import { test, expect } from '@playwright/test';
import { resolve } from 'node:path';
import { writeFile } from 'node:fs/promises';
import type {} from '../physics/agent';

test('v2 物理：连续两次搬运，不重载或移动支撑面', async ({ page }, info) => {
  await page.goto('/physics/agent.html');
  await page.waitForFunction(() => Boolean(window.lekiwiAgent));
  await page.evaluate(
    (url) => window.lekiwiAgent.boot(url),
    `/@fs${resolve('build/lekiwi/lekiwi-v1.zip')}`,
  );
  const results = await page.evaluate(() =>
    window.lekiwiAgent.languagePhysical([
      [0.257, 0.75, 0.128],
      [0.25, 0.5, 0.128],
    ]),
  );
  await writeFile(info.outputPath('continuous-physical.json'), JSON.stringify(results, null, 2));
  for (const r of results) {
    console.log('language physical', {
      status: r.status,
      error: r.error,
      goal: r.goal,
      sample: r.sample,
      transported: r.transported,
    });
    expect(r.status, r.error).toBe('succeeded');
    expect(r.succeeded).toBe(true);
    expect(r.sample.onGoalSupport).toBe(true);
    expect(r.maxJointSpeed).toBeLessThanOrEqual(2);
  }
  await page.evaluate(() => window.lekiwiAgent.dispose());
});

test('v2 真实故障：夹爪锁开不会宣称成功', async ({ page }, info) => {
  await page.goto('/physics/agent.html');
  await page.waitForFunction(() => Boolean(window.lekiwiAgent));
  await page.evaluate(
    (url) => window.lekiwiAgent.boot(url),
    `/@fs${resolve('build/lekiwi/lekiwi-v1.zip')}`,
  );
  const results = await page.evaluate(() =>
    window.lekiwiAgent.languagePhysical([[0.257, 0.75, 0.128]], 'empty'),
  );
  await writeFile(info.outputPath('empty-grasp.json'), JSON.stringify(results, null, 2));
  expect(results[0].status).toBe('failed');
  expect(results[0].error).toBe('empty_grasp');
  expect(results[0].transported).toBe(0);
  expect(results[0].succeeded).toBe(false);
  await page.evaluate(() => window.lekiwiAgent.dispose());
});

test('v2 标定：连续台面边界与停靠姿态 scratch IK', async ({ page }, info) => {
  await page.goto('/physics/agent.html');
  await page.waitForFunction(() => Boolean(window.lekiwiAgent));
  await page.evaluate(
    (url) => window.lekiwiAgent.boot(url),
    `/@fs${resolve('build/lekiwi/lekiwi-v1.zip')}`,
  );
  const result = await page.evaluate(() => window.lekiwiAgent.calibrateLanguage());
  await writeFile(info.outputPath('calibration.json'), JSON.stringify(result, null, 2));
  expect(result.unchanged).toBe(true);
  for (const check of result.checks)
    expect(check.residual, JSON.stringify(check.target)).toBeLessThan(0.004);
  await page.evaluate(() => window.lekiwiAgent.dispose());
});