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

namespace Flyshot.Core.Tests;

/// <summary>
/// 验证最小运行时编排链路会把规划结果交给控制器运行时，而不是停留在兼容层内存状态。
/// </summary>
public sealed class RuntimeOrchestrationTests
{
    /// <summary>
    /// 验证 FANUC 最小运行时执行轨迹后会更新状态快照与最终关节位置。
    /// </summary>
    [Fact]
    public void FanucControllerRuntime_ExecuteTrajectory_UpdatesSnapshotAndFinalJointPositions()
    {
        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 result = new TrajectoryResult(
            programName: "demo",
            method: PlanningMethod.Icsp,
            isValid: true,
            duration: TimeSpan.FromSeconds(1.2),
            shotEvents: Array.Empty<ShotEvent>(),
            triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
            artifacts: Array.Empty<TrajectoryArtifact>(),
            failureReason: null,
            usedCache: false,
            originalWaypointCount: 4,
            plannedWaypointCount: 4);

        runtime.ExecuteTrajectory(result, [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);

        var snapshot = runtime.GetSnapshot();
        Assert.Equal("Connected", snapshot.ConnectionState);
        Assert.False(snapshot.IsInMotion);
        Assert.Equal([1.0, 2.0, 3.0, 4.0, 5.0, 6.0], snapshot.JointPositions);
    }

    /// <summary>
    /// 验证普通轨迹会先进入 ICSP 规划，并沿用 ICSP 对示教点数量的约束。
    /// </summary>
    [Fact]
    public void ControllerClientTrajectoryOrchestrator_PlanOrdinaryTrajectory_RejectsThreeTeachPoints()
    {
        var orchestrator = new ControllerClientTrajectoryOrchestrator();
        var robot = TestRobotFactory.CreateRobotProfile();

        void Act() =>
            orchestrator.PlanOrdinaryTrajectory(
                robot,
                [
                    [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
                    [0.5, 0.0, 0.0, 0.0, 0.0, 0.0],
                    [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]
                ]);

        Assert.Throws<ArgumentException>(Act);
    }

    /// <summary>
    /// 验证已上传飞拍轨迹会经过 self-adapt-icsp 并生成拍照触发时间轴。
    /// </summary>
    [Fact]
    public void ControllerClientTrajectoryOrchestrator_PlanUploadedFlyshot_BuildsShotTimeline()
    {
        var orchestrator = new ControllerClientTrajectoryOrchestrator();
        var robot = TestRobotFactory.CreateRobotProfile();
        var uploaded = TestRobotFactory.CreateUploadedTrajectoryWithSingleShot();

        var bundle = orchestrator.PlanUploadedFlyshot(robot, uploaded);

        Assert.True(bundle.Result.IsValid);
        Assert.Single(bundle.Result.ShotEvents);
        Assert.Single(bundle.Result.TriggerTimeline);
    }

    /// <summary>
    /// 验证兼容服务执行普通轨迹时会进入规划链路，而不是直接把最后一个路点写入状态。
    /// </summary>
    [Fact]
    public void ControllerClientCompatService_ExecuteTrajectory_RejectsThreeTeachPointsAfterPlanningIsIntroduced()
    {
        var service = TestRobotFactory.CreateCompatService();
        service.SetUpRobot("FANUC_LR_Mate_200iD");
        service.SetActiveController(sim: true);
        service.Connect("192.168.10.101");
        service.EnableRobot(2);

        void Act() =>
            service.ExecuteTrajectory(
                [
                    [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
                    [0.5, 0.0, 0.0, 0.0, 0.0, 0.0],
                    [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]
                ]);

        Assert.Throws<ArgumentException>(Act);
    }
}

/// <summary>
/// 为运行时编排测试构造稳定的最小领域对象。
/// </summary>
internal static class TestRobotFactory
{
    /// <summary>
    /// 构造六轴测试机器人配置，避免运行时测试依赖真实 .robot 文件。
    /// </summary>
    /// <returns>可用于规划和运行时状态校验的机器人配置。</returns>
    public static RobotProfile CreateRobotProfile()
    {
        return new RobotProfile(
            name: "TestRobot",
            modelPath: "Models/Test.robot",
            degreesOfFreedom: 6,
            jointLimits: Enumerable.Range(1, 6)
                .Select(static index => new JointLimit($"J{index}", 10.0, 20.0, 100.0))
                .ToArray(),
            jointCouplings: Array.Empty<JointCoupling>(),
            servoPeriod: TimeSpan.FromMilliseconds(8),
            triggerPeriod: TimeSpan.FromMilliseconds(8));
    }

    /// <summary>
    /// 构造一条含单个拍照点的上传飞拍轨迹。
    /// </summary>
    /// <returns>可用于触发时间轴测试的上传轨迹。</returns>
    public static ControllerClientCompatUploadedTrajectory CreateUploadedTrajectoryWithSingleShot()
    {
        return new ControllerClientCompatUploadedTrajectory(
            name: "demo-flyshot",
            waypoints:
            [
                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
                [0.1, 0.0, 0.0, 0.0, 0.0, 0.0],
                [0.2, 0.0, 0.0, 0.0, 0.0, 0.0],
                [0.3, 0.0, 0.0, 0.0, 0.0, 0.0]
            ],
            shotFlags: [false, true, false, false],
            offsetValues: [0, 1, 0, 0],
            addressGroups:
            [
                Array.Empty<int>(),
                [7, 8],
                Array.Empty<int>(),
                Array.Empty<int>()
            ]);
    }

    /// <summary>
    /// 构造一份真实依赖注入等价的兼容服务，覆盖运行时和编排器协作。
    /// </summary>
    /// <returns>可执行 ControllerClient 兼容语义的服务实例。</returns>
    public static ControllerClientCompatService CreateCompatService()
    {
        var options = new ControllerClientCompatOptions
        {
            WorkspaceRoot = GetWorkspaceRoot()
        };

        return new ControllerClientCompatService(
            options,
            new ControllerClientCompatRobotCatalog(options, new RobotModelLoader()),
            new FanucControllerRuntime(),
            new ControllerClientTrajectoryOrchestrator());
    }

    /// <summary>
    /// 定位父工作区根目录，供兼容服务加载真实机器人模型。
    /// </summary>
    /// <returns>父工作区根目录。</returns>
    private static string GetWorkspaceRoot()
    {
        var current = new DirectoryInfo(AppContext.BaseDirectory);
        while (current is not null)
        {
            if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
            {
                return Path.GetFullPath(Path.Combine(current.FullName, ".."));
            }

            current = current.Parent;
        }

        throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
    }
}