const assert = require('node:assert/strict');
const fs = require('node:fs');
const vm = require('node:vm');
const path = require('node:path');
const html = fs.readFileSync(path.join(__dirname, '../src/renderer/public/slam-viewer/index.html'), 'utf8');
const code = html.slice(html.indexOf('let maxLinear ='), html.indexOf('// A static Gazebo model'));
function create(real = true, yahboom = true, mkmini = !yahboom) {
  const handlers = {}, messages = [], intervals = new Map();
  let id = 0;
  const context = vm.createContext({
    REAL_RUNTIME: real, USE_YAHBOOM_MODEL: yahboom, REAL_TELEOP: real && (yahboom || mkmini),
    REAL_MKMINI_TELEOP: real && mkmini, EDITOR_MODE: false,
    USE_MKMINI_MODEL: mkmini, DIRECT_BRIDGE: true,
    latestSlamState: {teleop_deadman: true}, latestSlamStateReceivedAt: Date.now(),
    controlSocket: {readyState: 1, bufferedAmount: 0, send: data => messages.push(JSON.parse(data)), close() {this.readyState = 3;}},
    WebSocket: {OPEN: 1}, document: {hidden: false, hasFocus: () => true, addEventListener: (name, fn) => handlers[name] = fn},
    window: {addEventListener: (name, fn) => handlers[name] = fn,
      setInterval: fn => {intervals.set(++id, fn); return id;}, clearInterval: id => intervals.delete(id),
      setTimeout: () => ++id, clearTimeout: () => {}},
    console, Date,
  });
  vm.runInContext(code, context);
  const key = (type, value, extra = {}) => handlers[type]({key: value, target: {tagName: 'CANVAS'}, preventDefault() {}, ...extra});
  return {context, handlers, messages, intervals, key};
}
let t = create();
t.key('keydown', 'i');
assert.equal(t.messages.at(-1).linear, 0.1);
assert.equal(t.messages.at(-1).deadman, true);
t.key('keyup', 'i', {target: {tagName: 'INPUT'}});
assert.equal(t.messages.at(-1).linear, 0);
assert.equal(t.intervals.size, 0);
for (const key of ['j', 'l', ',', 'u', 'o', 'm', '.']) {
  t.key('keydown', key); t.key('keyup', key);
  assert.equal(t.messages.at(-1).linear, 0);
  assert.equal(t.messages.at(-1).angular, 0);
}
t.key('keydown', 'i'); t.handlers.blur();
assert.equal(t.messages.at(-1).linear, 0);
t.key('keydown', 'i'); t.context.document.hidden = true; t.handlers.visibilitychange();
assert.equal(t.messages.at(-1).linear, 0);
t = create();
t.key('keydown', 'i'); t.context.latestSlamStateReceivedAt = 0;
for (const tick of t.intervals.values()) tick();
assert.equal(t.messages.at(-1).linear, 0);
assert.equal(t.intervals.size, 0);
t = create(); t.context.latestSlamState.teleop_deadman = false; t.key('keydown', 'i');
assert.equal(t.messages.length, 0);
t = create(true, false, false); t.key('keydown', 'i'); assert.equal(t.messages.length, 0);
for (const [forward, left, reverse] of [['i', 'j', ','], ['ArrowUp', 'ArrowLeft', 'ArrowDown']]) {
  t = create(true, false);
  t.key('keydown', left);
  assert.equal(t.messages.at(-1).linear, 0);
  assert.equal(t.messages.at(-1).angular, 0);
  t.key('keydown', forward);
  assert.equal(t.messages.at(-1).linear, 0.1);
  assert.equal(t.messages.at(-1).angular, 0.08);
  assert.equal(t.messages.at(-1).deadman, true);
  t.key('keyup', left, {target: {tagName: 'INPUT'}});
  assert.equal(t.messages.at(-1).linear, 0);
  assert.equal(t.intervals.size, 0);
  t.key('keydown', reverse);
  t.key('keydown', 'l');
  assert.equal(t.messages.at(-1).linear, -0.1);
  assert.equal(t.messages.at(-1).angular, -0.08);
  t.key('keydown', ' ');
  assert.equal(t.messages.at(-1).linear, 0);
  assert.equal(t.messages.at(-1).angular, 0);
}
for (const event of ['blur', 'pagehide', 'visibilitychange']) {
  t = create(true, false);
  t.key('keydown', 'i');
  if (event === 'visibilitychange') t.context.document.hidden = true;
  t.handlers[event]();
  assert.equal(t.messages.at(-1).linear, 0);
  assert.equal(t.intervals.size, 0);
}
t = create(true, false);
t.key('keydown', 'q'); t.key('keydown', 'i');
assert.equal(t.messages.at(-1).linear, 0.1);
t.context.latestSlamStateReceivedAt = 0;
for (const tick of t.intervals.values()) tick();
assert.equal(t.messages.at(-1).linear, 0);
t = create(true, false); t.context.latestSlamState.teleop_deadman = false;
t.key('keydown', 'i'); assert.equal(t.messages.length, 0);
t = create(true, false); t.context.controlSocket.bufferedAmount = 1;
t.key('keydown', 'i'); assert.equal(t.messages.length, 0);
assert.equal(t.context.controlSocket.readyState, 3);
t = create(true, false); t.context.EDITOR_MODE = true;
t.key('keydown', 'i'); assert.equal(t.messages.length, 0);
t = create(false); t.key('keydown', 'i'); t.key('keyup', 'i');
assert.equal(t.messages.at(-1).linear, 0.22);
assert.equal(t.intervals.size, 1);
console.log('PASS: Yahboom/MK-mini deadman, combined steering, arrows/reverse, release/focus/stale-state stops, speed cap, legacy/read-only blocking, simulation unchanged');