import hashlib
import json
from pathlib import Path
from unittest import TestCase
import numpy as np
from station.operator_gripper_mesh import rgi_cad_gl


class GripperCadTest(TestCase):
    def test_tessellation_is_from_supplied_step_and_units_are_metres(self):
        folder=Path(__file__).resolve().parents[1]/'src/station/assets/models/rgi-100-30'
        meta=json.loads((folder/'mesh.json').read_text())
        self.assertEqual(hashlib.sha256((folder/'source.step').read_bytes()).hexdigest(),meta['source_sha256'])
        self.assertEqual(meta['source_units'],'mm');self.assertEqual(meta['units'],'m')
        self.assertFalse(meta['articulated'])
        blob,count,center,radius=rgi_cad_gl()
        vertices=np.frombuffer(blob,np.float32).reshape(-1,6)
        self.assertEqual(count,meta['triangles']*3);self.assertEqual(len(vertices),count)
        self.assertTrue(np.isfinite(vertices).all());self.assertGreater(radius,.01)
        self.assertTrue(np.allclose(np.ptp(vertices[:,:3],axis=0)*1000,meta['dimensions_mm'],atol=.001))
        self.assertLess(np.max(np.abs(vertices[:,:3])),1.)