ParkingRobot/.task8-sweep/tests/PathSmoothingPngVerificationHost/Program.cs

using System;
using System.Collections.Generic;
using System.Globalization;
using System.IO;
using MultiWheelC.TrajectoryPlanning.CoarsePath;
using MultiWheelC.TrajectoryPlanning.Mapping;
using MultiWheelC.TrajectoryPlanning.PathSmoothing;
using MultiWheelC.TrajectoryPlanning.PathSmoothing.Comparison;
using MultiWheelC.TrajectoryPlanning.PathSmoothing.Facade;
using MultiWheelC.TrajectoryPlanning.PathSmoothing.Test;
using MultiWheelC.TrajectoryPlanning.PathSmoothing.Visualization;

internal static class Program
{
    private static readonly byte[] PngSignature = { 137, 80, 78, 71, 13, 10, 26, 10 };

    private static int Main(string[] arguments)
    {
        try
        {
            if (arguments.Length == 3 && arguments[0] == "--export-fixtures")
            {
                ExportFixtureReports(arguments[1], arguments[2]);
                return 0;
            }
            if (arguments.Length == 2 && arguments[0] == "--export-end-to-end")
            {
                ExportEndToEndReports(arguments[1]);
                return 0;
            }
            Require(arguments.Length == 1 && File.Exists(arguments[0]), "A fixture path is required.");
            Verify(arguments[0]);
            Console.WriteLine("PNG verification host completed.");
            return 0;
        }
        catch (Exception exception)
        {
            Console.Error.WriteLine(exception.ToString());
            return 1;
        }
    }

    private static void ExportFixtureReports(string fixturePath, string outputDirectory)
    {
        Require(File.Exists(fixturePath), "Fixture path was not found.");
        PrintReports(new PathSmoothingComparisonDemo().ExportFixtureReports(fixturePath, outputDirectory));
    }

    private static void ExportEndToEndReports(string outputDirectory)
    {
        PrintReports(new PathSmoothingComparisonDemo().ExportEndToEndReports(outputDirectory));
    }

    private static void PrintReports(IReadOnlyList<PathSmoothingComparisonScenarioResult> scenarios)
    {
        for (int scenarioIndex = 0; scenarioIndex < scenarios.Count; scenarioIndex++)
        {
            PathSmoothingComparisonScenarioResult scenario = scenarios[scenarioIndex];
            if (scenario.Comparison == null)
            {
                Console.WriteLine(scenario.ScenarioId + " coarse=" + scenario.CoarsePathStatus + " " + scenario.Diagnostic);
                continue;
            }
            PrintEntry(scenario.ScenarioId, scenario.Comparison.RawPathBaseline);
            for (int entryIndex = 0; entryIndex < scenario.Comparison.Entries.Count; entryIndex++)
                PrintEntry(scenario.ScenarioId, scenario.Comparison.Entries[entryIndex]);
            Console.WriteLine(scenario.ScenarioId + " report=" + scenario.Report.Status + " " + scenario.Report.Reason);
        }
    }

    private static void PrintEntry(string scenarioId, PathSmoothingComparisonEntry entry)
    {
        Console.WriteLine(string.Format(
            CultureInfo.InvariantCulture,
            "{0} {1} status={2} length={3:F4} peakKappa={4:F4} clearance={5:F4}",
            scenarioId,
            entry.IsRawPathBaseline ? "RawPath" : entry.Method.ToString(),
            entry.Status,
            entry.Metrics.PathLengthMeters,
            entry.Metrics.MaximumAbsoluteVehicleCurvaturePerMeter,
            entry.Metrics.MinimumBodyClearanceMeters));
    }

    private static void Verify(string fixturePath)
    {
        PathSmoothingComparisonRequest request = CreateComparisonRequest();
        PathSmoothingComparisonResult comparison = new PathSmoothingComparisonService().Compare(request);
        Require(!comparison.IsCancelled, "Fixture comparison was cancelled.");
        Require(request.SmoothingRequest.CoarsePath.Count > 1, "Fixture coarse path is too short.");

        CoarsePathPoint first = request.SmoothingRequest.CoarsePath[0];
        CoarsePathPoint last = request.SmoothingRequest.CoarsePath[request.SmoothingRequest.CoarsePath.Count - 1];
        var model = new SmoothingFigureModelBuilder().Build(
            comparison,
            request.SmoothingRequest.Map,
            new Pose2D(first.X, first.Y, first.Heading),
            new Pose2D(last.X, last.Y, last.Heading),
            "straight",
            "Straight");

