#!/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]
   测试脚本(真实CCU模拟) --16004--> pCCU(rcu_local) [配电反馈 0x0005~0x0008]
   pCCU --16003--> 测试脚本                        [配电反馈原帧转发 pPowerManger]
   测试脚本(PM模拟) --16002--> pCCU(pm_local)      [配电指令 0x0001~0x0004 短帧]
   pCCU --16005--> 测试脚本                        [配电指令原帧转发真实CCU]

锂电池已切换为 CAN 总线（BMS 协议，经 pCanBridge 透传 CAN_0x* 消息），
不在本脚本 UDP 拓扑内：BMS 解码由 pccuTest 单元测试覆盖
（testCanBmsDecode，向量取自实车抓包）。

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. 配电反馈(0x0005~0x0008)原帧转发到 16003（字节一致）
   5. 配电指令(0x0001~0x0004 短帧)原帧转发到 16005（字节一致）；
      PM 操控指令(45B, 同id)不转发到真实CCU（按帧长区分）
   6. SQLite 记录了收/发原始帧（含 link='rcu'）
   7. Web 页面可访问
"""
import socket
import struct
import threading
import time
import subprocess
import os
import signal
import sys
import json
import urllib.request

# ---- 配置 ----
FC_STATUS_PORT = 16000
FC_CTRL_RECV_PORT = 16001
PM_CTRL_PORT = 16002
PM_STATUS_RECV_PORT = 16003
RCU_FB_PORT = 16004      # pCCU rcu 链路本地端口（收配电反馈）
RCU_CMD_RECV_PORT = 16005  # 模拟真实CCU 接收转发的配电指令
CANET_PORT = 16006       # 模拟 USBCAN-8E-U TCP Server（捕获下行 CAN 帧）
WEB_PORT = 18081
DB_PATH = "/tmp/pccu_it_test.db"
MOOSDB_EXE = "/usr/local/bin/MOOSDB"
PCCU_EXE = "/home/zjk/project/H100PowerManger/bin/pCCU"
CANBRIDGE_EXE = "/home/zjk/project/H100PowerManger/bin/pCanBridge"
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 dis_frame(msg_id, payload):
    """配电协议帧：0x40 0x40 + id(2B) + length(2B) + payload + Sum8 校验"""
    total = 6 + len(payload) + 1
    body = START + struct.pack("<HH", msg_id, total) + payload
    return body + bytes([sum(body) & 0xFF])


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))


#------------------ 配电协议帧（真实CCU桥接） ------------------

def dis_hv_fb_frame():
    """0x0005 高压母线配电反馈（disHighVolBusState 53B：19字节+17×u16）"""
    p = bytearray(53)
    p[0] = 0x55                      # 燃料电池断路器 闭合
    p[1] = 0xAA                      # 动力锂电池断路器 断开
    struct.pack_into("<H", p, 19, 0x0FA0)   # 动力汇流排电压
    struct.pack_into("<H", p, 21, 123)      # DC/DC5模块电流
    struct.pack_into("<H", p, 25, 0x0F90)   # A汇流排电压
    return dis_frame(0x0005, bytes(p))


def dis_hva_fb_frame():
    """0x0006 高压母线A配电反馈（disHighAVolBusState 25B：9字节+8×u16）"""
    p = bytearray(25)
    p[0] = 0x55                      # 艏部FT装置1/2/3断路器 闭合
    struct.pack_into("<H", p, 9, 0x0F88)    # 汇流排B电压
    struct.pack_into("<H", p, 11, 321)      # 汇流排B电流
    return dis_frame(0x0006, bytes(p))


def dis_hvb_fb_frame():
    """0x0007 低压主母线配电反馈（disLowMainBusState 34B：10字节+12×u16）"""
    p = bytearray(34)
    p[0] = 0x55                      # 锂电池组(仪表)断路器 闭合
    struct.pack_into("<H", p, 10, 0x0F70)   # 仪表母排电压
    struct.pack_into("<H", p, 12, 654)      # 艏部低压配电箱电流
    return dis_frame(0x0007, bytes(p))


def dis_lv_fb_frame():
    """0x0008 仪表汇流排配电反馈（disLowBusState 29B：11字节+9×u16）"""
    p = bytearray(29)
    p[0] = 0x55                      # UNIT1断路器 闭合
    struct.pack_into("<H", p, 11, 0x0F60)   # 仪表母排电压
    struct.pack_into("<H", p, 13, 111)      # UNIT1电流
    return dis_frame(0x0008, bytes(p))


def dis_hv_cmd_frame():
    """0x0001 高压母线配电指令（disHighVolBusCmd 14B，pPowerManger 下发）"""
    p = bytearray(14)
    p[0] = 0x55                      # 燃料电池断路器 闭合
    p[1] = 0xAA                      # 动力锂电池断路器 断开
    p[12] = 1                        # DC/DC5模块启动
    return dis_frame(0x0001, bytes(p))


