#!/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]
   测试脚本(电池模拟) --17001/17002--> pCCU        [电池组状态 0x0003]
   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]
   pCCU --17003/17004--> 测试脚本                  [电池控制指令 0x0001 / 自检指令 0x0000]

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. PM 操控中锂电池启停指令映射为电池控制指令(0x0001, 27B)：
      动力 0x20 关闭 -> 母线接触器 0x77；仪表 0x10 启动 -> 母线接触器 0x55
   5. pCCU 周期(1s)向动力/仪表锂电池下发心跳控制指令
   6. 电池组状态(0x0003)收到后落库 SQLite（link=bat_dyn/bat_ins）
   7. SQLite 记录了收/发原始帧
   8. 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
DYN_BAT_PORT = 17001          # pCCU 监听动力电池状态
INS_BAT_PORT = 17002          # pCCU 监听仪表电池状态
DYN_BAT_RECV_PORT = 17003     # 测试监听（pCCU 发往"动力电池"的目标端口）
INS_BAT_RECV_PORT = 17004     # 测试监听（pCCU 发往"仪表电池"的目标端口）
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 bat_status_frame():
    """电池组状态 0x0003：payload 80B，带 uint32 校验和"""
    p = bytearray(80)
    struct.pack_into("<H", p, 0, 2026)
    p[2], p[3], p[4], p[5], p[6], p[7] = 8, 30, 10, 30, 0, 0
    p[8] = 0x10                 # 工况 工房调试
    p[9] = 0x22                 # 自检完成，状态正常
    p[10] = 0x22                # 满足功率要求
    p[11] = 0x11                # 母线接触器闭合完成
    p[12] = 0x22                # 二极管闭合完成(高4位) + 正极闭合完成(低4位)
    struct.pack_into("<H", p, 14, 855)     # SOC 85.5%
    struct.pack_into("<H", p, 16, 1234)    # 电量 123.4 kWh
    struct.pack_into("<H", p, 18, 5000)    # 允许最高放电功率 500 kW
    struct.pack_into("<H", p, 22, 1500)    # 当前接入功率 150 kW
    struct.pack_into("<H", p, 36, 5400)    # 负载端电压 54.00V
    struct.pack_into("<h", p, 40, -200)    # 放电电流 -10A（充电）
    p[79] = 33                  # 心跳
    return frame(0x0003, 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，电池控制 17003/17004）
        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))
        dyn_bat_recv = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        dyn_bat_recv.bind(("127.0.0.1", DYN_BAT_RECV_PORT))
        ins_bat_recv = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        ins_bat_recv.bind(("127.0.0.1", INS_BAT_RECV_PORT))

        fc_ctl_results, pm_status_results = [], []
        dyn_bat_results, ins_bat_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))
        t3 = threading.Thread(target=recv_loop,
                              args=(dyn_bat_recv, "bat-dyn", dyn_bat_results, {0x0000, 0x0001}, 12))
        t4 = threading.Thread(target=recv_loop,
                              args=(ins_bat_recv, "bat-ins", ins_bat_results, {0x0000, 0x0001}, 12))
        t1.start(); t2.start(); t3.start(); t4.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))

        # 6. 模拟锂电池上发电池组状态（动力/仪表）
        bat_send = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        for _ in range(3):
            bat_send.sendto(bat_status_frame(), ("127.0.0.1", DYN_BAT_PORT))
            bat_send.sendto(bat_status_frame(), ("127.0.0.1", INS_BAT_PORT))
            time.sleep(0.5)

        t1.join(); t2.join(); t3.join(); t4.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：锂电池控制指令（27B）。
        # PM 操控映射：动力 0x20 关闭 -> 母线接触器 0x77；仪表 0x10 启动 -> 母线接触器 0x55
        dyn_ctl = [d for d in dyn_bat_results if len(d) == 27 and d[2] == 0x01]
        ins_ctl = [d for d in ins_bat_results if len(d) == 27 and d[2] == 0x01]
        print(f"[动力电池控制指令] 收到 {len(dyn_ctl)} 帧 (期望>=5, 每帧27B, 1s心跳)")
        if dyn_ctl:
            bus = dyn_ctl[-1][6 + 9]   # 最后一帧：PM 指令生效后的期望状态
            print(f"  -> 母线接触器=0x{bus:02X} (期望0x77 关闭)")
            ok = ok and (bus == 0x77)
        else:
            ok = False
        print(f"[仪表电池控制指令] 收到 {len(ins_ctl)} 帧 (期望>=5, 每帧27B, 1s心跳)")
        if ins_ctl:
            bus = ins_ctl[-1][6 + 9]
            print(f"  -> 母线接触器=0x{bus:02X} (期望0x55 接通)")
            ok = ok and (bus == 0x55)
        else:
            ok = False

        # 校验 5：数据库有记录（含锂电池链路收发）
        time.sleep(1.0)
        db_count = -1
        bat_dyn_rx = -1
        bat_tx = -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]
            # 电池组状态接收（link=bat_dyn, 方向=收, msg_id=3）
            bat_dyn_rx = conn.execute(
                "SELECT COUNT(*) FROM comm_log WHERE link='bat_dyn' AND direction=0 AND msg_id=3"
            ).fetchone()[0]
            # 电池控制指令发送（direction=1, msg_id=1, bat 链路）
            bat_tx = conn.execute(
                "SELECT COUNT(*) FROM comm_log WHERE link IN ('bat_dyn','bat_ins') AND direction=1 AND msg_id=1"
            ).fetchone()[0]
            conn.close()
        print(f"[数据库] comm_log 记录数 = {db_count} (期望>=6)")
        print(f"[数据库] 动力电池状态接收记录 = {bat_dyn_rx} (期望>=1), 电池控制发送记录 = {bat_tx} (期望>=2)")
        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)
        ok = ok and (bat_dyn_rx >= 1) and (bat_tx >= 2)

        # 校验 6：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())