        VerifyObstacleRectanglesAreMerged(fixturePath, comparison, new Pose2D(first.X, first.Y, first.Heading), new Pose2D(last.X, last.Y, last.Heading));
        VerifySixFigureDefinitionContract(model);
        VerifyPointOnlyRendererContract(model);

        var resolver = new SmoothingFontResolver();
        Require(resolver.TryResolve("SimSun", "Times New Roman", out SmoothingFontResolution fonts, out string fontReason),
            "Required report fonts are unavailable: " + fontReason);
        byte[] png;
        using (fonts)
        {
            Require(fonts.ChineseFamilyName == "SimSun", "Chinese font must resolve to exact SimSun family.");
            Require(fonts.LatinFamilyName == "Times New Roman", "Latin font must resolve to exact Times New Roman family.");
            Require(resolver.MeasureMixedText(fonts, "粗路径 κ(s) X (m) −π", 9f).Width > 0f,
                "Mixed Chinese/Latin sample must have nonempty measured bounds.");
            png = new SmoothingPngRenderer().Render(model, fonts);
        }
        VerifyPng(png);

        string outputDirectory = Path.Combine(Path.GetTempPath(), "path-smoothing-png-" + Guid.NewGuid().ToString("N"));
        try
        {
            var exporter = new SmoothingReportExporter();
            SmoothingReportExportResult report = exporter.Export(new SmoothingReportExportRequest
            {
                Model = model,
                OutputDirectory = outputDirectory,
                FileStem = "straight-report",
            });
            Require(report.Status == SmoothingReportExportStatus.Success, "Report export failed: " + report.Reason);
            Require(report.SvgPaths.Count == 6 && report.PngPaths.Count == 6 && File.Exists(report.CsvPath),
                "Successful export must publish six SVGs, six PNGs and one CSV.");
            VerifyPublishedSixFigureFiles(report, outputDirectory);
            Require(!ContainsTemporaryFiles(outputDirectory), "Successful export must not leave temporary files.");

            string unavailableDirectory = Path.Combine(outputDirectory, "missing-font");
            SmoothingReportExportResult unavailable = exporter.Export(new SmoothingReportExportRequest
            {
                Model = model,
                OutputDirectory = unavailableDirectory,
                FileStem = "must-not-write",
                ChineseFontFamilyName = "Missing report font",
                LatinFontFamilyName = "Times New Roman",
            });
            Require(unavailable.Status == SmoothingReportExportStatus.FontUnavailable,
                "Missing exact font must report FontUnavailable.");
            Require(!Directory.Exists(unavailableDirectory), "Missing-font export must remain atomic and create no output directory.");
        }
        finally
        {
            if (Directory.Exists(outputDirectory)) Directory.Delete(outputDirectory, true);
        }
    }

    private static PathSmoothingComparisonRequest CreateComparisonRequest()
    {
        PlanningMapBuildResult mapResult = new PlanningMapFactory().Create(new PlanningMapRequest
        {
            Bounds = new MapBoundsMm(0f, 5000f, 0f, 5000f),
            ResolutionMm = 50f,
            AllowExplicitEmptyMap = true,
        });
        Require(mapResult.Succeeded && mapResult.Map != null, "PNG verification map must be created.");
        var vehicle = new VehicleParameters
        {
            LengthMeters = 0.20d,
            WidthMeters = 0.20d,
            SafetyMarginMeters = 0d,
            MaximumCurvaturePerMeter = 100d,
        };
        var coarsePath = new List<CoarsePathPoint>
        {
            CreatePoint(0.5d, 0.5d, 0d),
            CreatePoint(1.0d, 0.5d, 0.5d),
            CreatePoint(1.0d, 1.0d, 1.0d),
            CreatePoint(1.5d, 1.0d, 1.5d),
        };
        var segments = new List<PathSegment>
        {
            new PathSegment(0, TravelDirection.Forward, 0, coarsePath.Count - 1, false, false),
        };
        return new PathSmoothingComparisonRequest(new PathSmoothingRequest(
            coarsePath,
            segments,
            mapResult.Map,
            vehicle,
            new PathSmoothingConfiguration()));
    }

