import { expect, test, type Page } from '@playwright/test';
import { resolve } from 'node:path';
import { writeFile } from 'node:fs/promises';
import { startBridge } from './fixtures/controlBridge';

async function loadWorkspace(page: Page) {
  await page.goto('/');
  await page
    .locator('input[type="file"]')
    .first()
    .setInputFiles(resolve('build/lekiwi/lekiwi-v1.zip'));
  const dialog = page.getByRole('dialog', { name: '配置 URDF 仿真组件' });
  await expect(dialog).toBeVisible({ timeout: 30000 });
  await expect(dialog.getByLabel('URDF 机器人 profile')).toHaveValue('');
  await dialog.getByLabel('URDF 机器人 profile').selectOption('lekiwi-v1');
  await expect(dialog.getByRole('checkbox', { name: /添加传感器/ })).toBeDisabled();
  await dialog.getByRole('button', { name: '转换并加载' }).click();
  await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 60000 });
  await page.getByRole('tab', { name: '控制台', exact: true }).click();
  await expect(page.getByRole('region', { name: '开源机器人控制' })).toContainText('lekiwi-v1');
}
async function connect(page: Page, bridge: Awaited<ReturnType<typeof startBridge>>) {
  await page.getByLabel('本机桥接地址', { exact: true }).fill(bridge.endpoint);
  await page.getByLabel('控制 token', { exact: true }).fill(bridge.token);
  await page.getByRole('button', { name: '连接桥接', exact: true }).click();
  await expect(page.getByLabel('桥接连接状态', { exact: true })).toHaveText('已连接');
}
async function authorize(page: Page) {
  await page.getByRole('button', { name: '▶ 播放' }).click();
  await page.getByRole('button', { name: '允许外部控制', exact: true }).click();
  await expect(page.getByLabel('当前控制所有者', { exact: true })).toHaveText('外部');
}
async function state(page: Page) {
  return page.evaluate(async () => {
    const path = '/src/stores/useAppStore.ts';
    const { useAppStore } = (await import(
      /* @vite-ignore */ path
    )) as typeof import('../src/stores/useAppStore');
    const s = useAppStore.getState();
    return {
      paused: s.paused,
      owner: s.snapshot?.controlOwner,
      time: s.snapshot?.time ?? 0,
      epoch: s.snapshot?.externalControl?.modelEpoch,
      sessionId: s.snapshot?.externalControl?.sessionId,
      wasmHeapBytes: s.snapshot?.wasmHeapBytes,
      fps: s.fps,
      stepMs: s.stepMs,
      memoryMb: s.memoryMb,
      overBudget: s.overBudget,
      actuators: s.snapshot?.actuators.map((a) => ({ name: a.jointName, target: a.value })),
      joints: s.snapshot?.joints.map((j) => ({ name: j.name, value: j.value })),
      diagnostic: s.diagnostic?.summary,
    };
  });
}

