FlyShotHost/tests/Flyshot.Core.Tests/RustIcspPlannerInteropTests.cs

using Flyshot.Core.Domain;
using Flyshot.CSharp.Planning;
using Flyshot.Core.Planning;
using Flyshot.Native.Planning;

namespace Flyshot.Core.Tests;

/// <summary>
/// 验证 Rust ICSP 托管互操作边界，包括原生库加载失败时的诊断信息。
/// </summary>
public sealed class RustIcspPlannerInteropTests
{
    /// <summary>
    /// 验证显式指定不存在的原生库时，规划器会抛出包含库路径的明确异常。
    /// </summary>
    [Fact]
    public void RustIcspPlanner_ThrowsClearError_WhenNativeLibraryIsMissing()
    {
        var planner = new RustIcspPlanner(
            options: NativeIcspPlannerOptions.Default,
            libraryResolver: new NativePlanningLibraryResolver(_ => "missing-library"));

        var exception = Assert.Throws<NativePlanningException>(() => planner.Plan(CreateSimpleRequest()));

        Assert.Contains("missing-library", exception.Message);
    }

    /// <summary>
    /// 验证实际原生规划结果会被复制为现有 <see cref="Flyshot.Core.Planning.PlannedTrajectory"/>。
    /// </summary>
    [Fact]
    public void RustIcspPlanner_ReturnsManagedPlannedTrajectory_FromNativeResult()
    {
        var planner = new RustIcspPlanner(
            NativeIcspPlannerOptions.Default with { EnforceFinalScale = false });

        var result = planner.Plan(CreateSimpleRequest());

        Assert.Equal(PlanningMethod.Icsp, result.Method);
        Assert.Equal(result.PlannedWaypointCount, result.WaypointTimes.Count);
        Assert.Equal(result.PlannedWaypointCount - 1, result.SegmentDurations.Count);
        Assert.Equal(result.SegmentDurations.Count, result.SegmentScales.Count);
    }

    /// <summary>
    /// 验证互操作测试夹具在两套实现中都由相同的最终 scale 规则拒绝。
    /// </summary>
    [Fact]
    public void ManagedIcspPlanner_RejectsInteropFixtureWithExpectedFinalScale()
    {
        var planner = new ICspPlanner();

        var exception = Assert.Throws<InvalidOperationException>(
            () => planner.Plan(CreateSimpleRequest()));

        Assert.Contains("global_scale=1.058684", exception.Message);
    }

    /// <summary>
    /// 验证进程已加载默认 DLL 后，显式指定其他缺失库仍会暴露部署错误。
    /// </summary>
    [Fact]
    public void RustIcspPlanner_DoesNotReuseLoadedLibrary_ForDifferentExplicitPath()
    {
        var defaultPlanner = new RustIcspPlanner(
            NativeIcspPlannerOptions.Default with { EnforceFinalScale = false });
        _ = defaultPlanner.Plan(CreateSimpleRequest());
        var missingPlanner = new RustIcspPlanner(
            options: NativeIcspPlannerOptions.Default,
            libraryResolver: new NativePlanningLibraryResolver(_ => "different-missing-library"));

        var exception = Assert.Throws<NativePlanningException>(
            () => missingPlanner.Plan(CreateSimpleRequest()));

        Assert.Contains("different-missing-library", exception.Message);
    }

    /// <summary>
    /// 验证 Rust 未收敛错误码和线程局部错误文本会转换为可诊断的托管异常。
    /// </summary>
    [Fact]
    public void RustIcspPlanner_ConvertsNativeNotConvergedError()
    {
        var planner = new RustIcspPlanner(
            NativeIcspPlannerOptions.Default with { MaxIterations = 0 });

        var exception = Assert.Throws<NativePlanningException>(
            () => planner.Plan(CreateSimpleRequest()));

        Assert.Equal(3, exception.ErrorCodeValue);
        Assert.Contains("global_scale", exception.Message);
    }

    /// <summary>
    /// 创建用于互操作边界测试的最小四路点单自由度规划请求。
    /// </summary>
    /// <returns>满足 ICSP 最小路点数量要求的轨迹请求。</returns>
    private static TrajectoryRequest CreateSimpleRequest()
    {
        var robot = new RobotProfile(
            name: "rust-interop-test",
            modelPath: "test.robot",
            degreesOfFreedom: 1,
            jointLimits:
            [
                new JointLimit(
                    jointName: "J1",
                    velocityLimit: 2.0,
                    accelerationLimit: 4.0,
                    jerkLimit: 8.0)
            ],
            jointCouplings: [],
            servoPeriod: TimeSpan.FromMilliseconds(8),
            triggerPeriod: TimeSpan.FromMilliseconds(8));
        var program = new FlyshotProgram(
            name: "rust-interop-test",
            waypoints:
            [
                new JointWaypoint([0.0]),
                new JointWaypoint([0.5]),
                new JointWaypoint([1.0]),
                new JointWaypoint([1.5])
            ],
            shotFlags: [false, false, false, false],
            offsetValues: [0, 0, 0, 0],
            addressGroups:
            [
                new IoAddressGroup([]),
                new IoAddressGroup([]),
                new IoAddressGroup([]),
                new IoAddressGroup([])
            ]);

        return new TrajectoryRequest(robot, program, PlanningMethod.Icsp);
    }
}