import { expect, test } from '@playwright/test';
import { readFileSync } from 'node:fs';
import { resolve } from 'node:path';
const fixture = JSON.parse(
  readFileSync(resolve('web_platform/src/rl/fixtures/obstacleDeployment.json'), 'utf8'),
);

// Original Go2 collision/inertia model, visual meshes omitted to keep the smoke fixture lightweight.
const go2 = readFileSync(
  resolve('training_server/rl/src/assets/robots/unitree_go2/xmls/go2.xml'),
  'utf8',
)
  .replace(/<mesh\b[^>]*\/>/g, '')
  .replace(/<geom\b[^>]*\bmesh="[^"]*"[^>]*\/>/g, '');
const model = readFileSync(
  process.env.GO2_SMOKE_POLICY ?? resolve('web_platform/fixtures/obstacle/zero-action.onnx'),
);

test('训练作业一键导入：真实WASM地图+81维ORT+PiP+射线开关', async ({ page }) => {
  await page.addInitScript(() => {
    localStorage.setItem('mujoco-local-training-job-id', 'a'.repeat(32));
    sessionStorage.setItem('mujoco-local-training-token', 'test');
  });
  const job = {
    id: 'a'.repeat(32),
    taskId: 'Unitree-Go2-ObstacleAvoidance',
    state: 'succeeded',
    artifactReady: true,
    progress: 1,
    iteration: 1,
    maxIterations: 1,
    logs: [
      'Learning iteration 0 / 1',
      'Mean value loss: 0.9',
      'Mean surrogate loss: -0.1',
      'Mean entropy loss: -1',
      'Mean reward: 2',
      'Mean episode length: 20',
      'Learning iteration 1 / 1',
      'Mean value loss: 0.5',
      'Mean surrogate loss: -0.2',
      'Mean entropy loss: -0.8',
      'Mean reward: 3',
      'Mean episode length: 30',
    ],
    message: '测试专用零动作策略',
    deployment: fixture,
  };
  await page.route('http://127.0.0.1:8765/**', (route) => {
    const url = route.request().url();
    if (url.endsWith('/policy.onnx'))
      return route.fulfill({ contentType: 'application/octet-stream', body: model });
    if (url.endsWith('/health'))
      return route.fulfill({
        json: { ready: true, trainerRoot: '/test', tasks: [job.taskId], activeJobId: job.id },
      });
    if (url.includes('/presets')) return route.fulfill({ json: { presets: [] } });
    return route.fulfill({ json: job });
  });
  await page.goto('/');
  await page
    .locator('input[type="file"]')
    .first()
    .setInputFiles({ name: 'go2.xml', mimeType: 'text/xml', buffer: Buffer.from(go2) });
  await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
  await page.getByRole('tab', { name: '控制台' }).click();
  const tools = page.getByRole('tabpanel', { name: '控制台' });
  await tools.getByRole('button', { name: /强化学习任务/ }).click();
  await tools.getByRole('button', { name: '连接', exact: true }).click();
  await expect(tools.getByRole('button', { name: '导入策略' })).toBeEnabled();
  await tools.getByRole('button', { name: '导入策略' }).click();
  await expect(page.getByText('训练配套物理地图', { exact: false })).toBeVisible({
    timeout: 30_000,
  });
  await expect(page.getByLabel('摄像头画面', { exact: true })).toBeVisible();
  const rays = page.getByRole('checkbox', { name: '显示避障射线' });
  await expect(rays).toBeChecked();
  await rays.uncheck();
  await rays.check();
  const section = tools.getByRole('button', { name: /ONNX 策略运行/ });
  if ((await section.getAttribute('aria-expanded')) === 'false') await section.click();
  await expect(tools.getByText('81 / 12')).toBeVisible();
  await expect(tools.getByText('Go2 前视射线避障导航', { exact: true })).toBeVisible();
  const count = tools.getByText('推理次数', { exact: true }).locator('..');
  await expect
    .poll(async () => Number((await count.textContent())?.replace(/\D/g, '')))
    .toBeGreaterThan(0);
  const pause = page.getByRole('button', { name: '⏸ 暂停' });
  if (await pause.isVisible()) await pause.click();
  const stop = tools.getByRole('button', { name: '停止', exact: true });
  if (await stop.isVisible()) await stop.click();
  const targetRow = tools.getByText('当前目标 (X, Y) m', { exact: true }).locator('..');
  const initialTarget = await targetRow.textContent();
  const selection = () => page.locator('[aria-selected="true"]').allTextContents();
  const beforeSelection = await selection();
  await tools.getByRole('button', { name: '设定目标', exact: true }).click();
  await page.keyboard.press('Escape');
  await expect(tools.getByRole('button', { name: '设定目标', exact: true })).toHaveAttribute(
    'aria-pressed',
    'false',
  );
  await expect(targetRow).toHaveText(initialTarget!);
  await tools.getByRole('button', { name: '设定目标', exact: true }).click();
  const canvas = page.locator('.viewport-shell canvas').first();
  const bounds = (await canvas.boundingBox())!;
  await canvas.click({ position: { x: bounds.width * 0.5, y: bounds.height * 0.55 } });
  await expect(targetRow).not.toHaveText(initialTarget!);
  await expect(tools.getByRole('button', { name: '设定目标', exact: true })).toHaveAttribute(
    'aria-pressed',
    'false',
  );
  expect(await selection()).toEqual(beforeSelection);
  await expect(tools.getByRole('button', { name: '启用', exact: true })).toBeVisible();
  await tools.getByRole('button', { name: '复位目标点' }).click();
  await expect(targetRow).toHaveText(initialTarget!);
  await tools.getByRole('button', { name: '设定目标', exact: true }).click();
  await tools.getByRole('button', { name: '卸载', exact: true }).click();
  await expect(targetRow).toHaveCount(0);
  await expect(tools.locator('.uplot')).toHaveCount(0);
  await tools.getByRole('button', { name: /训练指标趋势/ }).click();
  await expect(tools.locator('.uplot canvas')).toHaveCount(1);
  await tools.getByRole('tab', { name: '综合', exact: true }).click();
  await expect(tools.locator('.uplot canvas')).toHaveCount(5);
  await tools.getByRole('button', { name: /训练指标趋势/ }).click();
  await expect(tools.locator('.uplot')).toHaveCount(0);
});

