import { expect, test } from '@playwright/test';
import { startBridge } from './fixtures/controlBridge';
import type {} from '../physics/runner';

test('通用单关节：真实 Python SDK ↔ 本机桥接 ↔ 浏览器 WASM，断开后安全保持', async ({ page }) => {
  const bridge = await startBridge();
  try {
    await page.goto('http://127.0.0.1:4174/physics/runner.html');
    await page.waitForFunction(() => Boolean(window.lekiwiPhysics));
    await page.evaluate(() => window.lekiwiPhysics.bootSingle());
    await page.evaluate(
      ({ endpoint, token }) => window.lekiwiPhysics.connectBridge(endpoint, token),
      { endpoint: bridge.endpoint, token: bridge.token },
    );
    const run = await bridge.python(`
import json, os, time
from mujoco_control_bridge import SimRobotClient
with SimRobotClient(os.environ['MUJOCO_CONTROL_ENDPOINT']) as robot:
    start=time.monotonic()
    for i in range(60):
        accepted=robot.send_action({'slider.position': .5})
        obs=robot.get_observation()
        time.sleep(max(0,start+(i+1)/30-time.monotonic()))
    print(json.dumps({'accepted':accepted['values'], 'measured':obs['values'], 'seq':obs['appliedActionSeq']}))
`);
    const result = JSON.parse(run.stdout.trim()) as {
      accepted: Record<string, number>;
      measured: Record<string, number>;
      seq: number;
    };
    expect(result.accepted['slider.position']).toBe(0.5);
    expect(result.measured['slider.position']).toBeGreaterThan(0.48);
    expect(result.measured['slider.position']).toBeLessThan(0.51);
    expect(result.seq).toBeGreaterThan(55);
    await expect
      .poll(
        async () =>
          (await page.evaluate(() => window.lekiwiPhysics.externalState())).observation?.paused,
      )
      .toBe(true);
    expect(bridge.errors()).toBe('');
  } finally {
    await page.evaluate(() => window.lekiwiPhysics?.dispose()).catch(() => {});
    await bridge.stop();
  }
});