// Milestone M6 scenarios (DESIGN_UE.md section 10, "Pilot the carrier"): m6_helm_speed (U9), m6_helm_mouse (U4), m6_scrape (V12), m6_walk_moving.

#include "Core/DescentMath.h"
#include "Core/DescentSimSubsystem.h"
#include "Core/Tuning/DescentTune_Carrier.h"
#include "Debug/DescentDebugSubsystem.h"
#include "Debug/DescentScenario.h"
#include "Player/DescentCharacter.h"
#include "Player/DescentInteraction.h"
#include "Player/DescentPlayerController.h"
#include "UI/DescentHudSubsystem.h"
#include "UI/DescentUiShot.h"
#include "Vehicles/CarrierHelm.h"
#include "Vehicles/CarrierLayout.h"
#include "Vehicles/DescentCarrier.h"
#include "World/DescentWorldScenarioSteps.h"
#include "DescentUnits.h"
#include "TheDescent.h"

namespace
{
	ADescentPlayerController* M6PC(const FDescentScenarioContext& C) { return C.World ? Cast<ADescentPlayerController>(C.World->GetFirstPlayerController()) : nullptr; }
	ADescentCharacter* M6Char(const FDescentScenarioContext& C) { ADescentPlayerController* PC = M6PC(C); return PC ? PC->GetDescentCharacter() : nullptr; }
	ADescentCarrier* M6Carrier(const FDescentScenarioContext& C) { return UDescentCarrierSubsystem::GetCarrier(C.World); }
	const TCHAR* const M6Void = TEXT("Descent.Carrier.Teleport 640 -230 -700 0");   // the middle of the Great Void: no wall within reach

	void M6TakeHelm(FDescentScenarioBuilder& S)
	{
		// on foot to the helm console, E
		S.Exec(TEXT("Descent.Player.PlaceLocal 42.6 0 1.5 0"));
		S.WaitSim(0.5);
		S.Exec(TEXT("Descent.Player.Look 0 -12"));
		S.WaitSim(0.4);
		S.Expect(TEXT("the prompt offers the helm"), [](FDescentScenarioContext& C) { const FString L = M6Char(C)->Interaction->GetFocusLabel(); UE_LOG(LogDescent, Display, TEXT("M6: focus '%s'"), *L); return L.Contains(TEXT("helm")); });
		S.Exec(TEXT("Descent.Player.Use"));
		S.Expect(TEXT("mode Helm, the helm is held, the view is the carrier's bridge camera"), [](FDescentScenarioContext& C)
		{
			const ADescentPlayerController* PC = M6PC(C);
			return PC->GetMode() == EDescentMode::Helm && M6Carrier(C)->IsHelmHeld() && PC->GetViewTarget() == M6Carrier(C) && M6Carrier(C)->GetHelmView() == 0;
		});
	}

	void M6HudShot(FDescentScenarioBuilder& S, const FString& Label)
	{
		struct FSt { int32 Phase = 0; bool bDone = false; Descent::Ui::FUiShotResult R; };
		TSharedRef<FSt> St = MakeShared<FSt>();
		S.WaitFrames(8);
		S.Until(FString::Printf(TEXT("HudShot(%s)"), *Label), [St, Label](FDescentScenarioContext& C)
		{
			if (St->Phase == 0)
			{
				TSharedRef<FSt> Keep = St;
				if (!Descent::Ui::RequestUiShot(C.ScenarioName + TEXT("_") + Label, [Keep](const Descent::Ui::FUiShotResult& R) { Keep->R = R; Keep->bDone = true; }) && !St->bDone) { C.Fail(TEXT("UI shot refused")); return true; }
				St->Phase = 1;
				return false;
			}
			if (!St->bDone) { return false; }
			if (!St->R.bOk) { C.Fail(St->R.Error); }
			return true;
		});
	}

	struct FM6Track { double T0 = -1.0, A = 0.0, B = 0.0, Max = 0.0, Min = 1e9, At = -1.0; FVector P = FVector::ZeroVector; bool bFlag = false; };
}

