"""Renderer profile plus live pure-function checks of native controller limits."""
import ast,hashlib,importlib.util,json,sys,types
from pathlib import Path
HERE=Path(__file__).resolve().parent
PROJECT=HERE.parents[1]
profile=PROJECT/'runtime/tgcc_revision_20261027/renderer_profile_20261028.py'
spec=importlib.util.spec_from_file_location('renderer_profile',profile)
renderer=importlib.util.module_from_spec(spec);spec.loader.exec_module(renderer)


def attest(robot,output):
    import inspect,numpy as np
    from omnigibson.controllers.controller_view import ControllerView
    from omnigibson.utils.backend_utils import _compute_backend as cb
    def array(value):return cb.to_torch(value).detach().cpu().numpy()
    records={}
    for name in ('base','trunk','arm_left','arm_right','gripper_left','gripper_right'):
        c=robot.controllers[name];member=0
        if isinstance(c,tuple):member=c[1];c=ControllerView._controller_groups[c[0]]
        path=Path(inspect.getfile(type(c)));record=dict(controller=type(c).__name__,source_file=str(path),source_sha256=hashlib.sha256(path.read_bytes()).hexdigest())
        if name in ('trunk','arm_left','arm_right'):
            assert c._motor_type=='position' and not c.use_delta_commands and not getattr(c,'_use_impedances',False)
            lo,hi=[v[c.dof_idx] for v in c._control_limits[c.control_type]]
            assert np.all(np.isfinite(array(lo))) and np.all(array(lo)<array(hi))
            for command in (lo-1.,hi+1.):
                # Absolute-mode _update_goal returns clipped targets only. It
                # does not write goal buffers or dispatch any physics action.
                target=c._update_goal(member,command)['target']
                assert np.all(array(target)>=array(lo)-1e-6) and np.all(array(target)<=array(hi)+1e-6)
            record.update(joint_target_clipping_verified=True,lower=array(lo).tolist(),upper=array(hi).tolist())
        else:
            assert c._command_input_limits is not None and c._command_output_limits is not None
            lo,hi=c._command_output_limits
            for sign in (-1.,1.):
                value=c._preprocess_command(cb.ones(c.command_dim)*sign*1000.)
                assert np.all(array(value)>=array(lo)-1e-6) and np.all(array(value)<=array(hi)+1e-6)
            record.update(native_input_clipping_verified=True,output_lower=array(lo).tolist(),output_upper=array(hi).tolist())
        records[name]=record
    receipt=dict(schema='tgcc.native_controller_limits.v1',status='passed',controllers=records,
        physics_steps_used=0,commands_dispatched_by_check=0,scope='live controller input and absolute joint target clipping; not collision or task success verification',
        client_extension_sha256=hashlib.sha256(Path(__file__).read_bytes()).hexdigest())
    (output/'native_limit_attestation.json').write_text(json.dumps(receipt,indent=2)+'\n')
    return receipt


def main():
    client=Path(sys.argv[1]).resolve();args=sys.argv[2:];output=Path(args[args.index('--output')+1]);output.mkdir(parents=True,exist_ok=True)
    raw=client.read_bytes();tree=renderer.renderer_tree(raw)
    # A separate zero-action attempt exhausted the local16GiB device even
    # with .10. Preserve that attempt and use the original admitted minimum.
    budget=next(n for n in ast.walk(tree) if isinstance(n,ast.Assign) and any(
        isinstance(t,ast.Attribute) and t.attr=='texture_memory_budget' for t in n.targets))
    if not isinstance(budget.value,ast.Constant) or budget.value.value!=.10:raise ValueError('Unexpected renderer profile')
    budget.value=ast.copy_location(ast.Constant(.05),budget.value)
    fn=next(n for n in tree.body if isinstance(n,ast.FunctionDef) and n.name=='audit_controller_contract');fn.name='_original_audit_controller_contract'
    index=tree.body.index(fn)
    tree.body[index+1:index+1]=ast.parse('audit_controller_contract = audited_contract(_original_audit_controller_contract)').body
    capture=next(n for n in ast.walk(tree) if isinstance(n,ast.FunctionDef) and n.name=='capture_payload')
    ret=next(i for i,n in enumerate(capture.body) if isinstance(n,ast.Return))
    capture.body[ret:ret]=ast.parse("payload['native_limit_attestation']=native_attestation[0]").body
    receipt=dict(schema='tgcc.explicit_native_limits_client.v1',original_client_sha256=hashlib.sha256(raw).hexdigest(),
        launcher_sha256=hashlib.sha256(Path(__file__).read_bytes()).hexdigest(),renderer_extension_sha256=hashlib.sha256(profile.read_bytes()).hexdigest(),
        effective_ast_sha256=hashlib.sha256(ast.dump(tree,include_attributes=False).encode()).hexdigest(),
        texture_budget=.05,native_controllers_unchanged=True,record_video=False)
    (output/'client_extension.json').write_text(json.dumps(receipt,indent=2)+'\n')
    attestation=[]
    def audited_contract(original):
        def wrapped(robot,*a,**kw):
            value=original(robot,*a,**kw);attestation[:]=[attest(robot,output)];return value
        return wrapped
    sys.argv=[str(client)]+args;sys.path.insert(0,str(client.parent));module=types.ModuleType('__main__');module.__file__=str(client)
    module.audited_contract=audited_contract;module.native_attestation=attestation;sys.modules['__main__']=module
    exec(compile(ast.fix_missing_locations(tree),str(client),'exec'),module.__dict__)


if __name__=='__main__':main()