import { strict as assert } from 'node:assert'
import { readFileSync, mkdtempSync, mkdirSync, writeFileSync, rmSync } from 'node:fs'
import { tmpdir } from 'node:os'
import { join } from 'node:path'
import { spawnSync } from 'node:child_process'
import { test } from 'node:test'
import { createRequire } from 'node:module'
import ts from 'typescript'
const { yahboomDevicePreflight, yahboomModuleCases, yahboomRuntimeImage, yahboomRuntimeArtifacts, yahboomSimulation } = createRequire(import.meta.url)('./yahboomRuntime.ts') as typeof import('./yahboomRuntime')

test('simulation is an explicit opt-in and excludes physical device modules', () => {
  for (const role of ['vehicle', 'slam', 'map', 'localization', 'planning', 'control']) {
    const folder = `[lms-nav2-yahboom-${role}]yahboom_${role}_v1.0.0_ws`
    assert.equal(yahboomSimulation(folder, ''), false)
    assert.equal(yahboomSimulation(folder, 'sim_mode:=false'), false)
    assert.equal(yahboomSimulation(folder, 'foo:=bar sim_mode:=true'), true)
  }
  for (const role of ['agent', 'camera']) {
    assert.equal(yahboomSimulation(`[lms-nav2-yahboom-${role}]yahboom_${role}_v1.0.0_ws`, 'sim_mode:=true'), false)
  }
  assert.equal(yahboomSimulation('[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', 'sim_mode:=true'), false)
})

test('local simulation overrides ARM metadata and downloads only the PC image', async () => {
  const source = ts.createSourceFile('index.ts', readFileSync(new URL('./index.ts', import.meta.url), 'utf8'), ts.ScriptTarget.Latest, true)
  const declaration = source.statements.find((item): item is ts.FunctionDeclaration => ts.isFunctionDeclaration(item) && item.name?.text === 'resolveLocalModuleRuntime')
  assert.ok(declaration)
  const artifact = { image: 'future-nav2-gazebo:humble', url: 'https://example.com/gazebo.tar.zst' }
  const resolver = new Function('yahboomSimulation', 'defaultNav2GazeboRuntimeImage', 'resolveCustomModuleRuntimeImage',
    ts.transpile(declaration.getText(source), { target: ts.ScriptTarget.ES2022 }) + '; return resolveLocalModuleRuntime;'
  )(yahboomSimulation, artifact, () => { throw new Error('ARM metadata must not override simulation') })
  const result = await resolver('/module', '[lms-nav2-yahboom-vehicle]yahboom_vehicle_v1.0.0_ws', 'sim_mode:=true',
    [{ image: 'future-nav2:humble-jetson_orin', url: 'https://example.com/arm.tar.zst' }])
  assert.deepEqual(result, { image: artifact.image, artifacts: [artifact] })
})

test('remote Yahboom downloads only its own image and preserves explicit overrides', () => {
  const configured = [{ image: 'future-nav2:humble-jetson_orin', url: 'https://example.com/jetson.tar.zst' }]
  assert.equal(yahboomRuntimeArtifacts('[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', configured[0].image, configured), configured)
  const folder = '[lms-nav2-yahboom-agent]yahboom_agent_v1.0.0_ws'
  const image = 'future-nav2:humble-yahboom-agent'
  const selected = yahboomRuntimeArtifacts(folder, image, configured)
  assert.equal(selected?.length, 1)
  assert.equal(selected?.[0].image, image)
  assert.match(selected?.[0].checksumSha256 ?? '', /^[a-f0-9]{64}$/)
  const override = { image, url: 'https://example.com/override.tar.zst' }
  assert.deepEqual(yahboomRuntimeArtifacts(folder, image, [...configured, override]), [override])
  assert.deepEqual(yahboomRuntimeArtifacts(folder, 'custom:tag', configured), [])
})