test('完整工作台 + 真实 LeRobot：文件导入、profile、授权和60秒30Hz控制', async ({ page }, info) => {
  const bridge = await startBridge(),
    errors: string[] = [];
  page.on('pageerror', (error) => errors.push(error.message));
  try {
    await loadWorkspace(page);
    // Profile pose editing is disabled even before an external controller owns it.
    await expect(page.getByRole('button', { name: '关节拖动', exact: true })).toBeDisabled();
    await connect(page, bridge);
    await authorize(page);
    await expect(page.getByLabel('仿真速度', { exact: true })).toBeDisabled();
    await expect(page.getByLabel('仿真速度', { exact: true })).toHaveValue('1');
    await expect(page.getByRole('button', { name: '关节拖动', exact: true })).toBeDisabled();
    const consolePanel = page.getByRole('tabpanel', { name: '控制台' });
    await consolePanel.getByRole('button', { name: /执行器实时控制/ }).click();
    await expect(consolePanel.getByRole('slider').first()).toBeDisabled();
    await consolePanel.getByRole('button', { name: /执行器实时控制/ }).click();
    const metrics: Awaited<ReturnType<typeof state>>[] = [];
    let done = false;
    const run = bridge
      .python(
        `
import os, runpy, sys
sys.argv=['demo_control.py','--duration','60']
runpy.run_path(os.environ['LEKIWI_DEMO'],run_name='__main__')
`,
        process.env.LEROBOT_PYTHON ?? resolve('build/venvs/lerobot/bin/python'),
        { LEKIWI_DEMO: resolve('examples/lekiwi/demo_control.py') },
      )
      .finally(() => {
        done = true;
      });
    const monitor = (async () => {
      while (!done) {
        await page.waitForTimeout(1000);
        metrics.push(await state(page));
      }
    })();
    const [result] = await Promise.all([run, monitor]).catch(async (error: unknown) => {
      const path = info.outputPath('partial-metrics.json');
      await writeFile(path, JSON.stringify(metrics));
      await info.attach('partial-metrics.json', { path, contentType: 'application/json' });
      throw error;
    });
    const report = JSON.parse(result.stdout.trim());
    const path = info.outputPath('lekiwi-60s.json');
    const graphics = await page.evaluate(() => {
      const canvas = document.querySelector('main canvas') as HTMLCanvasElement;
      const gl = canvas.getContext('webgl2')!,
        ext = gl.getExtension('WEBGL_debug_renderer_info');
      return {
        size: [canvas.width, canvas.height],
        renderer: ext ? String(gl.getParameter(ext.UNMASKED_RENDERER_WEBGL)) : 'unknown',
      };
    });
    await writeFile(path, JSON.stringify({ report, metrics, graphics }, null, 2));
    await info.attach('lekiwi-60s.json', { path, contentType: 'application/json' });
    console.log('LeKiwi 60s evidence', report);
    expect(report.steps).toBe(1800);
    expect(report.elapsedSeconds).toBeGreaterThanOrEqual(60);
    expect(report.elapsedSeconds).toBeLessThan(63);
    expect(report.simSeconds).toBeGreaterThan(55);
    expect(report.maxTranslationM).toBeGreaterThan(0.05);
    expect(report.rttMaxMs).toBeLessThan(500);
    expect(report.maxObservationSimGap).toBeLessThan(0.5);
    expect(report.timeouts).toBe(0);
    expect(report.droppedRequests).toBe(0);
    expect(report.appliedActionSeq).toBeGreaterThan(1790);
    expect(metrics.every((m) => Number.isFinite(m.time) && !m.diagnostic)).toBe(true);
    const heaps = metrics.slice(10).flatMap((m) => (m.memoryMb === undefined ? [] : [m.memoryMb]));
    if (heaps.length > 10) expect(heaps.at(-1)! - heaps[0]).toBeLessThan(64);
    const wasm = metrics.slice(10).map((m) => m.wasmHeapBytes!);
    expect(wasm.every((v) => Number.isFinite(v) && v > 0)).toBe(true);
    expect(wasm.at(-1)! - wasm[0]).toBeLessThan(16 * 1024 * 1024);
    await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
    await expect(page.getByLabel('当前控制所有者', { exact: true })).toHaveText('手动');
    await page.screenshot({ path: info.outputPath('lekiwi-workspace.png') });
    expect(bridge.errors()).toBe('');
    expect(errors).toEqual([]);
  } finally {
    await page.close();
    await bridge.stop();
  }
});

test('工作台重编译与缓存编辑失败回滚不会恢复外部授权', async ({ page }) => {
  page.setDefaultTimeout(15000);
  const bridge = await startBridge();
  try {
    await loadWorkspace(page);
    await connect(page, bridge);
    await authorize(page);
    const old = await state(page);
    const driving = bridge.python(
      genericDrive +
        `
try:
    for i in range(900):
        robot.send_action(values);time.sleep(1/30)
    raise AssertionError('reload must disconnect the controller')
except RobotError as error:
    print(json.dumps({'stopped':error.code}))
finally:
    robot.disconnect()
`,
    );
    await expect(page.getByLabel('外部控制状态', { exact: true })).toHaveText('外部控制者已连接');
    await page.getByRole('button', { name: '校验并重新编译 profile' }).click();
    await expect.poll(async () => (await state(page)).sessionId).not.toBe(old.sessionId);
    expect(JSON.parse((await driving).stdout.trim()).stopped).toBeTruthy();
    await expect(page.getByLabel('桥接连接状态', { exact: true })).toHaveText('未连接');
    await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
    await connect(page, bridge);
    await authorize(page);
    const before = await state(page);
    await page.getByRole('button', { name: '源代码', exact: true }).click();
    const dialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
    const editor = dialog.locator('.monaco-editor');
    await editor.click({ position: { x: 240, y: 120 } });
    await page.keyboard.press('Control+a');
    await page.keyboard.press('Backspace');
    await page.keyboard.insertText('<mujoco>\n  <worldbody/>\n</mujoco>\n');
    await dialog.getByRole('button', { name: '保存并重新载入', exact: true }).click();
    await expect.poll(async () => (await state(page)).diagnostic).toBeTruthy();
    expect(await state(page)).toMatchObject({
      sessionId: before.sessionId,
      paused: true,
      owner: 'manual',
    });
    await dialog.getByRole('button', { name: '关闭源代码编辑器' }).click();
    await expect(page.getByLabel('桥接连接状态', { exact: true })).toHaveText('未连接');
    await expect(page.getByLabel('外部控制状态', { exact: true })).toHaveText('未授权');
  } finally {
    await bridge.stop();
  }
});