test('下载metadata与作业不匹配时拒绝，未更换地图或启用策略', async ({ page }) => {
  await page.addInitScript(() => sessionStorage.setItem('mujoco-local-training-token', 'test'));
  const job = {
    id: 'b'.repeat(32),
    taskId: fixture.taskId,
    state: 'succeeded',
    artifactReady: true,
    progress: 1,
    iteration: 1,
    maxIterations: 1,
    logs: [],
    message: '',
    deployment: { ...fixture, sensorCfg: { ...fixture.sensorCfg, fov: 60 } },
  };
  await page.route('http://127.0.0.1:8765/**', (route) => {
    const url = route.request().url();
    if (url.endsWith('/policy.onnx'))
      return route.fulfill({ contentType: 'application/octet-stream', body: model });
    if (url.endsWith('/health'))
      return route.fulfill({ json: { ready: true, tasks: [job.taskId], activeJobId: job.id } });
    if (url.includes('/presets')) return route.fulfill({ json: { presets: [] } });
    return route.fulfill({ json: job });
  });
  await page.goto('/');
  await page
    .locator('input[type="file"]')
    .first()
    .setInputFiles({ name: 'go2.xml', mimeType: 'text/xml', buffer: Buffer.from(go2) });
  await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
  await page.getByRole('tab', { name: '控制台' }).click();
  const tools = page.getByRole('tabpanel', { name: '控制台' });
  await tools.getByRole('button', { name: /强化学习任务/ }).click();
  await tools.getByRole('button', { name: '连接', exact: true }).click();
  await tools.getByRole('button', { name: '导入策略' }).click();
  await expect(page.getByText('下载的策略与训练作业部署配置不一致').first()).toBeVisible();
  await expect(page.getByText('训练配套物理地图', { exact: false })).toHaveCount(0);
  await expect(page.getByLabel('摄像头画面', { exact: true })).toHaveCount(0);
});

