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 fetchVegetationBenchmarkResult;
let fetchCanonicalRecordedLabSpatialFrame;
let fetchVegetationShadowResult;
let fetchVegetationRouteTgsAnchor;
let vegetationFullRouteMaskUrl;

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

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

const resultId = `lab-v1-vegetation-shadow-${"a".repeat(64)}`;
const benchmarkResultId = `lab-v1-vegetation-benchmark-${"d".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-${"2".repeat(64)}`,
    taxonomy: {
      schema_version: "missioncore.lab-v1-terrain-policy-taxonomy/v1",
      classes: Array.from({ length: 10 }, (_, classId) => ({
        class_id: classId,
        label: `policy-${classId}`,
        color_rgb: [classId, classId, classId],
        disposition: classId === 0 ? "ambiguous" : classId === 9 ? "undefined" : "prediction",
        material_class: classId === 0 || classId === 9 ? null : "grass",
        evidence_state: classId === 0 || classId === 9 ? "UNOBSERVED" : "SUPPORTED_GROUND",
      })),
    },
    aggregate_prediction_pixels: Array(10).fill(0),
    mask_archive: {
      path: "video/coarse-material-policy-masks.zip",
      sha256: "8".repeat(64),
      byte_length: 2048,
    },
    valid_fov: {
      mask_path: "video/valid-fov-mask.png",
      mask_sha256: "7".repeat(64),
      outside_valid_fov_class_id: 9,
    },
    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 fullRouteReview() {
  const layer = (kind) => ({
    name: kind === "city" ? "EoMT Cityscapes" : "ddrnet_39",
    result_id: kind === "city"
      ? `result-${"2".repeat(64)}`
      : `lab-v1-ravnoves-video-ddrnet-${"3".repeat(64)}`,
    frame_count: 6830,
    taxonomy: {
      schema_version: kind === "city"
        ? "missioncore.recorded-eomt-taxonomy/v1"
        : "missioncore.lab-v1-vegetation-taxonomy/v1",
      classes: Array.from({ length: kind === "city" ? 16 : 64 }, (_, classId) => ({
        class_id: classId,
        label: classId === 0 ? "undefined" : `${kind}-${classId}`,
        color_rgb: [classId, classId, classId],
        disposition: classId === 0 ? "undefined" : "prediction",
      })),
    },
    mask_archive: {
      path: kind === "city"
        ? "video/eomt-semantic-masks.zip"
        : "video/ddrnet-semantic-masks.zip",
      sha256: "4".repeat(64),
      byte_length: 4096,
    },
    inference_fps: 9.5,
    latency_p95_ms: 101.2,
    peak_reserved_vram_bytes: 3_000_000_000,
  });
  return {
    source_id: "RAVNOVES004TREE",
    session_id: "20260828T130511Z_viewer_live",
    linked_route_review_result_id: `lab-v1-vegetation-shadow-${"9".repeat(64)}`,
    source_job_id: "recorded-camera-eb2783c5480d56bda07c8af0",
    source_job_input_sha256: "eb2783c5480d56bda07c8af008dff5344d19dc550ef70fe2075d6f098f7cc715",
    source_stream_sha256: "e5eb017e2cc0f546736eda5235ca157b501913093cb64af5e548e335417e1bac",
    recorded_media_source_id: "recorded.camera.6a3945242828a038",
    recorded_media_generation_sha256: "b073ea1e7babf1c77a664e1a5b95e3702d0e05b0e34c1e85a7c67a6f8b392ded",
    frame_count: 6830,
    width: 800,
    height: 600,
    timeline_start_seconds: 39.215263458,
    timeline_end_seconds: 757.260263458,
    timeline: {
      path: "video/frame-source-times-ns.bin",
      sha256: "5".repeat(64),
      byte_length: 6830 * 8,
      encoding: "uint64-le-nanoseconds",
      frame_count: 6830,
    },
    ground_truth: false,
    decode_repair: {
      repaired_frame_count: 1,
      sequence: 6092,
      method: "duplicate-previous-decoded-frame",
      proofs: {
        eomt: { path: "proofs/decode_repair.json", sha256: "7".repeat(64) },
        ddrnet: { path: "proofs/ddrnet_decode_repair.json", sha256: "8".repeat(64) },
      },
    },
    layers: { city: layer("city"), vegetation: layer("vegetation") },
  };
}