def dis_hva_cmd_frame():
    """0x0002 高压母线A配电指令（disHighAVolBusCmd 6B）"""
    p = bytearray(6)
    p[0] = 0x55
    return dis_frame(0x0002, bytes(p))


def dis_hvb_cmd_frame():
    """0x0003 低压主母线配电指令（disLowMainBusCmd 7B）"""
    p = bytearray(7)
    p[3] = 0x55                      # DC-C1直流配电板断路器
    return dis_frame(0x0003, bytes(p))


def dis_lv_cmd_frame():
    """0x0004 仪表汇流排配电指令（disLowBusCmd 8B）"""
    p = bytearray(8)
    p[0] = 0x55                      # UNIT1断路器
    return dis_frame(0x0004, bytes(p))


#------------------ BCU 断路器控制下行测试 ------------------

class CanetServer(threading.Thread):
    """最小 CANET TCP Server 模拟：接受 pCanBridge 连接，捕获下行 13 字节帧"""
    def __init__(self, port):
        super().__init__(daemon=True)
        self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
        self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
        self.sock.bind(("127.0.0.1", port))
        self.sock.listen(2)
        self.frames = []
        self.lock = threading.Lock()
        self.stop_flag = False

    def run(self):
        self.sock.settimeout(1.0)
        conn = None
        while not self.stop_flag:
            try:
                if conn is None:
                    conn, _ = self.sock.accept()
                    conn.settimeout(0.5)
                buf = b""
                while not self.stop_flag:
                    try:
                        d = conn.recv(4096)
                    except socket.timeout:
                        break
                    if not d:
                        conn.close()
                        conn = None
                        break
                    buf += d
                    while len(buf) >= 13:
                        with self.lock:
                            self.frames.append(buf[:13])
                        buf = buf[13:]
            except socket.timeout:
                continue
            except OSError:
                break

    def snapshot(self):
        with self.lock:
            return list(self.frames)


def bcu_ctrl_expect(addr, pos, neg):
    """期望的下行 13 字节 CANET 帧：扩展帧 DLC8 + 0x10XX81FF + 02 00 pos neg FF*4"""
    return bytes([0x80 | 8,
                  (0x10000000 | (addr << 16) | 0x81FF) >> 24 & 0xFF,
                  (0x10000000 | (addr << 16) | 0x81FF) >> 16 & 0xFF,
                  (0x10000000 | (addr << 16) | 0x81FF) >> 8 & 0xFF,
                  (0x10000000 | (addr << 16) | 0x81FF) & 0xFF,
                  0x02, 0x00, 0x01 if pos else 0x00, 0x01 if neg else 0x00,
                  0xFF, 0xFF, 0xFF, 0xFF])


def api_get(path):
    try:
        resp = urllib.request.urlopen(f"http://127.0.0.1:{WEB_PORT}{path}", timeout=3)
        return json.loads(resp.read().decode())
    except Exception as e:
        return {"ok": False, "error": str(e)}


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",
              "/tmp/pccu_it_can.db", "/tmp/pccu_it_can.db-wal", "/tmp/pccu_it_can.db-shm"):
        if os.path.exists(f):
            os.remove(f)

    procs = []
    canet = CanetServer(CANET_PORT)
    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 + pCanBridge（pCanBridge 连接模拟 USBCAN，用于下行测试）
        pccu = subprocess.Popen([PCCU_EXE, MISSION],
                                stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
        procs.append(pccu)
        canet.start()
        pcan = subprocess.Popen([CANBRIDGE_EXE, MISSION],
                                stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
        procs.append(pcan)
        time.sleep(2.5)
        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/配电反馈 16003，
        #    转发真实CCU 的配电指令 16005）
        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))
        rcu_cmd_recv = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        rcu_cmd_recv.bind(("127.0.0.1", RCU_CMD_RECV_PORT))

        fc_ctl_results, pm_status_results, rcu_cmd_results = [], [], []
        t1 = threading.Thread(target=recv_loop,
                              args=(fc_ctl_recv, "fc-ctl", fc_ctl_results, {0x0001}, 14))
        t2 = threading.Thread(target=recv_loop,
                              args=(pm_status_recv, "pm-status", pm_status_results,
                                    {0x0003, 0x0004, 0x0005, 0x0006, 0x0007, 0x0008}, 14))
        t3 = threading.Thread(target=recv_loop,
                              args=(rcu_cmd_recv, "rcu-cmd", rcu_cmd_results,
                                    {0x0001, 0x0002, 0x0003, 0x0004}, 14))
        t1.start(); t2.start(); t3.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. 发送配电反馈（真实CCU -> pCCU -> pPowerManger，应原帧转发到 16003）
        rcu_fb_frames = [dis_hv_fb_frame(), dis_hva_fb_frame(),
                         dis_hvb_fb_frame(), dis_lv_fb_frame()]
        for f in rcu_fb_frames:
            pm_send.sendto(f, ("127.0.0.1", RCU_FB_PORT))
            time.sleep(0.2)

