using Flyshot.Core.Domain;
using Flyshot.Runtime.Fanuc;

namespace Flyshot.Core.Tests;

/// <summary>
/// 验证 FANUC 控制器运行在稠密轨迹流式执行与 IO 触发上的行为。
/// </summary>
public sealed class FanucControllerRuntimeDenseTests
{
    /// <summary>
    /// 验证仿真模式下即使传入稠密路点，也会回退到单点同步更新。
    /// </summary>
    [Fact]
    public void ExecuteTrajectory_WithDenseWaypoints_SimulationMode_FallsBackToSinglePoint()
    {
        var runtime = new FanucControllerRuntime();
        var robot = TestRobotFactory.CreateRobotProfile();
        runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
        runtime.SetActiveController(sim: true);
        runtime.Connect("192.168.10.101");
        runtime.EnableRobot(bufferSize: 2);

        var denseTrajectory = new[]
        {
            new[] { 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6 },
            new[] { 0.008, 0.11, 0.21, 0.31, 0.41, 0.51, 0.61 },
            new[] { 0.016, 0.12, 0.22, 0.32, 0.42, 0.52, 0.62 }
        };

        var result = new TrajectoryResult(
            programName: "demo",
            method: PlanningMethod.Icsp,
            isValid: true,
            duration: TimeSpan.FromSeconds(0.016),
            shotEvents: Array.Empty<ShotEvent>(),
            triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
            artifacts: Array.Empty<TrajectoryArtifact>(),
            failureReason: null,
            usedCache: false,
            originalWaypointCount: 4,
            plannedWaypointCount: 4,
            denseJointTrajectory: denseTrajectory);

        runtime.ExecuteTrajectory(result, [0.12, 0.22, 0.32, 0.42, 0.52, 0.62]);

        var snapshot = runtime.GetSnapshot();
        Assert.False(snapshot.IsInMotion);
        Assert.Equal([0.12, 0.22, 0.32, 0.42, 0.52, 0.62], snapshot.JointPositions);
    }

    /// <summary>
    /// 验证 StopMove 在没有任何后台发送任务运行时不会抛出异常。
    /// </summary>
    [Fact]
    public void StopMove_DoesNotThrowWhenNoSendTaskRunning()
    {
        var runtime = new FanucControllerRuntime();
        var robot = TestRobotFactory.CreateRobotProfile();
        runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
        runtime.SetActiveController(sim: true);
        runtime.Connect("192.168.10.101");
        runtime.EnableRobot(bufferSize: 2);

        var exception = Record.Exception(() => runtime.StopMove());
        Assert.Null(exception);
        Assert.False(runtime.GetSnapshot().IsInMotion);
    }

    /// <summary>
    /// 验证 IO 地址组中的地址号被正确映射为 writeIoValue 的位掩码。
    /// </summary>
    [Theory]
    [InlineData(new[] { 0 }, (ushort)1)]
    [InlineData(new[] { 7 }, (ushort)128)]
    [InlineData(new[] { 7, 8 }, (ushort)384)] // 128 + 256
    [InlineData(new[] { 15 }, (ushort)32768)]
    [InlineData(new int[] { }, (ushort)0)]
    public void ComputeIoValue_MapsAddressesToBitMask(int[] addresses, ushort expected)
    {
        var group = new IoAddressGroup(addresses);
        var actual = FanucControllerRuntime.ComputeIoValue(group);
        Assert.Equal(expected, actual);
    }

    /// <summary>
    /// 验证超过 15 的地址号会被安全忽略，不会溢出位掩码。
    /// </summary>
    [Fact]
    public void ComputeIoValue_IgnoresOutOfRangeAddresses()
    {
        var group = new IoAddressGroup([0, 16, 7]);
        var actual = FanucControllerRuntime.ComputeIoValue(group);
        Assert.Equal((ushort)(1 | 128), actual);
    }
}