    private static void VerifySixFigureDefinitionContract(SmoothingFigureModel model)
    {
        SmoothingFigureSet figureSet = new SmoothingFigureSetBuilder().Build(model);
        var stems = new List<string>();
        for (int index = 0; index < figureSet.Figures.Count; index++) stems.Add(figureSet.Figures[index].FileStem);
        string expected = string.Join(",", new[]
        {
            "01-coarse-path-overview",
            "02-all-paths-comparison",
            "03-cubic-bspline-overview",
            "04-local-cubic-bezier-overview",
            "05-piecewise-quintic-overview",
            "06-curvature-comparison",
        });
        Require(string.Join(",", stems) == expected, "Six-figure report stems must be stable and ordered.");
        Require(!figureSet.Figures[1].ShowsMapContext, "All-path comparison must contain only trajectories, axes and legend.");
        Require(figureSet.Figures[2].ShowsMapContext && figureSet.Figures[2].Series[0].Opacity < 1d,
            "Individual smoother figures must retain a faded raw-path map reference.");
        Require(figureSet.Figures[0].WorldScalePointsPerMeter > 0d &&
                Math.Abs((figureSet.Figures[0].WorldXMaxMeters - figureSet.Figures[0].WorldXMinMeters) /
                    (figureSet.Figures[0].WorldYMaxMeters - figureSet.Figures[0].WorldYMinMeters) -
                    figureSet.Figures[0].PlotWidthPoints / figureSet.Figures[0].PlotHeightPoints) < 0.000001d,
            "Overhead figures must preserve equal X/Y scale.");
        Require(figureSet.Figures[0].LegendYPoints -
                (figureSet.Figures[0].PlotYPoints + figureSet.Figures[0].PlotHeightPoints + 31d) >= 8d,
            "Legend must leave vertical clearance below the X-axis unit label.");
    }

    private static void VerifyObstacleRectanglesAreMerged(string fixturePath, PathSmoothingComparisonResult comparison, Pose2D start, Pose2D goal)
    {
        IReadOnlyList<SmoothingScenarioFixture> fixtures = SmoothingScenarioFixtureLoader.LoadAndVerify(fixturePath);
        IReadOnlyList<PathSmoothingComparisonRequest> requests = SmoothingScenarioFactory.CreateFixtureRequests(fixturePath);
        int rectangleIndex = -1;
        for (int index = 0; index < fixtures.Count; index++)
        {
            if (fixtures[index].Id == "rectangle-detour") { rectangleIndex = index; break; }
        }
        Require(rectangleIndex >= 0, "Fixture suite must include rectangle-detour for obstacle rendering verification.");
        SmoothingFigureModel model = new SmoothingFigureModelBuilder().Build(
            comparison, requests[rectangleIndex].SmoothingRequest.Map, start, goal, "obstacle", "obstacle");
        Require(model.Obstacles.Count > 0, "Rectangle-detour fixture must produce report obstacles.");
        for (int firstIndex = 0; firstIndex < model.Obstacles.Count; firstIndex++)
        {
            SmoothingFigureObstacle first = model.Obstacles[firstIndex];
            for (int secondIndex = firstIndex + 1; secondIndex < model.Obstacles.Count; secondIndex++)
            {
                SmoothingFigureObstacle second = model.Obstacles[secondIndex];
                bool matchingColumn = Math.Abs(first.X - second.X) < 0.0000001d && Math.Abs(first.Width - second.Width) < 0.0000001d;
                bool verticallyAdjacent = Math.Abs((first.Y + first.Height) - second.Y) < 0.0000001d ||
                    Math.Abs((second.Y + second.Height) - first.Y) < 0.0000001d;
                Require(!(matchingColumn && verticallyAdjacent), "Adjacent occupied rows must merge into a single obstacle rectangle.");
            }
        }
    }

    private static void VerifyPointOnlyRendererContract(SmoothingFigureModel model)
    {
        SmoothingFigureDefinition figure = new SmoothingFigureSetBuilder().Build(model).Figures[1];
        string svg = new SmoothingSvgRenderer().Render(figure);
        Require(svg.Contains("class=\"trajectory-point\""), "Trajectory samples must render as discrete SVG point markers.");
        Require(!svg.Contains("stroke-dasharray") && !svg.Contains("-path\""), "Trajectory SVG output must not use dashed or joined path strokes.");
        Require(svg.Contains("X (m)") && svg.Contains("Y (m)"), "Overhead SVG must label metre coordinate axes.");
    }

    private static void VerifyPublishedSixFigureFiles(SmoothingReportExportResult report, string outputDirectory)
    {
        var expectedStems = new[]
        {
            "01-coarse-path-overview",
            "02-all-paths-comparison",
            "03-cubic-bspline-overview",
            "04-local-cubic-bezier-overview",
            "05-piecewise-quintic-overview",
            "06-curvature-comparison",
        };
        VerifyPublishedPaths(report.SvgPaths, expectedStems, ".svg", outputDirectory);
        VerifyPublishedPaths(report.PngPaths, expectedStems, ".png", outputDirectory);
        Require(!File.Exists(Path.Combine(outputDirectory, "comparison.svg")) && !File.Exists(Path.Combine(outputDirectory, "comparison.png")),
            "Six-figure export must not leave legacy composite comparison images.");
    }

