"""The page and the node are one contract, checked here rather than by eye.

`ui.py` translates for a console it cannot import, and the page reads telemetry
by key. Nothing in either language catches a rename, so a typo would surface as
a dead button on a machine that can move — which is the wrong place to find it.
"""

import json
import re
from pathlib import Path

from dora_teleop import ui

PAGE = Path(__file__).resolve().parent.parent / "web" / "index.html"


def page():
    return PAGE.read_text()


def sent_types():
    """Return every message type the page can send."""
    return set(re.findall(r'type:\s*"([a-z_]+)"', page()))


def read_keys():
    """Return the telemetry keys the page renders by name."""
    listed = re.search(r"const KEYS = \[(.*?)\]", page(), re.DOTALL).group(1)
    return set(re.findall(r'"([a-z_]+)"', listed))


def snapshot_keys():
    view = ui.ArmView()
    view.pose = [1.0] * 6
    return set(ui.snapshot(view, "web", False, 0.0))


def test_every_message_the_page_sends_is_one_the_node_serves():
    # `data` is the bridge's own envelope, not a console command.
    for kind in sent_types() - {"data"}:
        assert ui.command_of({"type": kind}) is not None or kind == "jog", kind


def test_every_telemetry_key_the_page_reads_is_one_the_node_sends():
    missing = read_keys() - snapshot_keys()

    assert not missing, f"the page reads keys the node does not send: {sorted(missing)}"


def test_the_page_reads_the_pose_units_from_the_node():
    # Rather than assuming mm, which is only true of one robot.
    assert "units.position" in page().replace("telemetry.units && telemetry.units.position", "units.position")
    assert "units" in snapshot_keys()


def test_the_jog_the_page_sends_is_normalised_and_accepted():
    # Six axes, each a fraction of full deflection. If the page ever sent a
    # velocity instead, it would have to know the robot's units.
    command = ui.command_of(json.loads('{"type": "jog", "axes": [0, -0.6, 0, 0, 0, 0]}'))

    assert command is not None
    assert command.axes == [0.0, -0.6, 0.0, 0.0, 0.0, 0.0]


def test_the_page_can_ask_for_everything_the_node_serves():
    # `move` is the one command with no button: it is a pose in the robot's own
    # units, which is exactly what this page is built not to know.
    served = {"jog", "jog_stop", "estop", "reset", "home", "control", "gripper", "freedrive"}

    assert served <= sent_types()


def test_the_page_gates_its_jog_pad_on_holding_the_lease():
    # The node refuses a jog from a non-owner and answers with a toast; a pad
    # that looks live but is refused teaches an operator to distrust the screen.
    assert 'owner === "web"' in page()


def test_the_published_schemas_do_not_depend_on_the_value_sent():
    # pyarrow reads a null `value` as its own type, so an inferred schema would
    # change the type of the `command` port between one verb and the next.
    from dora_teleop import message

    assert message.pack_command("stop", None).type == message.COMMAND
    assert message.pack_command("freedrive", 1.0).type == message.COMMAND
    assert (
        message.pack_twist({"linear": [0.0] * 3, "angular": [0.0] * 3, "frame": "base"}).type == message.TWIST
    )
    assert message.pack_jog([0.0] * 6).type == message.JOG