#!/usr/bin/env python3
"""pCCU 集成测试：验证真实 UDP 链路上的完整数据流。

拓扑：
   测试脚本(FC模拟) --16000--> pCCU(fc_local)      [FC状态 0x0002]
   测试脚本(PM模拟) --16002--> pCCU(pm_local)      [PM操控 0x0001, PM参数设定 0x0002]
   pCCU --16001--> 测试脚本                        [FC控制 0x0001 转发]
   pCCU --16003--> 测试脚本                        [PM状态 0x0004, PM参数反馈 0x0003]

校验：
   1. FC 状态收到并整合，pCCU 周期发送 PM 状态(0x0004, 248B)到 16003
   2. PM 操控(0x0001)转发为 FC 控制(0x0001, 24B)到 16001
   3. PM 参数设定(0x0002)触发参数反馈(0x0003, 12B)到 16003
   4. SQLite 记录了收/发原始帧
   5. Web 页面可访问
"""
import socket
import struct
import threading
import time
import subprocess
import os
import signal
import sys
import urllib.request

# ---- 配置 ----
FC_STATUS_PORT = 16000
FC_CTRL_RECV_PORT = 16001
PM_CTRL_PORT = 16002
PM_STATUS_RECV_PORT = 16003
WEB_PORT = 18081
DB_PATH = "/tmp/pccu_it_test.db"
MOOSDB_EXE = "/usr/local/bin/MOOSDB"
PCCU_EXE = "/home/zjk/project/H100PowerManger/bin/pCCU"
MISSION = os.path.join(os.path.dirname(os.path.abspath(__file__)), "pccu_it.moos")

# 帧头
START = bytes([0x40, 0x40])


def frame(msg_id, payload, checksum=True):
    total = 6 + len(payload) + (4 if checksum else 0)
    hdr = START + struct.pack("<HH", msg_id, total)
    body = hdr + payload
    if checksum:
        cks = sum(body) & 0xFFFFFFFF
        return body + struct.pack("<I", cks)
    return body


def fc_status_frame():
    # payload 144B，仅填关键字段，其余为0
    p = bytearray(144)
    p[0] = 2                    # 运行模式 自动
    p[1] = 6                    # 运行状态 运行
    struct.pack_into("<H", p, 2, 0x0102)   # 一级故障码
    struct.pack_into("<H", p, 10, 1234)    # 累积发电时间
    p[12] = 0                   # 故障等级
    struct.pack_into("<H", p, 14, 2000)    # 系统发电功率 0.01kW
    p[16] = 80                  # 储氢
    p[17] = 70                  # 液氧
    struct.pack_into("<H", p, 24, 350)     # 钯膜温度
    struct.pack_into("<H", p, 68, 2500)    # 舱室温度1
    struct.pack_into("<H", p, 140, 4321)   # 剩余发电量 MWh (字节147,148)
    p[142] = 5                  # 心跳
    p[143] = 0x01               # 应急指令
    return frame(0x0002, bytes(p), checksum=False)


def pm_control_frame():
    p = bytearray(35)
    struct.pack_into("<H", p, 0, 2026)
    p[2], p[3], p[4], p[5], p[6], p[7] = 8, 26, 10, 30, 0, 0
    p[8] = 2                    # 模式 自动
    p[9] = 2                    # 操控 启动
    p[10] = 120                 # 输出功率 0.1kW
    struct.pack_into("<h", p, 11, 123)   # 纵倾姿态数据1 12.3°
    struct.pack_into("<h", p, 13, -45)   # 横倾姿态数据1 -4.5°
    p[15] = 0x03                # 应急允许
    struct.pack_into("<H", p, 16, 150)     # 潜深
    p[21] = 0x10                # 仪表锂电启动
    p[22] = 0x20                # 动力锂电关闭
    struct.pack_into("<H", p, 23, 300)     # 动力电池功率
    p[25] = 7                   # 心跳
    p[26] = 0xAA                # 主机状态
    return frame(0x0001, bytes(p))


def pm_paramset_frame():
    p = bytearray(18)
    p[0], p[1], p[2] = 75, 85, 93
    p[5], p[6], p[7] = 75, 85, 93
    return frame(0x0002, bytes(p))


def recv_loop(sock, label, results, msg_ids, timeout):
    """持续接收指定 msg_id 的帧，记录到 results"""
    sock.settimeout(timeout)
    end = time.time() + timeout
    while time.time() < end:
        try:
            data, addr = sock.recvfrom(2048)
        except socket.timeout:
            break
        except OSError:
            break
        if len(data) < 6:
            continue
        mid = struct.unpack_from("<H", data, 2)[0]
        if mid in msg_ids:
            results.append(data)


def main():
    # 清理
    for f in (DB_PATH, DB_PATH + "-wal", DB_PATH + "-shm", "/tmp/pccu_it_test.log"):
        if os.path.exists(f):
            os.remove(f)

    procs = []
    try:
        # 1. 启动 MOOSDB
        moosdb = subprocess.Popen([MOOSDB_EXE, "--moos", "--port", "9000"],
                                  stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
        procs.append(moosdb)
        time.sleep(1.0)

