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

test('LeKiwi：真实通用 Python SDK 双向控制，3秒30Hz，无 LeRobot 依赖', async ({ page }) => {
  const bridge = await startBridge();
  try {
    await page.goto('/physics/runner.html');
    await page.waitForFunction(() => Boolean(window.lekiwiPhysics));
    await page.evaluate(
      (path) => window.lekiwiPhysics.boot(path),
      `/@fs${resolve(process.cwd(), 'build/lekiwi')}`,
    );
    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:
    values={c['id']:0.0 for c in robot.describe()['actionChannels']}
    values.update({'arm_shoulder_pan.pos':.1,'arm_gripper.pos':.5})
    before=robot.get_observation()['values']
    start=time.monotonic(); latency=[]
    for i in range(90):
        values.update({'x.vel':.08 if i<30 else 0,'y.vel':.08 if 30<=i<60 else 0,'theta.vel':.3 if i>=60 else 0})
        tick=time.monotonic(); robot.send_action(values); obs=robot.get_observation()
        latency.append((time.monotonic()-tick)*1000)
        time.sleep(max(0,start+(i+1)/30-time.monotonic()))
    print(json.dumps({'before':before,'after':obs['values'],'rttMeanMs':sum(latency)/len(latency),'rttMaxMs':max(latency),'seq':obs['appliedActionSeq']}))
`);
    const result = JSON.parse(run.stdout.trim());
    expect(result.after['base.x'] - result.before['base.x']).toBeGreaterThan(0.04);
    expect(result.after['base.y'] - result.before['base.y']).toBeGreaterThan(0.04);
    expect(result.after['base.yaw']).toBeGreaterThan(0.2);
    expect(result.after['arm_gripper.pos']).toBeCloseTo(0.5, 1);
    expect(result.seq).toBeGreaterThan(85);
    console.log('SDK bridge timing', { meanMs: result.rttMeanMs, maxMs: result.rttMaxMs });
    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();
  }
});