"""지역 맵 센서 복셀 월드 선택 (nusim.render.regionmap.sensor_world) — 데이터셋 없이."""

import json

import numpy as np

from nusim.io.ply import _ORIGIN_TAG
from nusim.render.regionmap import sensor_world
from nusim.render.segmap import SEGMAP_VERSION
from nusim.sim.voxels import VOXELS_VERSION


def _seg(d, name, origin):
    m = d / name
    m.mkdir(parents=True)
    (m / "point_cloud.ply").write_text(f"ply\ncomment {_ORIGIN_TAG} {origin[0]} {origin[1]} {origin[2]}\nend_header\n")
    return m


def test_stale_world_still_used_with_its_own_origin(tmp_path):
    d = tmp_path / "scene-x"
    s1 = _seg(d, "seg1", (10, 20, 1))
    (d / "world.vox").write_bytes(b"VOX2")
    # seg1 만 학습됐을 때 만든 월드 (origin 기록 전 형식)
    (d / "export.json").write_text(json.dumps({"version": SEGMAP_VERSION, "voxels": VOXELS_VERSION,
                                               "models": ["seg1:1"]}))
    s0 = _seg(d, "seg0", (0, 0, 0))  # 그 뒤 seg0 이 학습됨 → 첫 구간과 원점이 바뀌었다
    segs = [({"k": 0}, s0), ({"k": 1}, s1)]
    assert sensor_world(tmp_path, "scene-x", segs) is None  # 엄격: 낡음
    p, o = sensor_world(tmp_path, "scene-x", segs, strict=False)
    assert p == d / "world.vox" and np.allclose(o, [10, 20, 1])  # 월드를 만든 seg1 원점
    j = json.loads((d / "export.json").read_text())
    (d / "export.json").write_text(json.dumps({**j, "origin": [5, 6, 7]}))
    assert np.allclose(sensor_world(tmp_path, "scene-x", segs, strict=False)[1], [5, 6, 7])
    (d / "export.json").write_text(json.dumps({**j, "voxels": VOXELS_VERSION - 1}))
    assert sensor_world(tmp_path, "scene-x", segs, strict=False) is None  # 복셀 알고리즘이 바뀌면 안 쓴다


def test_unsplit_scene_model_is_scene_dir(tmp_path):
    d = tmp_path / "scene-y"
    d.mkdir()
    (d / "point_cloud.ply").write_text(f"ply\ncomment {_ORIGIN_TAG} 1 2 3\nend_header\n")
    (d / "world.vox").write_bytes(b"VOX2")
    (d / "export.json").write_text(json.dumps({"version": SEGMAP_VERSION, "voxels": VOXELS_VERSION,
                                               "models": ["scene-y:1"]}))
    p, o = sensor_world(tmp_path, "scene-y", [({"k": 0}, d)], strict=False)
    assert np.allclose(o, [1, 2, 3])