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, 10);
  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 parses the full 004 pass inside the existing result contract", async () => {
  const payload = {
    ...labPayload(null),
    catalogs: { goose: [], ravnoves: [] },
    route_full_review: fullRouteReview(),
  };
  const timeline = new ArrayBuffer(6830 * 8);
  const timelineView = new DataView(timeline);
  for (let index = 0; index < 6830; index += 1) {
    timelineView.setBigUint64(
      index * 8,
      BigInt(39_215_263_458 + index * 100_000_000),
      true,
    );
  }
  const result = await fetchVegetationShadowResult(resultId, {
    fetcher: async (url) => String(url).endsWith("/route-timeline")
      ? new Response(timeline, {
        status: 200,
        headers: {
          "Content-Type": "application/octet-stream",
          ETag: `"${"5".repeat(64)}"`,
        },
      })
      : new Response(JSON.stringify(payload), {
        status: 200,
        headers: { "Content-Type": "application/json" },
      }),
  });
  assert.equal(result.routeVideo, null);
  assert.equal(result.routeFullReview.frameCount, 6830);
  assert.equal(result.routeFullReview.city.taxonomy.length, 16);
  assert.equal(result.routeFullReview.vegetation.taxonomy.length, 64);
  assert.equal(result.routeFullReview.decodeRepair.sequence, 6092);
  assert.equal(result.routeFullReview.frameSourceTimesNs.length, 6830);
  assert.equal(
    vegetationFullRouteMaskUrl(resultId, "vegetation", 6829),
    `/api/v1/laboratory/vegetation-shadow/${resultId}/route-masks/vegetation/6829`,
  );
});

test("vegetation GOOSE benchmark opens through its separate archival endpoint", async () => {
  let requestedUrl = "";
  const result = await fetchVegetationBenchmarkResult(benchmarkResultId, {
    fetcher: async (url) => {
      requestedUrl = String(url);
      return new Response(JSON.stringify({
        ...labPayload(null),
        result_id: benchmarkResultId,
      }), {
        status: 200,
        headers: { "Content-Type": "application/json" },
      });
    },
  });
  assert.equal(
    requestedUrl,
    `/api/v1/laboratory/vegetation-benchmark/${benchmarkResultId}`,
  );
  assert.equal(result.routeVideo, null);
  assert.equal(result.validationCases.length, 12);
});

test("vegetation route TGS anchor keeps exact sealed metric shapes", async () => {
  let requestedUrl = "";
  const anchor = await fetchVegetationRouteTgsAnchor(resultId, 409, {
    fetcher: async (url) => {
      requestedUrl = String(url);
      return new Response(JSON.stringify({
        schema_version: "missioncore.lab-v1-route-tgs-anchor/v1",
        source_sequence: 409,
        slot: 1,
        current_points_xyz_m: [[1, 2, 3], [4, 5, 6]],
        costmap: {
          cell_size_m: 0.45,
          centers_xy_m: Array.from({ length: 2244 }, (_, index) => [index, -index]),
          state_codes: Array.from({ length: 2244 }, (_, index) => index % 4),
          z_bounds_m: Array.from({ length: 2244 }, () => [null, null]),
        },
      }), { status: 200, headers: { "Content-Type": "application/json" } });
    },
  });
  assert.equal(
    requestedUrl,
    `/api/v1/laboratory/vegetation-shadow/${resultId}/route-tgs-anchor/409`,
  );
  assert.equal(anchor.sourceSequence, 409);
  assert.equal(anchor.currentPointsXyzM.length, 2);
  assert.equal(anchor.costmap.centersXyM.length, 2244);
  assert.deepEqual(new Set(anchor.costmap.stateCodes), new Set([0, 1, 2, 3]));
});