        # 2. 启动 pCCU
        pccu = subprocess.Popen([PCCU_EXE, MISSION],
                                stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
        procs.append(pccu)
        time.sleep(2.0)
        if pccu.poll() is not None:
            print("FAIL: pCCU exited early, code", pccu.returncode)
            return 1

        # 3. 启动接收监听（FC 控制转发 16001，PM 状态 16003）
        fc_ctl_recv = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        fc_ctl_recv.bind(("127.0.0.1", FC_CTRL_RECV_PORT))
        pm_status_recv = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        pm_status_recv.bind(("127.0.0.1", PM_STATUS_RECV_PORT))

        fc_ctl_results, pm_status_results = [], []
        t1 = threading.Thread(target=recv_loop,
                              args=(fc_ctl_recv, "fc-ctl", fc_ctl_results, {0x0001}, 12))
        t2 = threading.Thread(target=recv_loop,
                              args=(pm_status_recv, "pm-status", pm_status_results, {0x0004, 0x0003}, 12))
        t1.start(); t2.start()

        # 4. 发送 FC 状态（周期模拟）
        fc_send = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        for _ in range(3):
            fc_send.sendto(fc_status_frame(), ("127.0.0.1", FC_STATUS_PORT))
            time.sleep(0.5)

        # 5. 发送 PM 操控指令 + 参数设定
        pm_send = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        pm_send.sendto(pm_control_frame(), ("127.0.0.1", PM_CTRL_PORT))
        time.sleep(0.5)
        pm_send.sendto(pm_paramset_frame(), ("127.0.0.1", PM_CTRL_PORT))

        t1.join(); t2.join()

        ok = True

        # 校验 1：PM 状态报文（248B）周期发送
        pm_status = [d for d in pm_status_results if len(d) == 248]
        print(f"[PM 状态报文] 收到 {len(pm_status)} 帧 (期望>=1, 每帧248B)")
        if len(pm_status) >= 1:
            d = pm_status[0]
            total = struct.unpack_from("<H", d, 4)[0]
            mode = d[6]; status = d[7]
            print(f"  -> length={total}, mode={mode}, status={status}, size={len(d)}")
            ok = ok and (total == 248) and (mode == 2) and (status == 6)
        else:
            ok = False

        # 校验 2：PM 操控转发为 FC 控制（24B，0827协议：姿态数据1转发，数据2字节预留恒0）
        fc_ctl = [d for d in fc_ctl_results if len(d) == 24]
        print(f"[FC 控制转发] 收到 {len(fc_ctl)} 帧 (期望>=1, 每帧24B)")
        if fc_ctl:
            d = fc_ctl[0]
            cmd = d[7]; power = d[8]; hb = d[23]
            pitch = struct.unpack_from("<h", d, 9)[0]    # 字节10,11
            roll  = struct.unpack_from("<h", d, 13)[0]   # 字节14,15
            resv1 = struct.unpack_from("<H", d, 11)[0]   # 字节12,13 预留
            resv2 = struct.unpack_from("<H", d, 15)[0]   # 字节16,17 预留
            print(f"  -> cmd={cmd}, outputPower={power}, pitch={pitch}, roll={roll}, "
                  f"resv1={resv1}, resv2={resv2}, heartbeat={hb}")
            ok = ok and (cmd == 2) and (power == 120) and (hb == 7)
            ok = ok and (pitch == 123) and (roll == -45)
            ok = ok and (resv1 == 0) and (resv2 == 0)
        else:
            ok = False

        # 校验 3：PM 参数反馈（12B）
        fb = [d for d in pm_status_results if len(d) == 12]
        print(f"[PM 参数反馈] 收到 {len(fb)} 帧 (期望>=1, 每帧12B)")
        if fb:
            flag = fb[0][6]
            print(f"  -> flag=0x{flag:02X}")
            ok = ok and (flag == 0x10)
        else:
            ok = False

        # 校验 4：数据库有记录
        time.sleep(1.0)
        db_count = -1
        if os.path.exists(DB_PATH):
            import sqlite3
            conn = sqlite3.connect(DB_PATH)
            db_count = conn.execute("SELECT COUNT(*) FROM comm_log").fetchone()[0]
            conn.close()
        print(f"[数据库] comm_log 记录数 = {db_count}")
        ok = ok and (db_count >= 6)  # 3条FC状态 + 1条PM操控 + 1条PM参数 + 周期PM状态(至少1)

        # 校验 5：Web 页面
        web_ok = False
        try:
            resp = urllib.request.urlopen(f"http://127.0.0.1:{WEB_PORT}/", timeout=3)
            html = resp.read().decode()
            web_ok = ("pCCU" in html)
            print(f"[Web] 页面可访问, 长度={len(html)}")
        except Exception as e:
            print(f"[Web] 访问失败: {e}")
        ok = ok and web_ok

        print("\n==== 集成测试 " + ("PASSED" if ok else "FAILED") + " ====")
        return 0 if ok else 1

    finally:
        for p in reversed(procs):
            try:
                p.terminate()
            except Exception:
                pass
        time.sleep(0.5)
        for p in procs:
            try:
                p.kill()
            except Exception:
                pass


if __name__ == "__main__":
    sys.exit(main())