog',targets={node.profile.joints[0].name:255},epoch=node.snapshot()['manual_epoch'])
node._tick()
assert len(node.adapter.sent)==before
window.cancel.click();until(lambda:node.engine.state=='CANCELLED')

window.start_one.click()
until(lambda:node.engine.state=='SCANNING')
assert not first.isEnabled() and not window.fill.isEnabled()
window.pause.click();until(lambda:node.engine.state=='PAUSED')
window.resume.click();until(lambda:node.engine.state=='PREPARING')
window.cancel.click();until(lambda:node.engine.state=='CANCELLED')
document=json.loads(node.session.result_path.read_text())
assert len(document['joints'])==20 and all(v=={'min':None,'max':None} for v in document['joints'].values())
held=node.engine.command
first.slider.setValue(10)
until(lambda:node.engine.state=='IDLE' and node.adapter.target[0]==10)
assert node.adapter.target[1:]==held[1:]
until(lambda:node.snapshot()['can_save'])
window.save.click();until(lambda:node.teaching_path.exists())
assert node.teaching.data['baseline']['target'][0]==10

# Saving a nonzero baseline keeps the fixed thumb clearance at zero.
index_control=window.joint_controls[2]
index_control.slider.setValue(37)
until(lambda:node.snapshot()['can_save'] and node.adapter.target[2]==37)
window.save.click()
until(lambda:node.teaching.data['baseline']['target'][2]==37)
saved=json.loads(json.dumps(node.teaching.data))
assert saved['baseline']['target'][0]==10
assert not saved['clearances']
tasks={task.name:task for task in node.profile.tasks}
assert node.teaching.prepare(tasks['thumb_cmc_roll'])[2]==0
assert node.teaching.prepare(tasks['four_finger_roll'])[2]==37

# A command received during a tick must not expose its epoch before it is applied.
original_tick=node.engine.tick
def cancel_during_tick(now,stamp):
 node.submit('cancel')
 original_tick(now,stamp)
node.engine.tick=cancel_during_tick
node._tick()
node.engine.tick=original_tick
assert node.snapshot()['manual_epoch']<node.manual_epoch
node.submit('jog',targets={node.profile.joints[0].name:255},epoch=node.snapshot()['manual_epoch'])
node._tick()
assert node.engine.state=='CANCELLED' and not node.pending_jog

# SDK diagnostics remain in the journal and never add a banner or lock controls.
node.adapter.warning='thumb_cmc_roll：执行器层判定堵转；thumb_cmc_yaw：执行器过温'
node._tick();window.refresh()
assert window.start_one.isEnabled() and all(control.isEnabled() for control in window.joint_controls)
assert not any('自动标定不可用' in label.text() or '堵转' in label.text() or '过温' in label.text()
               for label in window.findChildren(QLabel))
window.start_one.click();until(lambda:node.engine.state=='SCANNING')
events=[json.loads(line) for line in (node.session.directory/'samples.jsonl').read_text().splitlines()]
assert any(event['kind']=='diagnostic_warning' and '过温' in event['reason'] for event in events)
window.pause.click();until(lambda:node.engine.state=='PAUSED')
assert window.resume.isEnabled()
window.resume.click();until(lambda:node.engine.state=='PREPARING')
window.cancel.click();until(lambda:node.engine.state=='CANCELLED')

# Manual teaching uses the same readiness check, including the joint named in a diagnostic.
node._tick();window.refresh()
assert first.isEnabled() and index_control.isEnabled() and second.isEnabled()
assert window.start_one.isEnabled()
settings_with_warning=len(node.adapter.settings_sent)
second.slider.setValue(75)
index_control.slider.setValue(45)
until(lambda:node.snapshot()['can_save'] and node.adapter.target[2]==45 and node.adapter.target[1]==75)
assert node.engine.state=='IDLE'
assert window.save.isEnabled() and len(node.adapter.settings_sent)==settings_with_warning
window.save.click()
until(lambda:node.teaching.data['baseline']['target'][2]==45)
node.adapter.warning=None
node._tick();window.refresh()
assert second.isEnabled() and window.start_one.isEnabled()

# After a connection fault, the next deliberate gesture reapplies settings once.
settings_before=len(node.adapter.settings_sent)
node.adapter.error='模拟反馈断流'
node._tick();window.refresh()
assert not first.isEnabled() and node.motion_settings_key is None
node.adapter.error=None
node._tick();window.refresh()
first.slider.setValue(11)
node._tick()
assert node.adapter.target[0]==11
assert len(node.adapter.settings_sent)==settings_before+1
until(lambda:node.engine.state=='IDLE')

# A single thumb-roll task restores the thumb before releasing the index clearance.
window.start_one.click();until(lambda:node.engine.state=='RESTORING')
assert not any(control.isEnabled() for control in window.joint_controls)
assert not window.save.isEnabled() and window.cancel.isEnabled()
assert '测后恢复基础姿态' in window.status.text()
assert node.engine.restoring_joint=='thumb_cmc_roll'
assert 'thumb_cmc_roll 恢复基础姿态' in window.status.text()
assert node.engine.command[2]==0
until(lambda:node.engine.restoring_joint=='index_mcp_roll')
assert 'index_mcp_roll 恢复基础姿态' in window.status.text()
assert node.engine.command[0]==node.teaching.data['baseline']['target'][0]
assert not any(control.isEnabled() for control in window.joint_controls)
until(lambda:node.engine.state=='COMPLETED')
assert first.slider.value()==node.teaching.data['baseline']['target'][0]
assert index_control.slider.value()==node.teaching.data['baseline']['target'][2]
assert all(control.isEnabled() for control in window.joint_controls)
window.close();node.close_session();node.destroy_node();rclpy.shutdown()
print('GUI workflow passed')
'''
    env = dict(os.environ, ROS_DOMAIN_ID='199', ROS_LOCALHOST_ONLY='1', QT_QPA_PLATFORM='offscreen')
    env['PYTHONPATH'] = str(Path(__file__).resolve().parents[1])+os.pathsep+env.get('PYTHONPATH','')
    result = subprocess.run([sys.executable,'-c',textwrap.dedent(program),str(tmp_path)],env=env,
                            capture_output=True,text=True,timeout=25)
    assert result.returncode==0, result.stdout+result.stderr