from __future__ import annotations

from pathlib import Path

import numpy as np
import pytest
from fastapi import APIRouter
from fastapi.routing import APIRoute

from k1link.datasets import (
    DatasetFrameError,
    dataset_gateway_catalog,
    read_semantic_kitti_frame,
)
from k1link.web.lidar_api import build_lidar_router


def _endpoint(router: APIRouter, path: str) -> object:
    for route in router.routes:
        if isinstance(route, APIRoute) and route.path == path and "GET" in route.methods:
            return route.endpoint
    raise AssertionError(f"GET {path} route is missing")


def test_goose_semantickitti_frame_retains_xyzi_and_packed_labels(
    tmp_path: Path,
) -> None:
    points_path = tmp_path / "frame_vls128.bin"
    labels_path = tmp_path / "frame_goose.label"
    np.asarray(
        [
            [1.0, 2.0, 3.0, 0.25],
            [-4.0, 5.0, 0.5, 0.75],
        ],
        dtype="<f4",
    ).tofile(points_path)
    np.asarray(
        [
            (12 << 16) | 3,
            (99 << 16) | 42,
        ],
        dtype="<u4",
    ).tofile(labels_path)

    frame = read_semantic_kitti_frame(points_path, labels_path)

    assert frame.representation == "native-scan"
    assert frame.point_count == 2
    assert frame.points_xyz_m.tolist() == [[1.0, 2.0, 3.0], [-4.0, 5.0, 0.5]]
    assert frame.remission.tolist() == [0.25, 0.75]
    assert frame.semantic_labels.tolist() == [3, 42]
    assert frame.instance_labels.tolist() == [12, 99]
    assert frame.points_xyz_m.flags.writeable is False


def test_dataset_frame_fails_closed_on_misaligned_or_nonfinite_input(
    tmp_path: Path,
) -> None:
    points_path = tmp_path / "frame.bin"
    labels_path = tmp_path / "frame.label"
    np.asarray([[1.0, 2.0, 3.0, 0.25]], dtype="<f4").tofile(points_path)
    np.asarray([1, 2], dtype="<u4").tofile(labels_path)
    with pytest.raises(DatasetFrameError, match="counts do not match"):
        read_semantic_kitti_frame(points_path, labels_path)

    np.asarray([[np.nan, 2.0, 3.0, 0.25]], dtype="<f4").tofile(points_path)
    np.asarray([1], dtype="<u4").tofile(labels_path)
    with pytest.raises(DatasetFrameError, match="non-finite"):
        read_semantic_kitti_frame(points_path, labels_path)


def test_dataset_gateway_enforces_d_storage_and_representation_boundaries(
    tmp_path: Path,
) -> None:
    blocked = dataset_gateway_catalog(tmp_path / "datasets")
    admitted = dataset_gateway_catalog(Path("/mnt/d/NDC_MISSIONCORE/datasets"))

    assert blocked["storage"]["status"] == "blocked-storage-policy"  # type: ignore[index]
    assert admitted["storage"]["status"] == "ready"  # type: ignore[index]
    assert admitted["next_action"] == "download-goose-validation-to-d"
    representations = admitted["representations"]
    assert isinstance(representations, list)
    assert [item["id"] for item in representations] == [  # type: ignore[index]
        "native-scan",
        "normalized-scan",
        "rolling-local-map",
    ]
    inputs = admitted["known_inputs"]
    assert isinstance(inputs, list)
    assert inputs[0]["admitted_for_patchworkpp"] is False  # type: ignore[index]


def test_dataset_gateway_api_is_read_only_and_path_free(
    monkeypatch: pytest.MonkeyPatch,
) -> None:
    monkeypatch.setenv("MISSIONCORE_DATASET_ROOT", "/mnt/d/NDC_MISSIONCORE/datasets")
    route = _endpoint(build_lidar_router(), "/api/v1/lidar/dataset-gateway")
    response = route()  # type: ignore[operator]

    assert response["schema_version"] == "missioncore.dataset-gateway-catalog/v1"
    assert response["access"] == "read-only"
    assert response["storage"]["admitted"] is True
    assert response["storage"]["path_exposed"] is False
    assert "/mnt/d/NDC_MISSIONCORE/datasets" not in repr(response).replace(
        response["storage"]["required_wsl_root"],  # type: ignore[index]
        "",
    )