import assert from "node:assert/strict";
import { access, readFile } from "node:fs/promises";
import { after, before, test } from "node:test";

import { createServer } from "vite";

let server;
let fetchVegetationShadowResult;

before(async () => {
  server = await createServer({
    appType: "custom",
    logLevel: "silent",
    server: { middlewareMode: true },
  });
  ({ fetchVegetationShadowResult } = await server.ssrLoadModule(
    "/src/core/laboratory/vegetationShadow.ts",
  ));
});

after(async () => {
  await server?.close();
});

const resultId = `lab-v1-vegetation-shadow-${"a".repeat(64)}`;

function candidate(candidateKey, vegetationIou) {
  return {
    loaded_model_name: candidateKey === "ddrnet" ? "ddrnet_39" : "pp_lite_t_seg",
    checkpoint_sha256: (candidateKey === "ddrnet" ? "b" : "c").repeat(64),
    validation_metrics: {
      mean_iou_percent: 44.2,
      published_mean_iou_percent: 46.53,
      vegetation_mean_iou: vegetationIou,
    },
    validation_timing: {
      latency_ms_p95: 22.4,
      throughput_fps_from_mean_inference: 48.1,
    },
    shadow_timing: {
      prewarm_latency_ms: 612.4,
      latency_ms_p95: 21.8,
      throughput_fps_from_mean_inference: 49.2,
    },
    resource: {
      peak_reserved_vram_bytes: 2_000_000_000,
      gpu_name: "NVIDIA GeForce RTX 4090",
    },
  };
}

function visualCase(sourceKind, index) {
  const caseId = `case-${index}`;
  const keys = sourceKind === "goose"
    ? ["source", "truth", "ddrnet", "ppliteseg", "ddrnet_error", "ppliteseg_error"]
    : ["source", "ddrnet", "ppliteseg", "urban", "rural", "offroad"];
  return {
    case_id: caseId,
    source_kind: sourceKind,
    width: sourceKind === "goose" ? 512 : 800,
    height: sourceKind === "goose" ? 512 : 600,
    center_crop_xyxy: sourceKind === "goose" ? [0, 0, 512, 512] : [100, 0, 700, 600],
    outside_crop_state: sourceKind === "goose" ? "not-applicable" : "undefined",
    focus: sourceKind === "goose" ? {
      class_name: "high_grass",
      label_id: 51,
      truth_pixels: 16384,
      truth_fraction: 0.0625,
      stratum_rank: index + 1,
    } : null,
    assets: Object.fromEntries(keys.map((key) => [key, {
      path: `visual/${sourceKind}/${caseId}/${key}.png`,
      sha256: "d".repeat(64),
    }])),
  };
}

function routeVideo() {
  return {
    worker_result_id: `lab-v1-ravnoves-video-ddrnet-${"e".repeat(64)}`,
    m47_reference_graph_result_id: `m47-reference-graph-lab-${"f".repeat(64)}`,
    base_m4_result_id: `m4-threat-replay-${"1".repeat(64)}`,
    frame_count: 4489,
    width: 800,
    height: 600,
    center_crop_xyxy: [100, 0, 700, 600],
    outside_crop_state: "undefined",
    sequence_binding: "sequence-0-to-masks/frame-000001.png",
    taxonomy: {
      schema_version: "missioncore.lab-v1-vegetation-taxonomy/v1",
      classes: Array.from({ length: 64 }, (_, classId) => ({
        class_id: classId,
        label: classId === 0 ? "undefined" : `class-${classId}`,
        color_rgb: [classId, classId, classId],
        disposition: classId === 0 ? "undefined" : "prediction",
      })),
    },
    aggregate_prediction_pixels: Array(64).fill(0),
    mask_archive: {
      path: "video/ddrnet-semantic-masks.zip",
      sha256: "9".repeat(64),
      byte_length: 1024,
    },
  };
}

function coarseRouteVideo() {
  return {
    ...routeVideo(),
    view_kind: "coarse-material-policy-review",
    linked_tgs_result_id: `m49-tgs-full-shadow-${"2".repeat(64)}`,
    taxonomy: {
      schema_version: "missioncore.lab-v1-terrain-policy-taxonomy/v1",
      classes: Array.from({ length: 9 }, (_, classId) => ({
        class_id: classId,
        label: `policy-${classId}`,
        color_rgb: [classId, classId, classId],
        disposition: classId === 0 ? "ambiguous" : "prediction",
        material_class: classId === 0 ? null : "grass",
        evidence_state: classId === 0 ? "UNOBSERVED" : "SUPPORTED_GROUND",
      })),
    },
    aggregate_prediction_pixels: Array(9).fill(0),
    mask_archive: {
      path: "video/coarse-material-policy-masks.zip",
      sha256: "8".repeat(64),
      byte_length: 2048,
    },
    policy: {
      presets: {
        urban: { grass: "NO_GO" },
        rural: { grass: "HIGH_COST" },
        offroad: { grass: "HIGH_COST" },
      },
    },
    fusion: {
      mode: "synchronised-multilayer-review",
      pixel_raster_fusion: false,
      camera_semantic_temporal_filter: "none",
    },
  };
}

