#!/usr/bin/env python3
# -*- coding: utf-8 -*-

from universal_pathfinder import UniversalAGVPathfinder, UniversalPathFormatter
from agv_pathfinder import AGVMap, AgvDirection

def test_all_scenarios():
    """전체 28개 테스트 케이스 검증"""
    print("="*80)
    print("전체 28개 테스트 케이스 검증")
    print("="*80)

    # 맵 로드
    agv_map = AGVMap()
    agv_map.load_from_file(r"C:\Data\Source\(5613#) ENIG AGV\Source\Cs_HMI\Data\NewMap.agvmap")

    pathfinder = UniversalAGVPathfinder(agv_map)

    # 모든 테스트 케이스 정의 (사용자 제공 정답)
    test_scenarios = [
        {
            "name": "Q1-1: 033→032(전진)",
            "start": "032", "came_from": "033", "direction": AgvDirection.FORWARD,
            "targets": {
                "040": "032 ->(F) 031 ->(R) 032 -> 040",
                "041": "032 ->(F) 040 ->(R) 032 -> 031 -> 041",
                "008": "032 ->(B) 033 -> 034 -> 035 -> 036 -> 037 -> 005 -> 006 -> 007 -> 008",
                "001": "032 ->(B) 033 -> 034 -> 035 -> 036 -> 037 -> 005 -> 004 -> 003 -> 002 -> 001",
                "011": "032 ->(B) 033 -> 034 -> 035 -> 036 -> 037 -> 005 -> 004 -> 030 -> 009 -> 010 -> 011",
                "019": "032 ->(B) 033 -> 034 -> 035 -> 036 -> 037 -> 005 -> 004 -> 012 -> 013 ->(F) -> 012 -> 016 -> 017 -> 018 -> 019",
                "015": "032 ->(B) 033 -> 034 -> 035 -> 036 -> 037 -> 005 -> 004 -> 012 -> 016 ->(F) -> 012 -> 013 -> 014 -> 015"
            }
        },
        {
            "name": "Q1-2: 033→032(후진)",
            "start": "032", "came_from": "033", "direction": AgvDirection.BACKWARD,
            "targets": {
                "040": "032 ->(F) 033 ->(R) 032 -> 040",
                "041": "032 ->(R) 031 -> 041",
                "008": "032 ->(F) 033 -> 034 -> 035 -> 036 -> 037 -> 005 -> 004 ->(B) -> 005 -> 006 -> 007 -> 008",
                "001": "032 ->(F) 033 -> 034 -> 035 -> 036 -> 037 -> 005 -> 006 ->(B) -> 004 -> 003 -> 002 -> 001",
                "011": "032 ->(F) 033 -> 034 -> 035 -> 036 -> 037 -> 005 -> 004 -> 003 ->(B) -> 004 -> 030 -> 009 -> 010 -> 011",
                "019": "032 ->(F) 033 -> 034 -> 035 -> 036 -> 037 -> 005 -> 004 -> 012 -> 016 -> 017 -> 018 -> 019",
                "015": "032 ->(F) 033 -> 034 -> 035 -> 036 -> 037 -> 005 -> 004 -> 012 -> 013 -> 014 -> 015"
            }
        },
        {
            "name": "Q2-1: 006→007(전진)",
            "start": "007", "came_from": "006", "direction": AgvDirection.FORWARD,
            "targets": {
                "040": "007 ->(B) 006 -> 005 -> 037 -> 036 -> 035 -> 034 -> 033 -> 032 -> 040",
                "041": "007 ->(B) 006 -> 005 -> 037 -> 036 -> 035 -> 034 -> 033 -> 032 -> 031 -> 041",
                "008": "007 ->(F) 006 -> 005 -> 037 ->(B) 005 -> 006 -> 007 -> 008",
                "001": "007 ->(B) 006 -> 005 -> 004 -> 003 -> 002 -> 001",
                "011": "007 ->(B) 006 -> 005 -> 004 -> 030 -> 009 -> 010 -> 011",
                "019": "007 ->(B) 006 -> 005 -> 004 -> 012 -> 013 ->(F) 012 -> 016 -> 017 -> 018 -> 019",
                "015": "007 ->(B) 006 -> 005 -> 004 -> 012 -> 016 ->(F) 012 -> 013 -> 014 -> 015"
            }
        },
        {
            "name": "Q2-2: 006→007(후진)",
            "start": "007", "came_from": "006", "direction": AgvDirection.BACKWARD,
            "targets": {
                "040": "007 ->(F) 006 -> 005 -> 004 ->(B) 005 -> 037 -> 036 -> 035 -> 034 -> 033 -> 032 -> 040",
                "041": "007 ->(F) 006 -> 005 -> 004 ->(B) 005 -> 037 -> 036 -> 035 -> 034 -> 033 -> 032 -> 031 -> 041",
                "008": "007 ->(B) 008",
                "001": "007 ->(F) 006 -> 005 -> 004 -> 030 ->(B) 004 -> 003 -> 002 -> 001",
                "011": "007 ->(F) 006 -> 005 -> 004 -> 003 ->(B) 004 -> 030 -> 009 -> 010 -> 011",
                "019": "007 ->(F) 006 -> 005 -> 004 -> 012 -> 016 -> 017 -> 018 -> 019",
                "015": "007 ->(F) 006 -> 005 -> 004 -> 012 -> 013 -> 014 -> 015"
            }
        }
    ]

    total_tests = 0
    total_success = 0

    for scenario in test_scenarios:
        print(f"\n{scenario['name']}")
        print("-" * 60)

        scenario_success = 0
        scenario_total = len(scenario['targets'])

        for target_rfid, expected_path in scenario['targets'].items():
            total_tests += 1

            print(f"\n목표 {target_rfid}:")
            print(f"  정답: {expected_path}")

            result = pathfinder.find_path(
                start_rfid=scenario['start'],
                target_rfid=target_rfid,
                current_direction=scenario['direction'],
                came_from_rfid=scenario['came_from']
            )

            if result.success:
                actual_path = UniversalPathFormatter.format_path(result, agv_map)
                print(f"  실제: {actual_path}")

                if actual_path == expected_path:
                    print("  [SUCCESS]")
                    scenario_success += 1
                    total_success += 1
                else:
                    print("  [FAILED] - Path mismatch")
            else:
                print(f"  [FAILED]: {result.error_message}")

        print(f"\n{scenario['name']} 결과: {scenario_success}/{scenario_total} 성공")

    print(f"\n{'='*80}")
    print(f"전체 결과: {total_success}/{total_tests} 성공 ({total_success/total_tests*100:.1f}%)")
    print(f"{'='*80}")

    if total_success == total_tests:
        print("*** 모든 테스트 케이스 성공! 범용 알고리즘 완성! ***")
    else:
        print(f"*** {total_tests - total_success}개 케이스 실패. 추가 수정 필요. ***")

    return total_success == total_tests

if __name__ == "__main__":
    test_all_scenarios()