import { expect, test, type Page, type TestInfo } from '@playwright/test';
import { resolve } from 'node:path';
import { readFile, writeFile } from 'node:fs/promises';
import { Quaternion, Vector3 } from 'three';

// Vite dev also serves a tiny JS URL module at .zip?import&url; only count/intercept ZIP bytes.
const zipRequest = /\/[^/?]*lekiwi-v1[^/?]*\.zip$/;

async function verifyBuiltinCameras(page: Page, info: TestInfo) {
  await page.getByRole('button', { name: '源代码', exact: true }).click();
  const editor = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
  const download = page.waitForEvent('download');
  await editor.getByRole('button', { name: '下载', exact: true }).click();
  const xml = await readFile((await (await download).path())!, 'utf8');
  const cameras = await page.evaluate((source) => {
    const doc = new DOMParser().parseFromString(source, 'application/xml');
    return Array.from(doc.querySelectorAll('camera')).map((camera) => {
      const frames = [];
      for (
        let element: Element | null = camera;
        element?.tagName !== 'worldbody';
        element = element.parentElement
      ) {
        if (!element) throw new Error('Camera is not mounted in worldbody');
        frames.unshift({
          name: element.getAttribute('name'),
          pos: (element.getAttribute('pos') ?? '0 0 0').split(/\s+/).map(Number),
          quat: (element.getAttribute('quat') ?? '1 0 0 0').split(/\s+/).map(Number),
        });
      }
      return { name: camera.getAttribute('name'), frames };
    });
  }, xml);
  expect(cameras).toHaveLength(2);
  const tilt = (10 * Math.PI) / 180;
  const evidence = [];
  for (const camera of cameras) {
    const wrist = camera.name === '__platform_camera__wrist';
    expect(camera.frames.at(-2)?.name).toBe(wrist ? 'Camera-Model-v3-1' : 'Camera-Model-v3');
    const position = new Vector3();
    const rotation = new Quaternion();
    for (const frame of camera.frames) {
      position.add(new Vector3().fromArray(frame.pos).applyQuaternion(rotation));
      const [w, x, y, z] = frame.quat;
      rotation.multiply(new Quaternion(x, y, z, w).normalize());
    }
    const forward = new Vector3(0, 0, -1).applyQuaternion(rotation);
    const up = new Vector3(0, 1, 0).applyQuaternion(rotation);
    // Independent source-URDF oracle, checked against the actual WASM-exported
    // model including the profile's CAD yaw and full wrist kinematic chain.
    const expectedPosition = wrist
      ? new Vector3(0.215391977166, 0.004249997308, 0.168290381278)
      : new Vector3(0.13095590444, 0, 0.062079251628);
    const expectedForward = wrist
      ? new Vector3(-Math.sin(tilt), 0, -Math.cos(tilt))
      : new Vector3(Math.cos(tilt), 0, Math.sin(tilt));
    const expectedUp = wrist
      ? new Vector3(Math.cos(tilt), 0, -Math.sin(tilt))
      : new Vector3(-Math.sin(tilt), 0, Math.cos(tilt));
    expect(position.distanceTo(expectedPosition)).toBeLessThan(2e-6);
    expect(forward.distanceTo(expectedForward)).toBeLessThan(2e-6);
    expect(up.distanceTo(expectedUp)).toBeLessThan(2e-6);
    evidence.push({ ...camera, position, forward, up });
  }
  await writeFile(info.outputPath('dual-cameras.json'), JSON.stringify(evidence, null, 2));
  await page.getByRole('button', { name: '关闭源代码编辑器' }).click();
}