test("canonical recorded LAB spatial frame keeps source, SLAM and body identity on one clock", async () => {
  const generation = "e".repeat(64);
  let requestedUrl = "";
  const frame = await fetchCanonicalRecordedLabSpatialFrame("session-004", generation, 82_770_000_000, {
    fetcher: async (url) => {
      requestedUrl = String(url);
      return new Response(JSON.stringify({
        schema_version: "missioncore.canonical-recorded-lab-spatial-frame/v3",
        target_time_ns: 82_770_000_000,
        source_time_ns: 82_769_535_708,
        pose_time_ns: 82_769_535_708,
        trajectory_time_ns: 82_700_000_000,
        coordinate_frame: "body-ground",
        sensor_height: {
          meters: 0.32,
          source: "local-source-cloud-ground-quantile-median",
          sample_count: 20,
          mad_m: 0.03,
          authority: "visual-derived",
        },
        spatial_profile: {
          profile_id: "source-paced-ground-v3",
          local_slam_history_seconds: 5,
          local_slam_radius_m: 30,
          local_slam_voxel_size_m: 0.12,
          local_slam_point_limit: 27000,
        },
        source_point_count: 2,
        source_points_body_xyz_m: [[1, 2, 3], [4, 5, 6]],
        local_slam_source_frame_count: 2,
        local_slam_source_point_count: 4,
        local_slam_point_count: 2,
        local_slam_body_xyz_m: [[0, 0, 0], [1, 0, 0]],
        body_frame: {
          origin_map_xyz_m: [33, 4, 1],
          sensor_origin_map_xyz_m: [33, 4, 1.32],
          basis_map_from_body: [[1, 0, 0], [0, 1, 0], [0, 0, 1]],
        },
      }), { status: 200, headers: { "Content-Type": "application/json" } });
    },
  });
  assert.equal(
    requestedUrl,
    `/api/v1/observation-sessions/session-004/canonical-lab/spatial-frame?generation=${generation}&time_ns=82770000000&profile=source-paced-ground-v3`,
  );
  assert.equal(frame.sourcePointCount, 2);
  assert.equal(frame.localSlamBodyXyzM.length, 2);
  assert.equal(frame.sensorHeight.meters, 0.32);
  assert.deepEqual(frame.bodyFrame.originMapXyzM, [33, 4, 1]);
});

