#!/usr/bin/env bash
set -e

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
PROJECT_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
cd "$PROJECT_ROOT"

# Ensure release build
echo "Building release..."
cargo build --release --quiet

echo "Starting Router for Full Hardware Validation..."
# Kill any existing instances
pkill -f "target/release/mavrouter" || true

# Config check
if [ ! -f "config/mavrouter_test.toml" ]; then
    echo "Error: config/mavrouter_test.toml not found."
    exit 1
fi

# Start Router
RUST_LOG=info ./target/release/mavrouter --config config/mavrouter_test.toml > router_hw_val.log 2>&1 &

# Wait for router's TCP port to be open
echo "Waiting for router TCP port 5760 to be available..."
for i in $(seq 1 10); do
    if nc -z 127.0.0.1 5760; then
        echo "Router TCP port 5760 is open."
        break
    else
        echo "Attempt $i: Router port not yet open, waiting..."
        sleep 1
    fi
    if [ $i -eq 10 ]; then
        echo "Error: Router TCP port 5760 did not become available within 10 seconds."
        cat router_hw_val.log
        exit 1
    fi
done

# Cleanup trap
cleanup() {
    echo "Stopping Router (pkill)..."
    pkill -f "target/release/mavrouter" || true
}
trap cleanup EXIT

run_test() {
    local description="$1"
    local script="$2"
    local timeout_sec="$3"
    local allow_fail="$4"

    echo "--------------------------------------------------"
    echo "Running: $description"
    echo "Script: $script"
    echo "Timeout: ${timeout_sec}s"
    
    if timeout "$timeout_sec" python3 $script; then
        echo "✅ PASSED: $description"
    else
        local exit_code=$?
        if [ $exit_code -eq 124 ]; then
             echo "❌ FAILED: $description (TIMED OUT)"
        else
             echo "❌ FAILED: $description (Exit Code: $exit_code)"
        fi

        if [ "$allow_fail" = "true" ]; then
            echo "⚠️  WARNING: Optional test failed. Continuing..."
        else
            echo "🚨 CRITICAL TEST FAILED. Aborting."
            cat router_hw_val.log
            exit 1
        fi
    fi
}

echo "=== Tier 1: Critical Functional Tests (Must Pass) ==="
run_test "Basic Connection (Heartbeat)" "tests/integration/verify_hardware.py" 30 false
run_test "Command Roundtrip (TCP <-> Serial)" "tests/integration/verify_tx.py" 30 false
run_test "UDP Broadcast (UDP <-> Serial)" "tests/integration/verify_udp.py" 30 false

echo "--------------------------------------------------"
echo "Restarting Router before Tier 2 to clear state..."
pkill -f "target/release/mavrouter" || true
sleep 1
RUST_LOG=info ./target/release/mavrouter --config config/mavrouter_test.toml > router_hw_val.log 2>&1 &
# Wait for router's TCP port to be open again
for i in $(seq 1 10); do
    if nc -z 127.0.0.1 5760; then
        echo "Router TCP port 5760 is open."
        break
    else
        echo "Attempt $i: Router port not yet open, waiting..."
        sleep 1
    fi
    if [ $i -eq 10 ]; then
        echo "Error: Router TCP port 5760 did not become available within 10 seconds."
        cat router_hw_val.log
        exit 1
    fi
done

echo "=== Tier 2: Important Validation (Should Pass) ==="
run_test "Parameter Operations (Read/Write)" "tests/integration/verify_params.py" 45 false
run_test "Multi-Client Support (TCP Broadcast)" "tests/integration/verify_multiclient.py" 30 false
run_test "Serial Load (Saturation)" "tests/integration/loop_stress_test.py --profile serial" 30 false

echo "=== Tier 3: Resilience & Chaos (Allowed to Fail) ==="
# Chaos and Fuzz tests are allowed to fail or timeout without breaking the build
run_test "Fuzzing (Malicious Payload)" "tests/integration/fuzz_test.py" 60 true
run_test "Chaos (Slow Loris, FD Exhaustion)" "tests/integration/chaos_test.py" 120 true

echo "--------------------------------------------------"
echo "Restarting Router for Stress Tests (No Hardware)..."
pkill -f "target/release/mavrouter" || true
sleep 1
RUST_LOG=info ./target/release/mavrouter --config config/mavrouter_stress.toml > router_hw_val.log 2>&1 &
# Allow startup time
sleep 2

echo "=== Router Stress Tests (No Hardware) ==="
run_test "Ping Storm (Burst Throughput)" "tests/integration/stress_test.py" 60 false
run_test "Incremental Load Loop (Throughput & Memory)" "tests/integration/loop_stress_test.py" 90 false

echo "========================================"
echo "✅ All Critical Hardware Tests Passed."
echo "========================================"