DESCENT_SCENARIO(m6_helm_speed, "U9: from rest with throttle 1 the carrier makes at least 1.80 m/s after 4.0 s and 1.95 - 2.05 m/s after 10 s, never more than 2.05; all stop: 0.2 m/s or less within 4 s.")
{
	S.TimeLimit(240.f);
	S.Exec(M6Void);
	S.Exec(TEXT("Descent.Carrier.Helm 1"));
	S.Exec(TEXT("Descent.Carrier.Throttle 1"));
	TSharedRef<FM6Track> Tr = MakeShared<FM6Track>();
	S.Until(TEXT("10 s at full throttle"), [Tr](FDescentScenarioContext& C)
	{
		const double Now = C.Sim()->SimTime(), V = M6Carrier(C)->VelocityMps().Size();
		if (Tr->T0 < 0.0) { Tr->T0 = Now; }
		Tr->Max = FMath::Max(Tr->Max, V);
		if (Tr->At < 0.0 && Now - Tr->T0 >= 4.0) { Tr->At = V; }
		Tr->B = V;
		return Now - Tr->T0 >= 10.0;
	});
	S.Expect(TEXT("speed_mps >= 1.80 at 4.0 s; 1.95 - 2.05 at 10 s; never above 2.05"), [Tr](FDescentScenarioContext& C)
	{
		UE_LOG(LogDescent, Display, TEXT("M6 speed: %.3f m/s at 4 s, %.3f m/s at 10 s, largest %.3f m/s, contacts %d"), Tr->At, Tr->B, Tr->Max, M6Carrier(C)->Helm.Contacts);
		return Tr->At >= 1.80 && Tr->B >= 1.95 && Tr->B <= 2.05 && Tr->Max <= 2.05;
	});
	S.Exec(TEXT("Descent.Carrier.Throttle 0"));
	S.WaitSim(4.0);
	S.Expect(TEXT("all stop: <= 0.2 m/s within 4 s"), [](FDescentScenarioContext& C) { UE_LOG(LogDescent, Display, TEXT("M6 speed: %.3f m/s 4 s after all stop"), M6Carrier(C)->VelocityMps().Size()); return M6Carrier(C)->VelocityMps().Size() <= 0.2; });
	S.DumpState(TEXT("end"));
	S.Quit();
}

DESCENT_SCENARIO(m6_helm_mouse, "U4: at the helm the mouse moves an aim point and the heavy hull follows: +30 degrees gives 5 - 20 degrees after 3 s, 30 +- 1 within 14 s, never faster than 5.8 deg/s; -8 degrees of pitch at speed within 8 s. Shot helm_aim.")
{
	S.TimeLimit(300.f);
	M6TakeHelm(S);
	S.Exec(M6Void);
	S.WaitSim(0.5);
	// the mouse itself (the intent path): one second of mouse to the right moves the aim, not yet the hull
	S.Exec(TEXT("Descent.Player.Intent 0 0 0 48 0 1 0 0 0"));
	S.WaitSim(1.1);
	S.Expect(TEXT("the mouse moved the aim point 20 degrees (0.05 degrees per pixel); the hull has barely begun to turn"), [](FDescentScenarioContext& C)
	{
		const FCarrierHelmState& H = M6Carrier(C)->Helm;
		UE_LOG(LogDescent, Display, TEXT("M6 mouse: after 1 s of mouse the aim is %.2f deg ahead of the start, the hull at %.2f deg"), H.AimYawDeg, H.YawDeg);
		return FMath::Abs(H.AimYawDeg - 20.0) < 1.5 && H.YawDeg < 4.0;
	});
	S.Exec(TEXT("Descent.Carrier.AimDelta 10 0"));
	M6HudShot(S, TEXT("helm_aim"));
	TSharedRef<FM6Track> Tr = MakeShared<FM6Track>();
	S.Until(TEXT("the hull follows the aim"), [Tr](FDescentScenarioContext& C)
	{
		const FCarrierHelmState& H = M6Carrier(C)->Helm;
		const double Now = C.Sim()->SimTime();
		if (Tr->T0 < 0.0) { Tr->T0 = Now; }
		Tr->Max = FMath::Max(Tr->Max, FMath::Abs(M6Carrier(C)->YawRateDps()));
		if (Tr->At < 0.0 && FMath::Abs(H.YawDeg - 30.0) <= 1.0) { Tr->At = Now - Tr->T0 + 1.5; }   // + the 1.5 s since the aim began to move
		return Now - Tr->T0 >= 16.0;
	});
	S.Expect(TEXT("yaw 30 +- 1 within 14 s, yaw_rate_dps <= 5.8 always, the reticle is on the HUD"), [Tr](FDescentScenarioContext& C)
	{
		const FDescentHudModel& M = UDescentHudSubsystem::Get(C.World)->Model();
		UE_LOG(LogDescent, Display, TEXT("M6 mouse: yaw within 1 degree of 30 after %.1f s, largest yaw rate %.3f deg/s, final yaw %.2f, reticle %d"), Tr->At, Tr->Max, M6Carrier(C)->Helm.YawDeg, M.bHelmReticle);
		return Tr->At > 0.0 && Tr->At <= 14.0 && Tr->Max <= 5.8 && M.bHelmReticle;
	});
	S.Exec(TEXT("Descent.Player.Intent 1 0 0 0 0 1 0 0 0"));   // W: the lever goes up 1.5 per second
	S.WaitSim(4.0);
	S.Expect(TEXT("W pushed the lever to full, the carrier is at speed"), [](FDescentScenarioContext& C) { return M6Carrier(C)->Helm.Throttle >= 0.99 && M6Carrier(C)->VelocityMps().Size() > 1.5; });
	S.Exec(TEXT("Descent.Carrier.AimDelta 0 -8"));
	TSharedRef<FM6Track> Pt = MakeShared<FM6Track>();
	S.Until(TEXT("pitch follows"), [Pt](FDescentScenarioContext& C)
	{
		const double Now = C.Sim()->SimTime(), P = M6Carrier(C)->GetActorRotation().Pitch;
		if (Pt->T0 < 0.0) { Pt->T0 = Now; }
		Pt->Min = FMath::Min(Pt->Min, P);
		Pt->Max = FMath::Max(Pt->Max, P);
		return Now - Pt->T0 >= 8.0;
	});
	S.Expect(TEXT("pitch_deg -8 +- 1 within 8 s, never beyond +-10"), [Pt](FDescentScenarioContext& C)
	{
		const double P = M6Carrier(C)->GetActorRotation().Pitch;
		UE_LOG(LogDescent, Display, TEXT("M6 mouse: pitch %.2f deg after 8 s (lowest %.2f, highest %.2f)"), P, Pt->Min, Pt->Max);
		return FMath::Abs(P + 8.0) <= 1.0 && Pt->Min >= -10.0 && Pt->Max <= 10.0;
	});
	// E leaves the helm: all stop
	S.Exec(TEXT("Descent.Player.Use"));
	S.WaitSim(6.0);
	S.Expect(TEXT("E: on foot again, the helm released, the carrier coming to a stop"), [](FDescentScenarioContext& C)
	{
		UE_LOG(LogDescent, Display, TEXT("M6 mouse: 6 s after leaving the helm %.3f m/s, throttle %.2f"), M6Carrier(C)->VelocityMps().Size(), M6Carrier(C)->Helm.Throttle);
		return M6PC(C)->GetMode() == EDescentMode::Foot && !M6Carrier(C)->IsHelmHeld() && M6Carrier(C)->VelocityMps().Size() < 0.1 && !M6Char(C)->IsSeated();
	});
	S.DumpState(TEXT("end"));
	S.Quit();
}

