#include "plc_device.h"
#include "plsr_persistence.h"
#include <inttypes.h>
#include <stdio.h>
#include <stdlib.h>

static unsigned int TestCount;

#define TEST_CHECK(condition)                                                   \
    do                                                                          \
    {                                                                           \
        TestCount++;                                                            \
        if (!(condition))                                                       \
        {                                                                       \
            (void)fprintf(stderr, "FAIL line %d: %s\n", __LINE__, #condition); \
            exit(EXIT_FAILURE);                                                 \
        }                                                                       \
    } while (0)

static void TestAddressMap(void)
{
    uint16_t eventAddress;

    TEST_CHECK(PlsrAxisAddressMap[0].hsdRuntimeBase == 0U);
    TEST_CHECK(PlsrAxisAddressMap[3].hsdRuntimeBase == 12U);
    TEST_CHECK(PlsrAxisAddressMap[0].smPulseActiveAddress == 1000U);
    TEST_CHECK(PlsrAxisAddressMap[3].smDirectionAddress == 1061U);
    TEST_CHECK(PlsrAxisAddressMap[2].sdRuntimeBase == 1040U);
    TEST_CHECK(PlsrAxisAddressMap[3].eventBase == 6300U);

    TEST_CHECK(PlcDeviceGetEventAddress(0U, 1U, &eventAddress) == PLC_DEVICE_OK);
    TEST_CHECK(eventAddress == 6000U);
    TEST_CHECK(PlcDeviceGetEventAddress(3U, 100U, &eventAddress) == PLC_DEVICE_OK);
    TEST_CHECK(eventAddress == 6399U);
    TEST_CHECK(PlcDeviceGetEventAddress(4U, 1U, &eventAddress)
               == PLC_DEVICE_INVALID_ARGUMENT);
    TEST_CHECK(PlcDeviceGetEventAddress(0U, 0U, &eventAddress)
               == PLC_DEVICE_INVALID_ARGUMENT);
}

static void TestHsdAndPersistence(void)
{
    uint16_t value16;
    int32_t value32;
    const int32_t firstDword = INT32_C(0x12345678);
    const int32_t secondDword = -INT32_C(0x1020304);

    PlsrPersistenceTestResetStorage();
    TEST_CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceGetLastHsdLoadResult() == PLSR_PERSISTENCE_DEFAULTED);
    TEST_CHECK(PlcDeviceIsHsdDirty() != 0U);

    TEST_CHECK(PlcDeviceWriteHsdConfig(460U, 11) == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceWriteHsdConfig(539U, 0xB4E2U) == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceWriteHsdConfig(0U, 1) == PLC_DEVICE_READ_ONLY);
    TEST_CHECK(PlcDeviceWriteHsdConfig(459U, 1) == PLC_DEVICE_INVALID_ADDRESS);
    TEST_CHECK(PlcDeviceReadHsd(460U, &value16) == PLC_DEVICE_OK);
    TEST_CHECK(value16 == 11);
    TEST_CHECK(PlcDeviceReadHsd(539U, &value16) == PLC_DEVICE_OK);
    TEST_CHECK(value16 == 0xB4E2U);
    TEST_CHECK(PlcDeviceReadHsd(540U, &value16) == PLC_DEVICE_INVALID_ADDRESS);

    /* 32 位兼容布局：低地址=低16位，高地址=高16位。 */
    TEST_CHECK(PlcDevicePublishHsdDword(0U, firstDword) == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceReadHsd(0U, &value16) == PLC_DEVICE_OK);
    TEST_CHECK(value16 == 0x5678U);
    TEST_CHECK(PlcDeviceReadHsd(1U, &value16) == PLC_DEVICE_OK);
    TEST_CHECK(value16 == 0x1234U);
    TEST_CHECK(PlcDeviceReadHsdDword(0U, &value32) == PLC_DEVICE_OK);
    TEST_CHECK(value32 == firstDword);
    TEST_CHECK(PlcDeviceReadHsdDword(1U, &value32)
               == PLC_DEVICE_INVALID_ADDRESS);
    TEST_CHECK(PlcDeviceReadHsdDword(15U, &value32)
               == PLC_DEVICE_INVALID_ADDRESS);
    TEST_CHECK(PlcDeviceCheckpointHsd() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceIsHsdDirty() == 0U);

    TEST_CHECK(PlcDeviceWriteHsdConfig(460U, 22) == PLC_DEVICE_OK);
    TEST_CHECK(PlcDevicePublishHsdDword(0U, secondDword) == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceCheckpointHsd() == PLC_DEVICE_OK);

    PlsrPersistenceTestCorruptNewestHsd();
    TEST_CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceGetLastHsdLoadResult() == PLSR_PERSISTENCE_OK);
    TEST_CHECK(PlcDeviceReadHsd(460U, &value16) == PLC_DEVICE_OK);
    TEST_CHECK(value16 == 11);
    TEST_CHECK(PlcDeviceReadHsdDword(0U, &value32) == PLC_DEVICE_OK);
    TEST_CHECK(value32 == firstDword);
}

static void TestHsdDefaults(void)
{
    uint16_t value;