test('普通模型不自动套用 profile，错误 profile 保留原场景', async ({ page }) => {
  await page.goto('/');
  await page
    .locator('input[type="file"]')
    .first()
    .setInputFiles({
      name: 'generic.xml',
      mimeType: 'text/xml',
      buffer: Buffer.from(
        '<mujoco><worldbody><body><joint name="j" type="slide" axis="1 0 0"/><geom type="sphere" size=".1"/></body></worldbody><actuator><motor joint="j"/></actuator></mujoco>',
      ),
    });
  await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
  await page.getByRole('tab', { name: '控制台', exact: true }).click();
  await page.getByRole('button', { name: '开源项目 / 外部控制' }).click();
  await expect(page.getByLabel('控制接口 profile', { exact: true })).toHaveValue('');
  await expect(page.getByRole('button', { name: '连接桥接', exact: true })).toBeDisabled();
  const before = await state(page);
  await page.getByLabel('控制接口 profile', { exact: true }).selectOption('lekiwi-v1');
  await page.getByRole('button', { name: '校验并重新编译 profile' }).click();
  await expect.poll(async () => (await state(page)).diagnostic).toBeTruthy();
  expect((await state(page)).actuators).toEqual(before.actuators);
  await expect(page.getByRole('button', { name: '连接桥接', exact: true })).toBeDisabled();
});

const genericDrive = `
import json, os, time
from mujoco_control_bridge import SimRobotClient, RobotError
robot=SimRobotClient(os.environ['MUJOCO_CONTROL_ENDPOINT']);robot.connect()
values={c['id']:0 for c in robot.describe()['actionChannels']}
values.update({'arm_shoulder_pan.pos':.2,'arm_gripper.pos':.7,'x.vel':.1})
`;

test('工作台安全生命周期：真实 reset、新 epoch、控制者崩溃、页面隐藏与冻结恢复', async ({
  page,
}) => {
  const bridge = await startBridge();
  try {
    await loadWorkspace(page);
    await connect(page, bridge);
    await authorize(page);
    const reset = await bridge.python(
      genericDrive +
        `
robot.send_action(values)
result=robot.reset()
print(json.dumps({'epoch':result['modelEpoch'],'paused':result['paused']}))
`,
    );
    expect(JSON.parse(reset.stdout.trim())).toEqual({ epoch: 1, paused: true });
    await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
    await expect(page.getByLabel('桥接连接状态', { exact: true })).toHaveText('已连接');
    expect((await state(page)).epoch).toBe(1);
    await authorize(page);
    await bridge.python(
      genericDrive +
        `
robot.send_action(values)
os._exit(0)  # Deliberately crash without a finalizer; watchdog must stop it.
`,
    );
    await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 3000 });
    const stopped = await state(page);
    expect(stopped.owner).toBe('manual');
    expect(
      stopped.actuators?.filter((a) => a.name?.startsWith('base_')).map((a) => a.target),
    ).toEqual([0, 0, 0]);
    const held = stopped.actuators?.find((a) => a.name === 'arm_shoulder_pan')?.target;
    expect(held).toBeGreaterThan(0.05);
    expect(held).toBeCloseTo(stopped.joints!.find((j) => j.name === 'arm_shoulder_pan')!.value, 8);
    await authorize(page);
    await page.evaluate(() => {
      Object.defineProperty(document, 'visibilityState', { configurable: true, value: 'hidden' });
      document.dispatchEvent(new Event('visibilitychange'));
    });
    await expect(page.getByLabel('桥接连接状态', { exact: true })).toHaveText('未连接');
    await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
    await page.evaluate(() => {
      Reflect.deleteProperty(document, 'visibilityState');
      document.dispatchEvent(new Event('visibilitychange'));
    });
    await expect(page.getByLabel('外部控制状态', { exact: true })).toHaveText('未授权');
    await connect(page, bridge);
    await authorize(page);
    const driving = bridge.python(
      genericDrive +
        `
try:
    for i in range(900):
        robot.send_action(values);time.sleep(1/30)
    raise AssertionError('Frozen browser must revoke the lease')
except RobotError as error:
    print(json.dumps({'stopped':error.code}))
finally:
    robot.disconnect()
`,
    );
    await expect(page.getByLabel('外部控制状态', { exact: true })).toHaveText('外部控制者已连接');
    const before = await state(page),
      cdp = await page.context().newCDPSession(page);
    await cdp.send('Debugger.enable');
    const paused = new Promise<void>((resolve) => cdp.once('Debugger.paused', () => resolve()));
    await cdp.send('Debugger.pause');
    await paused;
    try {
      await new Promise((resolve) => setTimeout(resolve, 800));
    } finally {
      await cdp.send('Debugger.resume');
      await cdp.detach();
    }
    const frozen = await driving;
    expect(JSON.parse(frozen.stdout.trim()).stopped).toBeTruthy();
    await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
    const after = await state(page);
    expect(after.time - before.time).toBeLessThan(0.3);
    expect(
      after.actuators?.filter((a) => a.name?.startsWith('base_')).map((a) => a.target),
    ).toEqual([0, 0, 0]);
  } finally {
    await page.close();
    await bridge.stop();
  }
});