DESCENT_SCENARIO(m6_scrape, "V12: driven into the canyon wall the carrier touches rock (contacts > 0), the hull falls, scrape > 0; the five helm cameras and the proximity panel. Shots helm_bridge, helm_chase, helm_topdown, helm_bow, helm_keel.")
{
	S.TimeLimit(420.f);
	DescentWorldScn::WaitStreamIdle(S, 60.f);
	M6TakeHelm(S);
	S.Shot(TEXT("helm_bridge"));
	S.Exec(TEXT("Descent.Carrier.Throttle 1"));
	TSharedRef<FM6Track> Tr = MakeShared<FM6Track>();
	S.Until(TEXT("steer into the wall"), [Tr](FDescentScenarioContext& C)
	{
		ADescentCarrier* K = M6Carrier(C);
		const double Now = C.Sim()->SimTime();
		if (Tr->T0 < 0.0) { Tr->T0 = Now; Tr->P = K->Helm.PosM; }
		K->Helm.AddAim(2.0, 0.0);   // keep the aim hard over to starboard
		K->Helm.Throttle = 1.0;
		Tr->Max = FMath::Max(Tr->Max, K->Helm.Scrape);
		if (K->Helm.Contacts > 0) { Tr->bFlag = true; Tr->A += 1.0; }
		if (Tr->bFlag && Tr->A > 90.0) { return true; }   // three seconds against the rock
		if (Now - Tr->T0 > 240.0) { C.Fail(TEXT("no rock touched in 240 s")); return true; }
		return false;
	});
	S.Expect(TEXT("contacts > 0, hull fell, scrape > 0"), [Tr](FDescentScenarioContext& C)
	{
		const FCarrierHelmState& H = M6Carrier(C)->Helm;
		UE_LOG(LogDescent, Display, TEXT("M6 scrape: moved %.1f m to (%.1f, %.1f, %.1f) yaw %.1f in %.0f s; contacts %d, hull %.2f, largest scrape %.3f"), FVector::Dist(H.PosM, Tr->P), H.PosM.X, H.PosM.Y, H.PosM.Z, H.YawDeg, C.Sim()->SimTime() - Tr->T0, H.Contacts, H.Hull, Tr->Max);
		return Tr->bFlag && H.Hull < 100.0 && Tr->Max > 0.0;
	});
	S.Exec(TEXT("Descent.Sim.Pause 1"));
	const TCHAR* Names[4] = { TEXT("helm_chase"), TEXT("helm_topdown"), TEXT("helm_bow"), TEXT("helm_keel") };
	for (int32 V = 1; V <= 4; ++V)
	{
		S.Exec(FString::Printf(TEXT("Descent.Carrier.View %d"), V));
		S.WaitFrames(8);
		S.Expect(FString::Printf(TEXT("view %d: the proximity panel and the vehicle panel are on the HUD"), V), [](FDescentScenarioContext& C)
		{
			const FDescentHudModel& M = UDescentHudSubsystem::Get(C.World)->Model();
			return M.bShowProximity && M.Proximity.Num() == 6 && M.Vehicle.bVisible && M.Vehicle.Title == TEXT("CANTICLE");
		});
		DescentWorldScn::ShotAllowDark(S, Names[V - 1]);
	}
	M6HudShot(S, TEXT("helm_keel_hud"));
	S.Exec(TEXT("Descent.Sim.Pause 0"));
	S.DumpState(TEXT("end"));
	S.Quit();
}