    private static void VerifyPublishedPaths(IReadOnlyList<string> paths, string[] expectedStems, string extension, string outputDirectory)
    {
        var actual = new List<string>();
        for (int index = 0; index < paths.Count; index++) actual.Add(paths[index]);
        Require(actual.Count == expectedStems.Length, "Six-figure export must publish six " + extension + " files.");
        for (int index = 0; index < expectedStems.Length; index++)
        {
            string expected = Path.Combine(outputDirectory, expectedStems[index] + extension);
            Require(actual[index] == expected && File.Exists(actual[index]), "Published " + extension + " path must match the stable figure stem.");
        }
    }

    private static CoarsePathPoint CreatePoint(double x, double y, double arcLength)
    {
        return new CoarsePathPoint(
            x, y, 0d, 0d, arcLength, TravelDirection.Forward, 0d, 1d, false, CoarsePathPointSource.Start);
    }

    private static bool ContainsTemporaryFiles(string directory)
    {
        foreach (string ignored in Directory.EnumerateFiles(directory, "*.tmp")) return true;
        return false;
    }

    private static void VerifyPng(byte[] png)
    {
        Require(png != null && png.Length > PngSignature.Length, "PNG output is empty.");
        byte[] data = png ?? throw new InvalidOperationException("PNG output is empty.");
        for (int index = 0; index < PngSignature.Length; index++)
            Require(data[index] == PngSignature[index], "PNG signature is invalid.");

        bool sawHeader = false;
        bool sawPhysicalResolution = false;
        int offset = PngSignature.Length;
        while (offset < data.Length)
        {
            Require(offset + 12 <= data.Length, "PNG chunk header is truncated.");
            int length = checked((int)ReadUInt32BigEndian(data, offset));
            int dataStart = offset + 8;
            int crcStart = checked(dataStart + length);
            Require(crcStart + 4 <= data.Length, "PNG chunk data is truncated.");
            uint expectedCrc = ReadUInt32BigEndian(data, crcStart);
            uint actualCrc = ComputeCrc32(data, offset + 4, length + 4);
            Require(expectedCrc == actualCrc, "PNG chunk CRC is invalid.");

            string type = System.Text.Encoding.ASCII.GetString(data, offset + 4, 4);
            if (type == "IHDR")
            {
                Require(length == 13, "IHDR length must be 13.");
                Require(ReadUInt32BigEndian(data, dataStart) == SmoothingPngRenderer.WidthPixels, "PNG width must be 4296.");
                Require(ReadUInt32BigEndian(data, dataStart + 4) == SmoothingPngRenderer.HeightPixels, "PNG height must be 3120.");
                sawHeader = true;
            }
            else if (type == "pHYs")
            {
                Require(length == 9, "pHYs length must be 9.");
                Require(ReadUInt32BigEndian(data, dataStart) == SmoothingPngRenderer.PixelsPerMeter,
                    "PNG horizontal density must be 23622 pixels/meter.");
                Require(ReadUInt32BigEndian(data, dataStart + 4) == SmoothingPngRenderer.PixelsPerMeter,
                    "PNG vertical density must be 23622 pixels/meter.");
                Require(data[dataStart + 8] == 1, "PNG pHYs unit must be meter.");
                sawPhysicalResolution = true;
            }
            offset = crcStart + 4;
        }
        Require(sawHeader && sawPhysicalResolution, "PNG must contain IHDR and pHYs chunks.");
    }

    private static uint ReadUInt32BigEndian(byte[] data, int offset)
    {
        return ((uint)data[offset] << 24) | ((uint)data[offset + 1] << 16) |
            ((uint)data[offset + 2] << 8) | data[offset + 3];
    }

    private static uint ComputeCrc32(byte[] data, int offset, int length)
    {
        uint crc = 0xffffffffu;
        for (int index = 0; index < length; index++)
        {
            crc ^= data[offset + index];
            for (int bit = 0; bit < 8; bit++)
                crc = (crc & 1u) == 0u ? crc >> 1 : (crc >> 1) ^ 0xedb88320u;
        }
        return crc ^ 0xffffffffu;
    }

    private static void Require(bool condition, string message)
    {
        if (!condition) throw new InvalidOperationException(message);
    }
}