import os
import subprocess
import sys
import tempfile
import time
from pathlib import Path
from unittest import TestCase
from station.rpc import call


class BackendTest(TestCase):
    def test_offline_rpc_task_lifecycle_and_shutdown(self):
        with tempfile.TemporaryDirectory() as folder:
            socket=Path(folder)/'backend.sock'
            proc=subprocess.Popen([sys.executable,'-m','station.control_service','--socket',str(socket),'--offline'],
                                  stdout=subprocess.PIPE,stderr=subprocess.STDOUT,text=True)
            try:
                deadline=time.monotonic()+10
                while not socket.exists() and proc.poll() is None and time.monotonic()<deadline: time.sleep(.05)
                self.assertIsNone(proc.poll())
                self.assertEqual(call(socket,'ping')['protocol'],1)
                catalog=call(socket,'catalog')
                unavailable={r['id'] for r in catalog['actions'] if not r['available']}
                self.assertIn('gauge_run',unavailable)
                with self.assertRaises(RuntimeError): call(socket,'submit',{'action':'__import__','arm':'89'})
                arms=[]
                while time.monotonic()<deadline:
                    snap=call(socket,'snapshot');arms=snap.get('arms',[])
                    if arms: break
                    time.sleep(.05)
                self.assertTrue(arms)
                aid=arms[0]['id']
                token=call(socket,'submit',{'action':'handeye_show','arm':aid})['task_id']
                while time.monotonic()<deadline:
                    row=call(socket,'task',{'task_id':token})
                    if row['state'] not in ('queued','running'): break
                    time.sleep(.05)
                self.assertEqual(row['state'],'succeeded')
                token=call(socket,'submit',{'action':'gripper_up','arm':aid})['task_id']
                while time.monotonic()<deadline:
                    row=call(socket,'task',{'task_id':token})
                    if row['state'] not in ('queued','running'): break
                    time.sleep(.05)
                self.assertEqual(row['state'],'failed');self.assertIn('离线',row['result']['message'])
            finally:
                proc.terminate()
                try: output,_=proc.communicate(timeout=10)
                except subprocess.TimeoutExpired:
                    proc.kill();output,_=proc.communicate();self.fail(output)
            self.assertEqual(proc.returncode,0,output)
            self.assertFalse(socket.exists())