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

import { createServer } from "vite";

let server;
let fetchM4ThreatReplayResult;
let fetchM4ThreatVisual;
let fetchM4ThreatVideoOverlay;
let selectM4ThreatVideoFrame;

const resultId = `m4-threat-replay-${"a".repeat(64)}`;

before(async () => {
  server = await createServer({
    appType: "custom",
    logLevel: "silent",
    server: { middlewareMode: true },
  });
  ({
    fetchM4ThreatReplayResult,
    fetchM4ThreatVisual,
    fetchM4ThreatVideoOverlay,
    selectM4ThreatVideoFrame,
  } = await server.ssrLoadModule("/src/core/laboratory/m4ReplayThreat.ts"));
});

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

function proposal(overrides = {}) {
  return {
    proposal_id: "proposal-1",
    bbox_xyxy: [100, 120, 240, 360],
    objectness: 0.91,
    semantic_hint: "person",
    occupied_support: false,
    range_m: null,
    threat_decision: "unknown",
    threat_reason_codes: ["camera-only-no-metric-geometry"],
    ...overrides,
  };
}

test("M4.6 decodes accepted dual-evidence result without physical authority", async () => {
  const result = await fetchM4ThreatReplayResult({
    fetcher: async () => new Response(JSON.stringify({
      schema_version: "missioncore.m4-threat-replay-catalog/v1",
      items: [{
        schema_version: "missioncore.m4-threat-replay-view/v1",
        result_id: resultId,
        created_at_utc: "2026-08-05T15:36:01.553Z",
        status: "accepted",
        profile_id: "m4-ravnoves00-virtual-corridor/v1",
        rig_profile_id: "virtual-base-footprint-1000x600/v2",
        corridor_profile_id: "ravnoves00-forward-corridor-8m/v2",
        source_result_ids: {
          detector: `m4-detector-replay-${"b".repeat(64)}`,
          geometry: `m4-geometry-replay-${"c".repeat(64)}`,
          temporal: `m4-temporal-replay-${"d".repeat(64)}`,
        },
        metrics: {
          decisions: { threat: 8010, "not-threat": 6610, unknown: 60832 },
          evidence: { "camera-only": 10158, "current-metric": 28081, "rolling-map-retained": 70989, "stale-or-held": 38025 },
          fixtures: { critical: 4, critical_false_not_threat: 0, passed: 9, total: 9 },
          runtime: {
            frames_per_second: 116.4,
            provider_latency_p50_ms: 4.3,
            provider_latency_p95_ms: 19.8,
            provider_latency_max_ms: 194.3,
          },
          body_frame: {
            available: 3928,
            qualified: 3861,
            rejected: 67,
            camera_forward_alignment_deg: { p95: 8.439, maximum: 24.252 },
          },
          reason_counts: { "geometry-only-evidence": 21958 },
        },
        configuration: {
          virtual_body_m: [1, 0.6],
          nominal_sensor_height_m: 1.25,
          forward_corridor_m: 8,
          prediction_horizon_seconds: 5,
          body_frame: {
            origin: "local-surface-vertical-projection",
            up: "vendor-slam-map-gravity-axis",
            forward: "smoothed-slam-trajectory-validated-by-camera-axis",
          },
        },
        limitations: ["replay only"],
        accepted: true,
        authority: "replay-simulated",
        physical_collision_accepted: false,
        actuation_allowed: false,
      }],
    }), { status: 200 }),
  });
  assert.equal(result.resultId, resultId);
  assert.equal(result.metrics.evidence.currentMetric, 28081);
  assert.equal(result.metrics.fixtures.criticalFalseNotThreat, 0);
  assert.equal(result.metrics.bodyFrame.qualified, 3861);
  assert.equal(result.metrics.bodyFrame.cameraForwardAlignmentDeg.p95, 8.439);
  assert.deepEqual(result.configuration.virtualBodyM, [1, 0.6]);
  assert.equal(result.configuration.bodyFrame.up, "vendor-slam-map-gravity-axis");
});

test("M4.6 binds exact CAMERA and metric 3D evidence to one replay frame", async () => {
  const frame = await fetchM4ThreatVisual(resultId, 1, {
    fetcher: async () => new Response(JSON.stringify({
      schema_version: "missioncore.perception-threat-visual-frame/v1",
      result_id: resultId,
      camera_url: `/api/v1/laboratory/m4-threat/results/${resultId}/visuals/1/camera`,
      ordinal: 1,
      sequence: 20,
      frame_id: "frame-000020",
      source_time_ns: 37421857292,
      point_cloud_body_xyz_m: [[1, 0, 0.1], [2, 0.2, 0.3]],
      point_cloud_source_count: 12000,
      point_cloud_sample_count: 2,
      metric_obstacles: [{
        component_id: "temporal-20-1",
        state: "current",
        motion: "moving",
        centroid_body_xyz_m: [2, 0.1, 0.4],
        cell_centers_body_xyz_m: [[2, 0.1, 0.4]],
        assessment: {
          component_id: "temporal-20-1",
          decision: "threat",
          corridor_intersection: "intersects",
          relative_speed_mps: 1.2,
          closest_approach_m: 0.4,
          ttc_seconds: 1.6,
          reason_codes: ["geometry-only-evidence"],
        },
      }],
      camera_proposals: [proposal()],
      rig: { length_m: 1, width_m: 0.6, nominal_sensor_height_m: 1.25 },
      corridor: {
        forward_length_m: 8,
        rear_margin_m: 0.5,
        half_width_m: 0.5,
        prediction_horizon_seconds: 5,
      },
    }), { status: 200 }),
  });
  assert.equal(frame.sequence, 20);
  assert.match(frame.cameraUrl, /\/visuals\/1\/camera$/);
  assert.equal(frame.metricObstacles[0].assessment.decision, "threat");
  assert.equal(frame.cameraProposals[0].threatDecision, "unknown");
  assert.equal(frame.pointCloudSampleCount, 2);
});