    PlsrPersistenceTestResetStorage();
    TEST_CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceGetLastHsdLoadResult() == PLSR_PERSISTENCE_DEFAULTED);

    /* K0（HSD460~539）出厂默认即可直接启动。 */
    TEST_CHECK(PlcDeviceReadHsd(460U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 1000);      /* 默认速度低16位 */
    TEST_CHECK(PlcDeviceReadHsd(461U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 0);         /* 默认速度高16位 */
    TEST_CHECK(PlcDeviceReadHsd(462U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 100);       /* 加速时间 ms */
    TEST_CHECK(PlcDeviceReadHsd(463U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 100);       /* 减速时间 ms */
    TEST_CHECK(PlcDeviceReadHsd(466U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 0x86A0U);   /* 最大速度低16位 100000 */
    TEST_CHECK(PlcDeviceReadHsd(467U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 1);         /* 最大速度高16位 */
    TEST_CHECK(PlcDeviceReadHsd(472U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 50);        /* FOLLOW 1~100 */
    TEST_CHECK(PlcDeviceReadHsd(539U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 0);
}

static void TestHsdMetaPersistence(void)
{
    PlsrPersistenceTestResetStorage();
    TEST_CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceGetRestoredHsdPositionValid() == 0U);
    TEST_CHECK(PlcDeviceGetRestoredHsdLastBusy() == 0U);

    /* 正常停机保存：positionValid=1, lastBusy=0。 */
    TEST_CHECK(PlcDeviceSetHsdCheckpointMeta(1U, 0U) == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceCheckpointHsd() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceGetRestoredHsdPositionValid() == 1U);
    TEST_CHECK(PlcDeviceGetRestoredHsdLastBusy() == 0U);

    /* 运动中掉电保存：lastBusy=1，恢复后位置不可信。 */
    TEST_CHECK(PlcDeviceSetHsdCheckpointMeta(1U, 1U) == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceCheckpointHsd() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceGetRestoredHsdPositionValid() == 1U);
    TEST_CHECK(PlcDeviceGetRestoredHsdLastBusy() == 1U);
}

static void TestSfd(void)
{
    uint16_t value;

    PlsrPersistenceTestResetStorage();
    TEST_CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceGetLastSfdLoadResult()
               == PLSR_PERSISTENCE_DEFAULTED);
    TEST_CHECK(PlcDeviceIsSfdDirty() != 0U);
    TEST_CHECK(PlcDeviceReadSfd(907U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 10);
    TEST_CHECK(PlcDeviceReadSfd(927U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 20);
    TEST_CHECK(PlcDeviceReadSfd(943U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 0x0201);
    TEST_CHECK(PlcDeviceReadSfd(956U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 0x86A0);
    TEST_CHECK(PlcDeviceReadSfd(957U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 1);
    /* 第1套参数出厂默认可直接启动。 */
    TEST_CHECK(PlcDeviceReadSfd(950U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 1000);
    TEST_CHECK(PlcDeviceReadSfd(951U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 0);
    TEST_CHECK(PlcDeviceReadSfd(952U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 100);
    TEST_CHECK(PlcDeviceReadSfd(962U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 50);
    TEST_CHECK(PlcDeviceReadSfd(1297U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 10);
    TEST_CHECK(PlsrPersistenceLoadSfd(NULL)
               == PLSR_PERSISTENCE_INVALID_ARGUMENT);
    TEST_CHECK(PlsrPersistenceSaveSfd(NULL)
               == PLSR_PERSISTENCE_INVALID_ARGUMENT);

    TEST_CHECK(PlcDeviceWriteSfd(900U, 123) == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceWriteSfd(1419U, 0xB456U) == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceReadSfd(900U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 123);
    TEST_CHECK(PlcDeviceReadSfd(1419U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 0xB456U);
    TEST_CHECK(PlcDeviceReadSfd(899U, &value) == PLC_DEVICE_INVALID_ADDRESS);
    TEST_CHECK(PlcDeviceReadSfd(1420U, &value) == PLC_DEVICE_INVALID_ADDRESS);
    TEST_CHECK(PlcDeviceIsSfdDirty() != 0U);
    TEST_CHECK(PlcDeviceSaveSfd() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceIsSfdDirty() == 0U);

    TEST_CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceGetLastSfdLoadResult() == PLSR_PERSISTENCE_OK);
    TEST_CHECK(PlcDeviceReadSfd(900U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 123);
    TEST_CHECK(PlcDeviceReadSfd(1419U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 0xB456U);

