"""Archive primary sources and pinned code for the PhaseLatch design study.

Only public text/code is fetched; no simulator or model is installed.
Existing repository pins are reused unless --refresh-pins is passed.
"""
import argparse
import concurrent.futures
import hashlib
import json
import re
import subprocess
import time
import urllib.request
from datetime import datetime, timezone
from html.parser import HTMLParser
from pathlib import Path

ROOT = Path(__file__).resolve().parents[1]
SOURCES = {
    "embodiedswe_site": "https://embodiedswe.github.io/",
    "embodiedswe_paper": "https://arxiv.org/html/2609.27308v1",
    "oopsie_paper": "https://arxiv.org/html/2606.31993v1",
    "oopsie_site": "https://robin-lab.cs.utexas.edu/oopsieverse/",
    "reflex_paper": "https://arxiv.org/html/2608.14379v1",
    "hazard_paper": "https://arxiv.org/html/2401.12975v1",
    "dojo_paper": "https://arxiv.org/html/2607.04434v1",
    "pro_paper": "https://arxiv.org/html/2510.03827v1",
    "twin_paper": "https://arxiv.org/html/2506.18088v2",
    "safelab_site": "https://yingwen.io/en/publications/safelab-an-interactive-high-fidelity-benchmark-for-embodied-safety-in-scientific-robotics/",
    "safelab_proceedings": "https://proceedings.mlr.press/v306/bai26e.html",
    "safelab_pdf": "https://raw.githubusercontent.com/mlresearch/v306/main/assets/bai26e/bai26e.pdf",
    "safevla_paper": "https://arxiv.org/html/2606.00773v1",
    "dynamicvla_paper": "https://arxiv.org/html/2601.22153v1",
    "latent_safety_site": "https://kensukenk.github.io/latent-safety/",
    "mujoco_equality": "https://mujoco.readthedocs.io/en/stable/XMLreference.html",
    "mujoco_computation": "https://mujoco.readthedocs.io/en/stable/computation/index.html",
    "mujoco_modeling": "https://mujoco.readthedocs.io/en/stable/modeling.html",
    "physx_joints": "https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/Joints.html",
    "newton_docs": "https://newton-physics.github.io/newton/",
    "domino_paper": "https://arxiv.org/html/2603.15620v1",
    "dlo_paper": "https://arxiv.org/html/2606.04206v1",
    "plasticine_site": "https://plasticinelab.csail.mit.edu/",
    "disect_site": "https://diff-cutting-sim.github.io/",
    "empm_site": "https://embodied-mpm.github.io/",
    "redman_paper": "https://link.springer.com/article/10.1007/s10994-025-06825-x",
    "reflex_site": "https://reflexvla.github.io/",
    "fluidlab_site": "https://fluidlab2023.github.io/",
}
REPOS = {
    "swe": "EmbodiedSWE/EmbodiedSWE",
    "dojo": "RoboDojo-Benchmark/RoboDojo",
    "twin": "RoboTwin-Platform/RoboTwin",
    "pro": "Zxy-MLlab/LIBERO-PRO",
    "safelab": "ChangWinde/SafeLab",
    "reflex": "LxRoboticsLab/ReflexBench",
    "oopsie": "UT-Austin-RobIn/oopsieverse",
}
CODE_TERMS = {
    "dojo": ["base_env.py", "eval_env.py", "main.py", "insert", "button", "toolbox", "hammer", "handover"],
    "twin": ["_base_task.py", "click_bell.py", "move_stapler_pad.py", "handover", "open", "put_bottles", "insert", "place_cans"],
    "pro": ["env_wrapper.py", "libero_suite_task_map.py", "run_libero_eval.py", "perturb"],
    "swe": ["cut", "fracture", "scene", "controller", "task", "grader"],
    "safelab": ["safety", "constraint", "damage"],
    "reflex": ["eval", "latency", "conveyor"],
    "oopsie": ["damage", "health", "mechanical"],
}
FALLBACK_PATHS = {
    "swe": ["README.md", "LICENSE", "robobench/README.md", "robobench/core/env.py", "robobench/controllers/task_space.py", "robobench/suites/cutting/scenes/slice_food.py", "robobench/suites/cutting/scenes/dice_food.py", "robobench/suites/cutting/grader/slice_food.py", "robobench/suites/puzzle/scenes/coffee_service.py", "vla/eval/sim.py"],
    "dojo": ["README.md", "LICENSE", "env/environment/base_env.py", "src/eval_client/eval_env.py", "src/eval_client/main.py", "task/RoboDojo/tasks/insert_tubes.py", "task/RoboDojo/tasks/insert_key.py", "task/RoboDojo/tasks/fasten_screws.py", "task/RoboDojo/tasks/press_by_number.py", "task/RoboDojo/tasks/match_and_pick_from_conveyor.py", "task/RoboDojo/tasks/store_tools_in_toolbox.py"],
    "twin": ["README.md", "LICENSE", "envs/_base_task.py", "envs/move_stapler_pad.py", "envs/click_bell.py", "envs/handover_block.py", "envs/put_bottles_dustbin.py"],
    "pro": ["README.md", "LICENSE", "libero/libero/envs/env_wrapper.py", "libero/libero/benchmark/libero_suite_task_map.py"],
    "safelab": ["README.md", "index.html"],
    "reflex": ["README.md", "LICENSE", "scripts/evaluation/eval.py", "scripts/evaluation/POLICY_SERVER.md"],
    "oopsie": ["README.md"],
}


