#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""test_session.py — 端到端测试：板子端算 / 电脑端算 / 会话隔离。"""
import time

import numpy as np

import _mock_server
import session_client as sc


def main():
    srv = _mock_server.MockServer(port=5599)
    srv.start()
    time.sleep(0.4)
    try:
        # ---------------- 会话 1：板子端算（点云不出板）
        c1 = sc.BoardClient('127.0.0.1', 5599)
        h, _ = c1.request('hello')
        assert h['ok'] and h['board_can_compute'], h

        h, img = c1.request('capture')
        assert h['ok'] and len(img) > 1000, h

        r, _ = c1.request('click', u=800.0, v=648.0, radius=10, fit_plane=True)
        assert r['ok'] and r['found'], r
        pm_board = np.asarray(r['p_map'], dtype=np.float64)
        print('board-mode p_map =', np.round(pm_board, 4))
        # 合成点放在 3 m 处
        assert abs(np.linalg.norm(pm_board) - 3.0) < 0.06, pm_board

        st, _ = c1.request('status')
        assert st['ok'] and st['has_target'] and st['delta'], st
        print('board-mode status =', st['delta'])
        assert abs(st['delta'][0] - (0.2507 - pm_board[0])) < 1e-6

        # ---------------- 会话 2：电脑端算（拉点云 + 回传 p_map）
        c2 = sc.BoardClient('127.0.0.1', 5599)
        c2.request('hello')
        h2, _ = c2.request('capture')
        hc, cblob = c2.request('cloud')
        xyz = sc.decode_cloud(hc, cblob)
        idx = sc.target_math.TargetIndex(xyz)
        res, pm_pc = sc.compute_target(xyz, h2['odom'], 800.0, 648.0,
                                       10.0, True, index=idx)
        assert res['found'], res
        print('pc-mode    p_map =', np.round(pm_pc, 4))
        assert np.allclose(pm_pc, pm_board, atol=1e-6)

        r2, _ = c2.request('set_target', u=800, v=648,
                           p_cam=res['p_cam'].tolist(),
                           p_lidar=res['p_lidar'].tolist(),
                           p_map=pm_pc.tolist())
        assert r2['ok'], r2
        st2, _ = c2.request('status')
        assert st2['has_target'], st2

        # ---------------- 会话隔离：c1 的目标还在，c2 的 reset 不影响 c1
        st1, _ = c1.request('status')
        assert st1['has_target'], st1
        c2.request('reset')
        st2b, _ = c2.request('status')
        assert not st2b['has_target'], st2b
        st1b, _ = c1.request('status')
        assert st1b['has_target'], st1b
        print('session isolation: OK')

        # ---------------- 同一帧覆盖点选（索引复用）
        t0 = time.perf_counter()
        for du in (-8, -4, 0, 4, 8):
            rr, _ = c1.request('click', u=800.0 + du, v=648.0, radius=10, fit_plane=True)
            assert rr['ok']
        print('5 clicks on same frame: %.1f ms total' % ((time.perf_counter() - t0) * 1000))

        c1.close()
        c2.close()
        print('PASS')
    finally:
        srv.stop()


if __name__ == '__main__':
    main()