    TEST_CHECK(PlcDeviceWriteSfd(900U, 789) == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceWriteSfd(1419U, 0x9876U) == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceSaveSfd() == PLC_DEVICE_OK);
    PlsrPersistenceTestCorruptNewestSfd();
    TEST_CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceReadSfd(900U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 123);
    TEST_CHECK(PlcDeviceReadSfd(1419U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 0xB456U);

    TEST_CHECK(PlcDeviceWriteSfd(900U, 1001) == PLC_DEVICE_OK);
    PlsrPersistenceTestSetSfdFault(PLSR_TEST_SFD_FAULT_ERASE);
    TEST_CHECK(PlcDeviceSaveSfd() == PLC_DEVICE_PERSISTENCE_ERROR);
    TEST_CHECK(PlcDeviceIsSfdDirty() != 0U);
    TEST_CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceReadSfd(900U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 123);

    TEST_CHECK(PlcDeviceWriteSfd(900U, 1002) == PLC_DEVICE_OK);
    PlsrPersistenceTestSetSfdFault(PLSR_TEST_SFD_FAULT_PROGRAM);
    TEST_CHECK(PlcDeviceSaveSfd() == PLC_DEVICE_PERSISTENCE_ERROR);
    TEST_CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceReadSfd(900U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 123);

    TEST_CHECK(PlcDeviceWriteSfd(900U, 1003) == PLC_DEVICE_OK);
    PlsrPersistenceTestSetSfdFault(PLSR_TEST_SFD_FAULT_VERIFY);
    TEST_CHECK(PlcDeviceSaveSfd() == PLC_DEVICE_PERSISTENCE_ERROR);
    TEST_CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceReadSfd(900U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 123);

    TEST_CHECK(PlcDeviceWriteSfd(900U, 1004) == PLC_DEVICE_OK);
    PlsrPersistenceTestSetSfdFault(PLSR_TEST_SFD_FAULT_BEFORE_COMMIT);
    TEST_CHECK(PlcDeviceSaveSfd() == PLC_DEVICE_PERSISTENCE_ERROR);
    TEST_CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceReadSfd(900U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 123);

    TEST_CHECK(PlcDevicePublishSm(0U, 1U, 0U) == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceWriteSfd(900U, 2000) == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceSaveSfd() == PLC_DEVICE_BUSY);
    TEST_CHECK(PlcDeviceLoadSfd() == PLC_DEVICE_BUSY);
    TEST_CHECK(PlcDeviceResetSfdDefaults() == PLC_DEVICE_BUSY);
    TEST_CHECK(PlcDevicePublishSm(0U, 0U, 0U) == PLC_DEVICE_OK);

    TEST_CHECK(PlcDeviceResetSfdDefaults() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceIsSfdDirty() != 0U);
    TEST_CHECK(PlcDeviceReadSfd(900U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 0);
    TEST_CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceGetLastSfdLoadResult()
               == PLSR_PERSISTENCE_DEFAULTED);
    TEST_CHECK(PlcDeviceReadSfd(1419U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 0);
    TEST_CHECK(PlcDeviceReadSfd(1333U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 0x0201);
}

static void TestSmAndSd(void)
{
    uint8_t state;
    int32_t value;

    TEST_CHECK(PlcDevicePublishSm(2U, 1U, 0U) == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceReadSm(1040U, &state) == PLC_DEVICE_OK);
    TEST_CHECK(state == 1U);
    TEST_CHECK(PlcDeviceReadSm(1041U, &state) == PLC_DEVICE_OK);
    TEST_CHECK(state == 0U);
    TEST_CHECK(PlcDeviceWriteSm(1040U, 0U) == PLC_DEVICE_READ_ONLY);
    TEST_CHECK(PlcDeviceReadSm(1042U, &state) == PLC_DEVICE_INVALID_ADDRESS);

    TEST_CHECK(PlcDevicePublishSd(3U, 11U, -12345) == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceReadSd(1071U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == -12345);
    TEST_CHECK(PlcDeviceWriteSd(1071U, 0) == PLC_DEVICE_READ_ONLY);
    TEST_CHECK(PlcDeviceReadSd(1012U, &value) == PLC_DEVICE_INVALID_ADDRESS);
    TEST_CHECK(PlcDevicePublishSd(4U, 0U, 0) == PLC_DEVICE_INVALID_ARGUMENT);

    TEST_CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    TEST_CHECK(PlcDeviceReadSm(1040U, &state) == PLC_DEVICE_OK);
    TEST_CHECK(state == 0U);
    TEST_CHECK(PlcDeviceReadSd(1071U, &value) == PLC_DEVICE_OK);
    TEST_CHECK(value == 0);
}

int main(void)
{
    TestAddressMap();
    TestHsdAndPersistence();
    TestHsdDefaults();
    TestHsdMetaPersistence();
    TestSfd();
    TestSmAndSd();

    (void)printf("PASS: %u checks\n", TestCount);
    return EXIT_SUCCESS;
}