function runtimeScript(name: string): string {
  const source = ts.createSourceFile('index.ts', readFileSync(new URL('./index.ts', import.meta.url), 'utf8'), ts.ScriptTarget.Latest, true)
  const declaration = source.statements.find((item): item is ts.FunctionDeclaration => ts.isFunctionDeclaration(item) && item.name?.text === name)
  assert.ok(declaration)
  const code = ts.transpile(declaration.getText(source), { target: ts.ScriptTarget.ES2022 })
  return new Function('yahboomModuleCases', 'yahboomDevicePreflight', `${code}; return ${name}();`)(yahboomModuleCases, yahboomDevicePreflight)
}

test('Yahboom image routing does not change MKMini, Gazebo or custom modules', () => {
  assert.equal(yahboomRuntimeImage('[lms-nav2-yahboom-agent]yahboom_agent_v1.0.0_ws'), 'future-nav2:humble-yahboom-agent')
  assert.equal(yahboomRuntimeImage('[lms-nav2-yahboom-slam]yahboom_slam_v1.0.0_ws'), 'future-nav2:humble-yahboom')
  for (const name of ['[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', '[lms-nav2-gazebo-map]nav2-map_v1.0.0_ws', '[lms-nav2-custom]yahboom_agent_v1.0.0_ws', '[lms-nav2-yahboom-agent]other_v1.0.0_ws']) {
    assert.equal(yahboomRuntimeImage(name), null)
  }
})

test('all eight templates map to their own package in both runtime scripts', () => {
  for (const build of [false, true]) {
    for (const role of ['agent', 'vehicle', 'slam', 'map', 'localization', 'planning', 'control', 'camera']) {
      const script = ['case "$1" in', ...yahboomModuleCases(build), 'esac', build ? 'printf "%s" "$TARGET"' : 'printf "%s %s" "$PACKAGE" "$LAUNCH"'].join('\n')
      const result = spawnSync('bash', ['-c', script, '_', `[lms-nav2-yahboom-${role}]yahboom_${role}_v1.0.0_ws`], { encoding: 'utf8' })
      assert.equal(result.status, 0, result.stderr)
      assert.equal(result.stdout, build ? `yahboom_${role}` : `yahboom_${role} ${role}.launch.py`)
    }
  }
})

test('generated build and run shell scripts are syntactically valid', () => {
  for (const name of ['buildNav2DockerRunScript', 'buildNav2DockerBuildScript']) {
    const result = spawnSync('bash', ['-n'], { input: runtimeScript(name), encoding: 'utf8' })
    assert.equal(result.status, 0, result.stderr)
  }
})

test('invalid hardware path fails before Docker is called; MKMini still launches without extra device', () => {
  const root = mkdtempSync(join(tmpdir(), 'yahboom-runtime-'))
  try {
    const bin = join(root, 'bin')
    mkdirSync(bin)
    writeFileSync(join(bin, 'docker'), '#!/bin/bash\nprintf "%s\\n" "$@"\n', { mode: 0o755 })
    const script = join(root, 'docker_run_nav2.sh')
    writeFileSync(script, runtimeScript('buildNav2DockerRunScript'))
    for (const [folder, parameter] of [
      ['[lms-nav2-yahboom-agent]yahboom_agent_v1.0.0_ws', 'serial_device:=/etc/passwd'],
      ['[lms-nav2-yahboom-camera]yahboom_camera_v1.0.0_ws', 'video_device:=/dev/../etc/passwd'],
      ['[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', ''],
    ]) {
      mkdirSync(join(root, folder, 'install'), { recursive: true })
      writeFileSync(join(root, folder, 'install/setup.bash'), '')
      const result = spawnSync('bash', [script, 'test-container', root, folder, 'test-image', '77', 'false', parameter], {
        encoding: 'utf8', env: { ...process.env, PATH: `${bin}:${process.env.PATH}`, DISPLAY: '', FASTDDS_CONFIG_PATH: '' },
      })
      if (parameter) {
        assert.equal(result.status, 64)
        assert.equal(result.stdout, '')
      } else {
        assert.equal(result.status, 0, result.stderr)
        assert.match(result.stdout, /vehicle_pkg\nvehicle.launch.py/)
        assert.doesNotMatch(result.stdout, /ttyUSB|video0|privileged/)
      }
    }
  } finally {
    rmSync(root, { recursive: true, force: true })
  }
})