function labPayload(route = routeVideo()) {
  return {
    schema_version: "missioncore.lab-v1-vegetation-shadow/v1",
    result_id: resultId,
    created_at_utc: "2026-08-27T20:00:00Z",
    status: "visual-shadow-ready-policy-not-authorized",
    ground_truth: false,
    identity: { selected_candidate: "ddrnet" },
    metrics: {
      candidates: {
        ddrnet: candidate("ddrnet", 0.64),
        ppliteseg: candidate("ppliteseg", 0.61),
      },
    },
    decision: {
      selected_candidate: "ddrnet",
      visual_shadow_ready: true,
      mission_policy_ready_for_configuration: true,
      navigation_accepted: false,
      production_accepted: false,
    },
    limitations: ["shadow only"],
    authority: {
      commands_enabled: false,
      navigation_or_safety_accepted: false,
      actuation_accepted: false,
      camera_semantics_can_clear_rigid_geometry: false,
    },
    catalogs: {
      goose: Array.from({ length: 12 }, (_, index) => visualCase("goose", index)),
      ravnoves: [],
    },
    route_video: route,
    access: "read-only",
  };
}

test("vegetation LAB keeps autonomous assets and fail-closed authority", async () => {
  let requestedUrl = "";
  const result = await fetchVegetationShadowResult(resultId, {
    fetcher: async (url) => {
      requestedUrl = String(url);
      return new Response(JSON.stringify(labPayload()), {
        status: 200,
        headers: { "Content-Type": "application/json" },
      });
    },
  });
  assert.equal(
    requestedUrl,
    `/api/v1/laboratory/vegetation-shadow/${resultId}`,
  );
  assert.equal(result.selectedCandidate, "ddrnet");
  assert.equal(result.candidates[0].vegetationMeanIouPercent, 64);
  assert.equal(result.routeCases.length, 0);
  assert.equal(result.validationCases.length, 12);
  assert.equal(result.routeVideo.frameCount, 4489);
  assert.equal(result.routeVideo.viewKind, "fine-semantic-prediction");
  assert.equal(result.routeVideo.linkedTgsResultId, null);
  assert.equal(result.routeVideo.taxonomy[0].disposition, "undefined");
  assert.equal(result.validationCases[0].focus.className, "high_grass");
  assert.match(result.validationCases[0].assets.ddrnet_error, /\/assets\/visual\/goose\//);
  assert.deepEqual(result.authority, {
    commandsEnabled: false,
    navigationOrSafetyAccepted: false,
    actuationAccepted: false,
    cameraSemanticsCanClearRigidGeometry: false,
  });
});

test("vegetation LAB parses coarse material policy and sealed TGS binding", async () => {
  const result = await fetchVegetationShadowResult(resultId, {
    fetcher: async () => new Response(JSON.stringify(labPayload(coarseRouteVideo())), {
      status: 200,
      headers: { "Content-Type": "application/json" },
    }),
  });
  assert.equal(result.routeVideo.viewKind, "coarse-material-policy-review");
  assert.match(result.routeVideo.linkedTgsResultId, /^m49-tgs-full-shadow-/);
  assert.equal(result.routeVideo.taxonomy.length, 9);
  assert.equal(result.routeVideo.taxonomy[0].evidenceState, "UNOBSERVED");
  assert.equal(result.routeVideo.policyPresets.urban.grass, "NO_GO");
  assert.equal(result.routeVideo.fusionMode, "synchronised-multilayer-review");
});

test("vegetation LAB reuses the admitted M4.8 and M4.7 instruments", async () => {
  const resultSource = await readFile(
    new URL("../src/workspaces/laboratory/VegetationShadowResult.tsx", import.meta.url),
    "utf8",
  );
  assert.match(resultSource, /M48MaskComparisonVisual/);
  assert.match(resultSource, /M4ReplayThreatVisual/);
  assert.match(resultSource, /M49TgsFullShadowEvidence/);
  assert.match(resultSource, /semanticOverride/);
  assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 2);
  assert.match(resultSource, /linkedTgsResultId/);
  assert.doesNotMatch(resultSource, /VegetationRouteVisual|urban\/rural\/off-road presets/);
  await assert.rejects(
    access(new URL("../src/workspaces/laboratory/VegetationShadowVisual.tsx", import.meta.url)),
    { code: "ENOENT" },
  );
});