test("M4.6 v2 keeps CURRENT INCREMENT separate from ROLLING MAP", async () => {
  const frame = await fetchM4ThreatVisual(resultId, 14, {
    fetcher: async () => new Response(JSON.stringify({
      schema_version: "missioncore.perception-threat-visual-frame/v2",
      result_id: resultId,
      camera_url: `/api/v1/laboratory/m4-threat/results/${resultId}/visuals/14/camera`,
      ordinal: 14,
      sequence: 1880,
      frame_id: "frame-001880",
      source_time_ns: 223304857292,
      point_cloud_body_xyz_m: [[1, 0, 0.1]],
      point_cloud_source_count: 1652,
      point_cloud_sample_count: 1652,
      point_cloud_layer: "current-increment",
      rolling_map_component_count: 10,
      metric_obstacles: [{
        component_id: "rolling-sphere-near",
        state: "retained",
        motion: "unknown",
        centroid_body_xyz_m: [0.76, -0.27, 0.38],
        cell_centers_body_xyz_m: [[0.52, -0.3, 0.08]],
        assessment: {
          component_id: "rolling-sphere-near",
          decision: "threat",
          corridor_intersection: "intersects",
          relative_speed_mps: null,
          closest_approach_m: 0.1,
          ttc_seconds: null,
          reason_codes: ["retained-corridor-intersection"],
        },
      }],
      camera_proposals: [],
      rig: { length_m: 1, width_m: 0.6, nominal_sensor_height_m: 1.25 },
      corridor: {
        forward_length_m: 8,
        rear_margin_m: 0.5,
        half_width_m: 0.5,
        prediction_horizon_seconds: 5,
      },
    }), { status: 200 }),
  });
  assert.equal(frame.pointCloudLayer, "current-increment");
  assert.equal(frame.rollingMapComponentCount, 10);
  assert.equal(frame.metricObstacles[0].state, "retained");
  assert.equal(frame.metricObstacles[0].assessment.decision, "threat");
});

test("M4.6 full video preserves camera-only unknown and nearest-frame selection", async () => {
  const overlay = await fetchM4ThreatVideoOverlay(resultId, {
    fetcher: async () => new Response(JSON.stringify({
      schema_version: "missioncore.m4-threat-video-overlay/v1",
      result_id: resultId,
      recorded_source: { session_id: "20260720T065719Z_viewer_live" },
      image_width: 800,
      image_height: 600,
      timeline_start_seconds: 35.421857292,
      timeline_end_seconds: 484.044857292,
      frame_count: 4489,
      frames: [
        {
          frame_index: 0,
          session_seconds: 35.421857292,
          source_available: true,
          camera_proposals: [],
          decision_counts: { threat: 0, "not-threat": 0, unknown: 0 },
        },
        {
          frame_index: 1,
          session_seconds: 35.521857292,
          source_available: true,
          camera_proposals: [proposal()],
          decision_counts: { threat: 0, "not-threat": 0, unknown: 1 },
        },
      ],
      authority: "replay-simulated",
    }), { status: 200 }),
  });
  assert.equal(overlay.frames[1].cameraProposals[0].rangeM, null);
  assert.equal(selectM4ThreatVideoFrame(overlay.frames, 35.50).frameIndex, 1);
});

test("M4.6 viewer reuses shared camera, video and metric evidence renderers", async () => {
  const [visual, imageScene, videoScene, metricScene] = await Promise.all([
    readFile(new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url), "utf8"),
    readFile(new URL("../src/components/laboratory/RecordedEvidenceImageScene.tsx", import.meta.url), "utf8"),
    readFile(new URL("../src/components/laboratory/RecordedEvidenceVideoScene.tsx", import.meta.url), "utf8"),
    readFile(new URL("../src/components/laboratory/LaboratoryMetricEvidenceScene.tsx", import.meta.url), "utf8"),
  ]);
  assert.match(visual, /<RecordedEvidenceVideoScene/);
  assert.match(visual, /<RecordedEvidenceImageScene/);
  assert.match(visual, /<LaboratoryMetricEvidenceScene/);
  assert.match(visual, /label: "VIDEO"/);
  assert.match(visual, /label: "CAMERA"/);
  assert.match(visual, /label: "3D"/);
  assert.match(videoScene, /<RecordedFmp4Player/);
  assert.match(imageScene, /<RecordedEvidenceBoxOverlay/);
  assert.match(metricScene, /OrbitControls/);
  assert.match(metricScene, /CURRENT INCREMENT/);
  assert.match(metricScene, /ROLLING MAP/);
});