def get(url):
    req = urllib.request.Request(url, headers={"User-Agent": "PhaseLatch-research/0.1"})
    for attempt in range(3):
        try:
            with urllib.request.urlopen(req, timeout=35) as response:
                return response.read(), response.url
        except Exception as exc:
            if getattr(exc, "code", None) in (403, 404) or attempt == 2:
                raise
            time.sleep(0.4)


class Plain(HTMLParser):
    def __init__(self):
        super().__init__()
        self.skip = 0
        self.parts = []

    def handle_starttag(self, tag, attrs):
        if tag in ("script", "style"):
            self.skip += 1
        if tag in ("p", "div", "li", "h1", "h2", "h3", "tr", "section"):
            self.parts.append("\n")

    def handle_endtag(self, tag):
        if tag in ("script", "style"):
            self.skip = max(0, self.skip - 1)

    def handle_data(self, data):
        if not self.skip:
            self.parts.append(data)


def fetch(item):
    key, url = item
    try:
        body, final = get(url)
        suffix = ".pdf" if body.startswith(b"%PDF") else ".py" if url.endswith(".py") else ".txt"
        path = ROOT / "research" / "snapshots" / (key + suffix)
        path.write_bytes(body)
        decoded = body.decode("utf-8", errors="replace") if suffix != ".pdf" else ""
        if "<html" in decoded.lower() or "<!doctype html" in decoded.lower():
            parser = Plain()
            parser.feed(decoded)
            text = re.sub(r"\n\s*\n+", "\n\n", "".join(parser.parts))
            path.with_suffix(".text").write_text(text, encoding="utf-8")
        return {"id": key, "url": url, "final_url": final, "status": "fetched", "bytes": len(body), "sha256": hashlib.sha256(body).hexdigest(), "local_path": path.relative_to(ROOT).as_posix()}
    except Exception as exc:
        return {"id": key, "url": url, "status": "unavailable", "error": str(exc)}


def main():
    args = argparse.ArgumentParser()
    args.add_argument("--refresh-pins", action="store_true")
    opts = args.parse_args()
    target = ROOT / "research"
    (target / "snapshots").mkdir(parents=True, exist_ok=True)
    pin_path = target / "repository_pins.json"
    pins = json.loads(pin_path.read_text(encoding="utf-8")) if pin_path.exists() and not opts.refresh_pins else {}
    items = list(SOURCES.items())
    for key, repo in REPOS.items():
        try:
            if key not in pins or "commit" not in pins[key] or pins[key].get("repository") != repo:
                try:
                    data, _ = get(f"https://api.github.com/repos/{repo}/commits?per_page=1")
                    commit = json.loads(data)[0]
                    pins[key] = {"repository": repo, "commit": commit["sha"], "commit_date": commit["commit"]["committer"]["date"]}
                except Exception:
                    output = subprocess.check_output(["git", "ls-remote", f"https://github.com/{repo}.git", "HEAD"], text=True, timeout=35)
                    pins[key] = {"repository": repo, "commit": output.split()[0], "pin_method": "git ls-remote HEAD"}
            sha = pins[key]["commit"]
            try:
                data, _ = get(f"https://api.github.com/repos/{repo}/git/trees/{sha}?recursive=1")
                tree = json.loads(data)
                (target / (key + "_tree.json")).write_text(json.dumps(tree, indent=2), encoding="utf-8")
                pins[key].pop("tree_note", None)
                paths = [x["path"] for x in tree["tree"] if x["type"] == "blob"]
                required = [x for x in FALLBACK_PATHS[key] if x in paths]
                extras = [x for x in paths if x not in required and x.endswith(".py") and any(term in x.lower() for term in CODE_TERMS[key])]
                selected = (required + extras)[:24]
            except Exception as exc:
                pins[key]["tree_note"] = str(exc)
                selected = FALLBACK_PATHS[key]
            for path in selected:
                items.append((key + "_" + path.replace("/", "_").replace(".", "_"), f"https://raw.githubusercontent.com/{repo}/{sha}/{path}"))
        except Exception as exc:
            pins.setdefault(key, {"repository": repo})["fetch_error"] = str(exc)
    pin_path.write_text(json.dumps(pins, indent=2) + "\n", encoding="utf-8")
    with concurrent.futures.ThreadPoolExecutor(max_workers=8) as pool:
        records = list(pool.map(fetch, items))
    manifest = {"checked_date": "2026-10-04", "timezone": "Asia/Shanghai", "retrieved_at_utc": datetime.now(timezone.utc).isoformat(), "scope": "Public source and code inspection; no simulator execution", "repository_pins": pins, "sources": records}
    (target / "sources.json").write_text(json.dumps(manifest, ensure_ascii=False, indent=2) + "\n", encoding="utf-8")
    print(json.dumps({"fetched": sum(x["status"] == "fetched" for x in records), "unavailable": [x for x in records if x["status"] != "fetched"], "pins": pins}, ensure_ascii=False, indent=2))


if __name__ == "__main__":
    main()