test("vegetation realtime LAB uses one upstream Rerun clock and keeps archival review separate", async () => {
  const [resultSource, benchmarkSource, m49Source, canonicalSource, rerunSource, replayStyles] = await Promise.all([
    readFile(
      new URL("../src/workspaces/laboratory/VegetationShadowResult.tsx", import.meta.url),
      "utf8",
    ),
    readFile(
      new URL("../src/workspaces/laboratory/VegetationBenchmarkResult.tsx", import.meta.url),
      "utf8",
    ),
    readFile(
      new URL("../src/workspaces/laboratory/M49TgsFullShadowEvidence.tsx", import.meta.url),
      "utf8",
    ),
    readFile(
      new URL("../src/components/laboratory/CanonicalRecordedLabReplay.tsx", import.meta.url),
      "utf8",
    ),
    readFile(
      new URL("../src/components/laboratory/CanonicalVegetationRerunReplay.tsx", import.meta.url),
      "utf8",
    ),
    readFile(
      new URL("../src/styles/m4-replay-threat.css", import.meta.url),
      "utf8",
    ),
  ]);
  assert.doesNotMatch(resultSource, /M48MaskComparisonVisual/);
  assert.match(resultSource, /M49TgsFullShadowEvidence/);
  assert.match(resultSource, /semanticOverride/);
  assert.match(m49Source, /spatialSemantic=\{spatialSemantic\}/);
  assert.match(m49Source, /controlLabel: "SEMANTICS"/);
  assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 2);
  assert.doesNotMatch(resultSource, /RAVNOVES004TREE mixed route review/);
  assert.match(resultSource, /КАНОНИЧЕСКАЯ ЗАПИСАННАЯ LAB · RAVNOVES004TREE/);
  assert.match(resultSource, /<CanonicalVegetationRerunReplay/);
  assert.doesNotMatch(resultSource, /RerunViewport/);
  assert.doesNotMatch(resultSource, /cacheRef|pumpRef|desiredRef/);
  assert.doesNotMatch(resultSource, /LaboratoryRecordedClipPlayer|M48EvidenceModeRail/);
  assert.doesNotMatch(resultSource, /assets\.tgs|<img/);
  assert.match(rerunSource, /<RerunViewport/);
  assert.match(rerunSource, /ИСХ\. ТОЧКИ/);
  assert.match(rerunSource, /ЛОК\. SLAM/);
  assert.match(rerunSource, /resolveCanonicalLabReplay/);
  assert.doesNotMatch(rerunSource, /canonical-overlay\.rrd/);
  assert.match(rerunSource, /unifiedPerception: splitView/);
  assert.match(rerunSource, /lockPerceptionCameraInteraction: mediaMode !== null/);
  assert.match(rerunSource, /!splitView[\s\S]*event\.button !== 0/);
  assert.match(rerunSource, /if \(!splitView\) stopNativeSplitTracking\(\)/);
  assert.match(rerunSource, /event\.target instanceof HTMLCanvasElement/);
  assert.match(rerunSource, /--canonical-rerun-camera-pane/);
  assert.match(rerunSource, /onPointerDownCapture=\{splitView \? trackNativeSplit : undefined\}/);
  assert.match(rerunSource, /data-split-view=\{splitView \? "true" : undefined\}/);
  assert.match(rerunSource, /mediaMode === null[\s\S]*\? 0[\s\S]*: splitView[\s\S]*\? nativeSplitPercentRef\.current[\s\S]*: 100/);
  assert.match(rerunSource, /isRecordedPlaybackPresentationReady\(viewerStatus, playback\)/);
  assert.match(rerunSource, /data-presentation-state=\{presentationState\}/);
  assert.match(rerunSource, /<ActivityIndicator label="Загружаем синхронизированную запись"/);
  assert.match(rerunSource, /presentationReady && playback && playbackController/);
  assert.match(
    replayStyles,
    /canonical-vegetation-rerun-replay:not\(\[data-presentation-state="ready"\]\)[\s\S]*laboratory-evidence-viewer__controls/,
  );
  assert.match(
    replayStyles,
    /canonical-vegetation-rerun-replay__timeline \.observation-timeline__playback \{[\s\S]*grid-template-columns: auto auto minmax\(0, 1fr\) auto;/,
  );
  assert.match(
    replayStyles,
    /canonical-vegetation-rerun-replay__viewport-lock[\s\S]*rerun-viewport__camera-lock \{[\s\S]*width: var\(--canonical-rerun-camera-pane, 100%\);/,
  );
  assert.match(
    replayStyles,
    /canonical-vegetation-rerun-replay__viewport-lock\[data-split-view="true"\][\s\S]*width: calc\(var\(--canonical-rerun-camera-pane, 46%\) - 0\.75rem\);/,
  );
  assert.doesNotMatch(rerunSource, /LaboratoryRecordedClipPlayer|LaboratoryMetricEvidenceScene/);
  assert.match(resultSource, /point-aligned 3D semantics пока не запечатаны/);
  assert.match(rerunSource, /value: "tgs", label: "TGS", disabled: true/);
  assert.match(canonicalSource, /primary=\{mediaPane\}/);
  assert.match(canonicalSource, /secondary=\{spatialPane/);
  assert.match(canonicalSource, /missioncore\.canonical-recorded-lab-replay\/v1/);
  assert.match(canonicalSource, /separatorLabel="Изменить размер видео\/камеры и 3D\/плана"/);
  assert.match(canonicalSource, /resizable=\{splitView && !unifiedContent\}/);
  assert.match(resultSource, /linked canonical M4\.9 TGS evidence/);
  assert.match(resultSource, /linkedTgsResultId/);
  assert.match(benchmarkSource, /M48MaskComparisonVisual/);
  assert.doesNotMatch(benchmarkSource, /M49TgsFullShadowEvidence/);
  assert.equal(benchmarkSource.match(/<LaboratoryEvidence\b/g)?.length, 1);
  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" },
  );
});