DESCENT_SCENARIO(m6_walk_moving, "The carrier at 2 m/s, turning, pitched 8 degrees: standing still for 5 s moves player.local_m by less than 0.02 m; the walk from the bridge into the corridor succeeds; the room is never lost.")
{
	S.TimeLimit(300.f);
	S.Exec(M6Void);
	S.Exec(TEXT("Descent.Player.Place bridge"));
	S.Exec(TEXT("Descent.Carrier.Helm 1"));
	S.Exec(TEXT("Descent.Carrier.Throttle 1"));
	S.Exec(TEXT("Descent.Carrier.AimDelta 40 -8"));
	S.WaitSim(8.0);
	TSharedRef<FM6Track> Tr = MakeShared<FM6Track>();
	S.Until(TEXT("stand still for 5 s while the carrier turns"), [Tr](FDescentScenarioContext& C)
	{
		ADescentCarrier* K = M6Carrier(C);
		K->Helm.AddAim(1.0, 0.0);   // keep turning
		const FVector L = M6Char(C)->GetFeetLocalM();
		const double Now = C.Sim()->SimTime();
		if (Tr->T0 < 0.0) { Tr->T0 = Now; Tr->P = L; }
		Tr->Max = FMath::Max(Tr->Max, FVector::Dist(L, Tr->P));
		Tr->A = FMath::Max(Tr->A, FMath::Abs(K->GetActorRotation().Pitch));
		return Now - Tr->T0 >= 5.0;
	});
	S.Expect(TEXT("standing: player.local_m moved < 0.02 m at 2 m/s, turning, pitched 8 degrees"), [Tr](FDescentScenarioContext& C)
	{
		const ADescentCarrier* K = M6Carrier(C);
		UE_LOG(LogDescent, Display, TEXT("M6 walk: carrier %.2f m/s, yaw rate %.2f deg/s, pitch %.2f deg (largest %.2f); the standing player drifted %.4f m"), K->VelocityMps().Size(), K->YawRateDps(), K->GetActorRotation().Pitch, Tr->A, Tr->Max);
		return Tr->Max < 0.02 && K->VelocityMps().Size() > 1.8 && FMath::Abs(K->YawRateDps()) > 1.0 && Tr->A > 7.0;
	});
	S.Exec(TEXT("Descent.Player.MoveTo corr3"));
	TSharedRef<FM6Track> W = MakeShared<FM6Track>();
	S.Until(TEXT("walk bridge to corridor"), [W](FDescentScenarioContext& C)
	{
		M6Carrier(C)->Helm.AddAim(1.0, 0.0);
		const ADescentCharacter* P = M6Char(C);
		if (!Descent::Carrier::FLayout::Get().RoomAt(P->GetFeetLocalM() + FVector(0, 0, 0.3))) { W->bFlag = true; }
		return !P->GetAutoWalk().bActive;
	});
	S.Expect(TEXT("arrived in the corridor; player.room never became null; no rescue"), [W](FDescentScenarioContext& C)
	{
		const ADescentCharacter* P = M6Char(C);
		const Descent::Carrier::FRoomDef* Room = Descent::Carrier::FLayout::Get().RoomAt(P->GetFeetLocalM() + FVector(0, 0, 0.3));
		UE_LOG(LogDescent, Display, TEXT("M6 walk: arrived in %s, room lost on the way %d, rescues %d"), Room ? *Room->Id.ToString() : TEXT("(none)"), W->bFlag, P->RescueCount);
		return Room && Room->Id == TEXT("corr3") && !W->bFlag && P->RescueCount == 0;
	});
	S.DumpState(TEXT("end"));
	S.Quit();
}