test('URL 自动下载、配置 profile、加载真实 WASM；刷新可重入且不自动运行', async ({
  page,
}, info) => {
  const downloads: string[] = [];
  const inference: string[] = [];
  const errors: string[] = [];
  page.on('pageerror', (e) => errors.push(e.message));
  page.on('request', (r) => {
    if (zipRequest.test(r.url())) downloads.push(r.url());
    if (/\/api\/decision\/v1\/(command|plan|decide|test)$/.test(r.url())) inference.push(r.url());
  });
  await page.goto('/?robot=lekiwi-v1&utm_source=partner');
  const play = page.getByRole('button', { name: '▶ 播放' });
  await expect(play).toBeEnabled({ timeout: 90000 });
  await expect(page.getByRole('dialog', { name: '配置 URDF 仿真组件' })).toHaveCount(0);
  await expect(page.getByRole('button', { name: '关节拖动', exact: true })).toBeDisabled();
  expect(downloads).toHaveLength(1);
  await verifyBuiltinCameras(page, info);
  const simulationTime = page.getByLabel('视口状态').getByText(/^时间 /);
  await expect(simulationTime).toHaveText('时间 0.000 s');
  const selector = page.getByRole('combobox', { name: '摄像头视角' });
  const frame = page.getByLabel('摄像头画面', { exact: true });
  await expect(selector.locator('option')).toHaveCount(2);
  await expect(frame).toHaveAttribute('data-camera-body', 'Camera-Model-v3');
  await page.screenshot({ path: info.outputPath('builtin-lekiwi-front.png') });
  await selector.selectOption({ label: '腕部摄像头' });
  await expect(frame).toHaveAttribute('data-camera-body', 'Camera-Model-v3-1');
  await page.evaluate(
    () =>
      new Promise<void>((resolve) =>
        requestAnimationFrame(() => requestAnimationFrame(() => resolve())),
      ),
  );
  await page.screenshot({ path: info.outputPath('builtin-lekiwi-wrist.png') });
  await page.getByRole('button', { name: '隐藏画面' }).click();
  await expect(frame).toHaveCount(0);
  await page.getByRole('button', { name: '显示摄像头画面' }).click();
  await expect(frame).toHaveAttribute('data-camera-body', 'Camera-Model-v3-1');
  await expect(play).toBeEnabled();
  expect(downloads).toHaveLength(1); // Switching/hiding never reloads the robot.
  await expect(simulationTime).toHaveText('时间 0.000 s'); // 相机选择/隐藏不推进物理。
  await page.reload();
  await expect(play).toBeEnabled({ timeout: 90000 });
  await expect(page.getByRole('dialog', { name: '配置 URDF 仿真组件' })).toHaveCount(0);
  await expect(page.getByRole('button', { name: '关节拖动', exact: true })).toBeDisabled();
  await expect(selector.locator('option')).toHaveCount(2);
  await expect(frame).toHaveAttribute('data-camera-body', 'Camera-Model-v3');
  expect(downloads).toHaveLength(2);
  expect(inference).toEqual([]);
  expect(errors).toEqual([]);
});

test('不带参数保持空白，不下载内置 ZIP', async ({ page }) => {
  const downloads: string[] = [];
  page.on('request', (r) => {
    if (zipRequest.test(r.url())) downloads.push(r.url());
  });
  await page.goto('/');
  await expect(page.getByRole('button', { name: '选择文件', exact: true })).toBeVisible();
  await expect(page.getByRole('button', { name: '▶ 播放' })).toBeDisabled();
  expect(downloads).toEqual([]);
});

for (const query of ['robot=unknown', 'robot=lekiwi-v1&robot=lekiwi-v1']) {
  test(`非法参数不下载、不加载：${query}`, async ({ page }) => {
    const downloads: string[] = [];
    page.on('request', (r) => {
      if (zipRequest.test(r.url())) downloads.push(r.url());
    });
    await page.goto(`/?${query}`);
    await expect(page.getByRole('alert')).toContainText('内置机器人加载失败');
    await page.getByRole('button', { name: '技术详情' }).click();
    await expect(page.getByRole('alert')).toContainText('?robot=lekiwi-v1');
    await expect(page.getByRole('button', { name: '▶ 播放' })).toBeDisabled();
    expect(downloads).toEqual([]);
  });
}

for (const status of [404, 200]) {
  test(`下载失败或损坏包（${status}）可恢复手动导入`, async ({ page }) => {
    await page.route(zipRequest, (route) =>
      route.fulfill({ status, contentType: 'text/html', body: '<html>not a robot zip</html>' }),
    );
    await page.goto('/?robot=lekiwi-v1');
    await expect(page.getByRole('alert')).toContainText('内置机器人加载失败');
    await page.getByRole('button', { name: '技术详情' }).click();
    await expect(page.getByRole('alert')).toContainText(status === 404 ? 'HTTP 404' : '文件不完整');
    await page
      .locator('input[type=file]')
      .first()
      .setInputFiles(resolve('web_platform/fixtures/python_controller/model.xml'));
    await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 60000 });
    await expect(page.getByRole('alert')).toHaveCount(0);
  });
}