"""Exercise real wire packing, server handling, policy and mock IO without sockets/weights/hardware."""
from pathlib import Path
import asyncio,json,sys
sys.path.insert(0,str(Path(__file__).resolve().parents[1]/'flexiv-umi-infer'))
from umi_infer.protocol import pack,unpack_action
from umi_infer.policies.mock import MockPolicy
from umi_infer.robot_io.mock import MockRobotIO
from umi_infer.policy_server import _handle
class InMemorySocket:
    remote_address=('in-process',0)
    def __init__(self,requests):self.requests=requests;self.responses=[]
    def __aiter__(self):
        async def messages():
            for request in self.requests:yield request
        return messages()
    async def send(self,message):self.responses.append(message)
async def main():
    io=MockRobotIO(image_hw=(32,32));io.start()
    try:
        for _ in range(3):
            obs=io.get_observation();sock=InMemorySocket([pack(obs)])
            await _handle(sock,MockPolicy(mode='hold'))
            assert len(sock.responses)==1
            action=unpack_action(sock.responses[0]);assert action.seq==obs.seq
            assert set(action.eef_target)=={'left','right'}
            io.apply_action(action)
        print(json.dumps({'status':'passed','roundtrips':3,'transport':'in-process msgpack','robot':'mock','weights_loaded':False}))
    finally:io.stop()
if __name__=='__main__':asyncio.run(main())