        # 7. 发送配电指令（pPowerManger -> pCCU -> 真实CCU，应原帧转发到 16005）
        dis_cmd_frames = [dis_hv_cmd_frame(), dis_hva_cmd_frame(),
                          dis_hvb_cmd_frame(), dis_lv_cmd_frame()]
        for f in dis_cmd_frames:
            pm_send.sendto(f, ("127.0.0.1", PM_CTRL_PORT))
            time.sleep(0.2)

        t1.join(); t2.join(); t3.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：配电反馈原帧转发到 pPowerManger（字节一致）
        for i, f in enumerate(rcu_fb_frames):
            got = [d for d in pm_status_results if d == f]
            mid = struct.unpack_from("<H", f, 2)[0]
            print(f"[配电反馈 0x{mid:04X} 转发] {'OK' if got else 'MISSING'} (字节一致)")
            ok = ok and bool(got)

        # 校验 5：配电指令原帧转发到真实CCU（字节一致）
        for f in dis_cmd_frames:
            got = [d for d in rcu_cmd_results if d == f]
            mid = struct.unpack_from("<H", f, 2)[0]
            print(f"[配电指令 0x{mid:04X} 转发] {'OK' if got else 'MISSING'} (字节一致)")
            ok = ok and bool(got)

        # 校验 6：PM 操控指令(0x0001, 45B)不得转发到真实CCU（按帧长区分）
        pm_ctl_leak = [d for d in rcu_cmd_results if len(d) == 45]
        print(f"[PM操控指令不桥接] 收到 {len(pm_ctl_leak)} 帧 (期望 0)")
        ok = ok and not pm_ctl_leak

        # 校验 7：数据库有记录（FC/PM 链路收发 + rcu 链路桥接）
        time.sleep(1.0)
        db_count, db_rcu = -1, -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]
            db_rcu = conn.execute(
                "SELECT COUNT(*) FROM comm_log WHERE link='rcu'").fetchone()[0]
            conn.close()
        print(f"[数据库] comm_log 记录数 = {db_count} (期望>=6), "
              f"rcu 链路记录数 = {db_rcu} (期望>=8)")
        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 (db_rcu >= 8)    # 4条配电反馈(收) + 4条配电指令(发)

        # 校验 8：BCU 断路器控制下行（网页API -> pCCU -> MOOS -> pCanBridge -> 模拟USBCAN）
        # 闭合（addr=5, 总正+总负=1）
        j = api_get("/api/bcu_ctrl?addr=5&pos=1&neg=1")
        print(f"[断路器闭合 API] {j}")
        ok = ok and j.get("ok") is True
        # action 语法（addr=6, action=1 等价 pos=neg=1）
        j = api_get("/api/bcu_ctrl?addr=6&action=1")
        print(f"[断路器闭合 API(action)] {j}")
        ok = ok and j.get("ok") is True
        # 非法地址
        j = api_get("/api/bcu_ctrl?addr=99&action=1")
        print(f"[非法地址 API] {j}")
        ok = ok and j.get("ok") is False
        # 断开（addr=5, 总正+总负=0）
        j = api_get("/api/bcu_ctrl?addr=5&pos=0&neg=0")
        print(f"[断路器断开 API] {j}")
        ok = ok and j.get("ok") is True
        time.sleep(3.0)
        frames = canet.snapshot()
        print(f"[下行帧捕获] {len(frames)} 帧")
        exp_close5 = bcu_ctrl_expect(5, 1, 1)
        exp_close6 = bcu_ctrl_expect(6, 1, 1)
        exp_open5  = bcu_ctrl_expect(5, 0, 0)
        hit5  = any(f == exp_close5 for f in frames)
        hit6  = any(f == exp_close6 for f in frames)
        hit5o = any(f == exp_open5 for f in frames)
        leak99 = any(f[1] == 0x63 and f[2] == 0x00 for f in frames)  # addr=99 未下发
        print(f"[断路器闭合下行(addr=5)] {'OK' if hit5 else 'MISSING'}")
        print(f"[断路器闭合下行(addr=6)] {'OK' if hit6 else 'MISSING'}")
        print(f"[断路器断开下行(addr=5)] {'OK' if hit5o else 'MISSING'}")
        print(f"[非法地址未下发(addr=99)] {'OK' if not leak99 else 'LEAK'}")
        ok = ok and hit5 and hit6 and hit5o and not leak99

        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:
        canet.stop_flag = True
        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())