"""
simbox tests that run in Isaac Sim environment using subprocess wrappers.
Migrated from original test files to use the new IntegrationTestHarness framework.
"""

import sys

from tests.integration.base.test_harness import IntegrationTestHarness

# Add path for proper imports
sys.path.append("./")
sys.path.append("./data_engine")
sys.path.append("./tests/integration")


def test_simbox_pipeline():
    """
    Test simbox pipeline by running it in Isaac Sim subprocess.
    This test uses a subprocess wrapper to handle Isaac Sim process separation.
    """
    harness = IntegrationTestHarness(config_path="configs/simbox/de_pipe_template.yaml", seed=42, random_num=1)

    # Run in subprocess using Isaac Sim Python interpreter
    result = harness.run_data_engine_subprocess(
        runner_script="tests/integration/simbox/runners/simbox_pipeline_runner.py",
        interpreter="/isaac-sim/python.sh",
        timeout=1800,  # 30 minutes
    )

    # Verify subprocess completed successfully
    assert result.returncode == 0, f"simbox pipeline test failed with return code: {result.returncode}"

    # Validate that output was generated
    # harness.validate_output_generated(min_files=6)

    print("✓ simbox pipeline test completed successfully")


def test_simbox_plan():
    """
    Test simbox plan generation by running it in Isaac Sim subprocess.
    """
    harness = IntegrationTestHarness(
        config_path="configs/simbox/de_plan_template.yaml",
        seed=42,
        random_num=1,
    )

    # Run in subprocess using Isaac Sim Python interpreter
    result = harness.run_data_engine_subprocess(
        runner_script="tests/integration/simbox/runners/simbox_plan_runner.py",
        interpreter="/isaac-sim/python.sh",
        timeout=1800,  # 30 minutes
    )

    # Verify subprocess completed successfully
    assert result.returncode == 0, f"simbox plan test failed with return code: {result.returncode}"

    # Validate that output was generated
    # harness.validate_output_generated(min_files=1)

    print("✓ simbox plan test completed successfully")


def test_simbox_render():
    """
    Test simbox render by running it in Isaac Sim subprocess.
    """
    harness = IntegrationTestHarness(
        config_path="configs/simbox/de_render_template.yaml",
        # config_path="tests/integration/simbox/configs/simbox_test_render_configs.yaml",
        seed=42,
    )

    reference_dir = "/shared/smartbot_new/zhangyuchang/CI/manip/simbox/simbox_render_ci"
    # Run in subprocess using Isaac Sim Python interpreter
    result = harness.run_data_engine_subprocess(
        runner_script="tests/integration/simbox/runners/simbox_render_runner.py",
        interpreter="/isaac-sim/python.sh",
        timeout=1800,  # 30 minutes
        compare_output=True,
        reference_dir=reference_dir,
        comparator="simbox",
        comparator_args={
            # Use defaults; override here if needed
            # "tolerance": 1e-6,
            # "image_psnr": 37.0,
        },
    )

    # Verify subprocess completed successfully
    assert result.returncode == 0, f"simbox render test failed with return code: {result.returncode}"

    # Validate that output was generated
    # harness.validate_output_generated(min_files=1)

    print("✓ simbox render test completed successfully")


if __name__ == "__main__":
    # Run all tests when script is executed directly
    test_simbox_plan()
    test_simbox_render()
    test_simbox_pipeline()