"""Compares model.LimbBend with the Java LimbBend, point for point.

    .venv/bin/python check_port.py ../../core/build/classes/java/main   # after ./gradlew :core:compileJava

Runs CheckPort.java against the compiled core classes and fails if any result differs by 1e-3 or more.
"""
import subprocess
import sys

import numpy as np

from model import LimbBend

CASES = [(-2, 10, 0.5, 0, 0), (-2, 10, 1.75, 3.5, 0), (0, 12, 1.2, 2.79, 0), (0, 12, 0.7, 3.14159, 1), (0, 12, -0.9, 1.0, 1)]
POINTS = np.array([[0, 0, 0], [1.5, 3, -2.25], [-2.25, 10.25, 2.25], [2, -2.25, 1], [0.5, 12.25, -1]])

classes = sys.argv[1]
java = subprocess.run(["java", "-cp", classes, "CheckPort.java"], capture_output=True, text=True, check=True).stdout
expected = np.array([[float(v) for v in line.split()] for line in java.strip().splitlines()])
got = []
for start, end, angle, axis, anchored in CASES:
    b = LimbBend(start, end, angle, axis, anchored_at_end=bool(anchored))
    bent = b.bend_points(POINTS)
    got += [[*bent[i], b.angle_at(POINTS[i, 1])] for i in range(len(POINTS))]
err = np.abs(np.array(got) - expected).max()
print(f"max difference from Java: {err:.2e}")
sys.exit(0 if err < 1e-3 else 1)