for (const failure of ['wrong-graph', 'ort-init-failure']) {
  test(`事务导入${failure}时保留旧地图、策略和暂停状态`, async ({ page }) => {
    await page.addInitScript(() => sessionStorage.setItem('mujoco-local-training-token', 'test'));
    let bytes = model;
    const job = {
      id: 'c'.repeat(32),
      taskId: fixture.taskId,
      state: 'succeeded',
      artifactReady: true,
      progress: 1,
      iteration: 1,
      maxIterations: 1,
      logs: [],
      message: '',
      deployment: fixture,
    };
    await page.route('http://127.0.0.1:8765/**', (route) => {
      const url = route.request().url();
      if (url.endsWith('/policy.onnx'))
        return route.fulfill({ contentType: 'application/octet-stream', body: bytes });
      if (url.endsWith('/health'))
        return route.fulfill({ json: { ready: true, tasks: [job.taskId], activeJobId: job.id } });
      if (url.includes('/presets')) return route.fulfill({ json: { presets: [] } });
      return route.fulfill({ json: job });
    });
    await page.goto('/');
    await page
      .locator('input[type="file"]')
      .first()
      .setInputFiles({ name: 'go2.xml', mimeType: 'text/xml', buffer: Buffer.from(go2) });
    await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
    await page.getByRole('tab', { name: '控制台' }).click();
    const tools = page.getByRole('tabpanel', { name: '控制台' });
    await tools.getByRole('button', { name: /强化学习任务/ }).click();
    await tools.getByRole('button', { name: '连接', exact: true }).click();
    await tools.getByRole('button', { name: '导入策略' }).click();
    await expect(page.getByLabel('摄像头画面', { exact: true })).toBeVisible();
    const pause = page.getByRole('button', { name: '⏸ 暂停' });
    if (await pause.isVisible()) await pause.click();
    const section = tools.getByRole('button', { name: /ONNX 策略运行/ });
    if ((await section.getAttribute('aria-expanded')) === 'false') await section.click();
    await expect(tools.getByText('81 / 12')).toBeVisible();
    const inference = tools.getByText('推理次数', { exact: true }).locator('..');
    // Stop policy as well to invalidate any pending inference, leaving a stable baseline.
    const stop = tools.getByRole('button', { name: '停止', exact: true });
    if (await stop.isVisible()) await stop.click();
    const before = await inference.textContent();
    bytes = readFileSync(resolve(`web_platform/fixtures/obstacle/${failure}.onnx`));
    await tools.getByRole('button', { name: '导入策略' }).click();
    await expect(tools.getByRole('alert')).toContainText(
      failure === 'wrong-graph' ? '维度' : 'MissingOperatorForTransactionTest',
    );
    await expect(tools.getByText('81 / 12')).toBeVisible();
    await expect(inference).toHaveText(before!);
    await expect(page.getByLabel('摄像头画面', { exact: true })).toBeVisible();
    await expect(page.getByText('训练配套物理地图', { exact: false })).toBeVisible();
    await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
  });
}

test('新server默认Flat作业兼容旧无metadata47维ONNX，错误graph拒绝且保留策略', async ({ page }) => {
  await page.addInitScript(() => sessionStorage.setItem('mujoco-local-training-token', 'test'));
  const flat = {
    ...fixture,
    taskId: 'Unitree-Go2-Flat',
    observationSize: 47,
    observationTerms: fixture.observationTerms.slice(0, 7),
    terrain: undefined,
    terrainPreset: undefined,
    terrainParams: undefined,
    sensorCfg: undefined,
    navigation: undefined,
  };
  let bytes = readFileSync(resolve('web_platform/fixtures/obstacle/legacy-flat.onnx'));
  const job = {
    id: 'd'.repeat(32),
    taskId: flat.taskId,
    state: 'succeeded',
    artifactReady: true,
    progress: 1,
    iteration: 1,
    maxIterations: 1,
    logs: [],
    message: '',
    deployment: flat,
  };
  await page.route('http://127.0.0.1:8765/**', (route) => {
    const url = route.request().url();
    if (url.endsWith('/policy.onnx'))
      return route.fulfill({ contentType: 'application/octet-stream', body: bytes });
    if (url.endsWith('/health'))
      return route.fulfill({ json: { ready: true, tasks: [job.taskId], activeJobId: job.id } });
    if (url.includes('/presets')) return route.fulfill({ json: { presets: [] } });
    return route.fulfill({ json: job });
  });
  const actuators =
    '<actuator>' +
    fixture.jointNames
      .map((name: string) => `<motor name="${name}_motor" joint="${name}"/>`)
      .join('') +
    '</actuator>';
  await page.goto('/');
  await page
    .locator('input[type="file"]')
    .first()
    .setInputFiles({
      name: 'go2.xml',
      mimeType: 'text/xml',
      buffer: Buffer.from(go2.replace('</mujoco>', actuators + '</mujoco>')),
    });
  await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
  await page.getByRole('tab', { name: '控制台' }).click();
  const tools = page.getByRole('tabpanel', { name: '控制台' });
  await tools.getByRole('button', { name: /强化学习任务/ }).click();
  await tools.getByRole('button', { name: '连接', exact: true }).click();
  await tools.getByRole('button', { name: '导入策略' }).click();
  const section = tools.getByRole('button', { name: /ONNX 策略运行/ });
  if ((await section.getAttribute('aria-expanded')) === 'false') await section.click();
  await expect(tools.getByText('47 / 12')).toBeVisible();
  bytes = readFileSync(resolve('web_platform/fixtures/obstacle/legacy-wrong-shape.onnx'));
  await tools.getByRole('button', { name: '导入策略' }).click();
  await expect(tools.getByRole('alert')).toContainText('维度');
  await expect(tools.getByText('47 / 12')).toBeVisible();
  await expect(page.getByText('训练配套物理地图', { exact: false })).toHaveCount(0);
});