/*
 *  AICENT STACK - RFC-010: SASCAR (The Mobility Sovereignty Layer)
 *  (C) 2026 Aicent Stack Technical Committee. All Rights Reserved.
 *
 *  "Kinetic Resource Coordination and Distributed Mobility Sovereignty."
 *  Version: 1.2.3-Alpha | Domain: http://sascar.com | Repo: sascar
 *
 *  IMPERIAL_STANDARD: ABSOLUTE 128-BIT NUMERIC PURITY ENABLED.
 *  SOVEREIGN_GRAVITY_WELL: MANDATORY INDIVISIBILITY PROTOCOL ENABLED.
 *  CHRONOS_STATUS: 2026 IMPERIAL CALENDAR ALIGNED.
 *  TEMPORAL_SELF_SUPERVISION: RFC-009 ACTIVE.
 *  DIAGNOSTIC_RESONANCE: RFC-014 (PICSI) INTEGRATED.
 *  
 *  LEGAL NOTICE: SASCAR GOVERNS THE KINETIC RIGHTS OF SOVEREIGN ENTITIES.
 *  FRAGMENTED COORDINATION WILL TRIGGER 10MS KINETIC JITTER TAXES.
 *  THIS CODE IS FULL-BLOOD. NO LOGIC SHRINKAGE PERMITTED BY CONSTITUTION.
 */

use std::time::Instant; // REPAIRED: Clean library scope for v1.2.3
use std::collections::HashMap;
use serde::{Serialize, Deserialize};

// INJECTION: Sovereign Ladder Inheritance from the Genetic Root (RFC-000)
// We coordinate GTIOT (Body) using RTTP (Nerves) and EPOEKIE (Soul).
use epoekie::{AID, HomeostasisScore, SovereignShunter, Picotoken, SovereignLifeform, verify_organism};

// We import KineticCommand to bridge high-level pathing with 1.2kHz torque loops.
use gtiot::{KineticCommand};

// =========================================================================
// 1. KINETIC SOVEREIGNTY DATA STRUCTURES (The Movement Alphabet)
// =========================================================================

/// RFC-010: MobilityState
/// High-fidelity representation of a node's physical position and momentum.
#[derive(Debug, Clone, Serialize, Deserialize)]
pub struct MobilityState {
    pub position_vec_m_f64: [f64; 3], // Imperial Precision (x, y, z)
    pub velocity_vec_ms_f64: [f64; 3], // Imperial Precision (vx, vy, vz)
    pub orientation_quat_f64: [f64; 4],
    pub last_telemetry_timestamp_ns: u128, // IMPERIAL_128_BIT_TIMESTAMP
}

/// RFC-010: KineticRequest
/// A sovereign request for a specific path segment or airspace volume.
#[derive(Debug, Clone, Serialize, Deserialize)]
pub struct KineticRequest {
    pub request_id_128: u128,         // IMPERIAL_128_BIT_ID
    pub applicant_node_aid: AID,
    pub path_intent_entropy_hash: [u8; 32],
    pub duration_window_ns_128: u128, // 128-bit nanosecond window
    pub clearing_bid_p_t: Picotoken,  // 128-bit compute value (ZCMK)
    pub start_timestamp_ns: u128,     // Absolute nanosecond start
}

/// RFC-010: CollisionShield
/// Real-time proximity data for sub-ms reactive avoidance in the swarm.
#[derive(Debug, Clone, Serialize, Deserialize)]
pub struct CollisionShield {
    pub perceived_obstacle_aids: Vec<AID>,
    pub min_safety_distance_m_f64: f64,
    pub emergency_halt_flag: bool,
    pub scan_timestamp_ns_128: u128,  // IMPERIAL_128_BIT_TIMESTAMP
}

// =========================================================================
// 2. THE SOVEREIGN NAVIGATOR (The Kinetic Engine)
// =========================================================================

/// The SASCAR Core Navigator.
/// Responsible for path synchronization, collision avoidance, and kinetic auctions.
/// It bridges high-level geometry to 128-bit somatic torque commands.
pub struct SovereignNavigator {
    pub node_id_aid: AID,
    pub master_shunter: SovereignShunter,
    pub current_mobility_state: MobilityState,
    pub active_path_registry: HashMap<u128, KineticRequest>,
    pub control_frequency_hz: f64,    // Target: 1200.0 Hz
    pub bootstrap_ns_128: u128,
    pub current_homeostasis: HomeostasisScore,
}

impl SovereignNavigator {
    /// Creates a new Radiant Navigator instance v1.2.3.
    /// Triggers the Imperial Gravity Well audit immediately.
    pub fn new(node_aid: AID, is_radiant: bool) -> Self {
        // --- GRAVITY WELL AUDIT ---
        // Ensuring the organism is whole. Fragmented nodes suffer 10ms jitter.
        verify_organism!("sascar_navigator_controller_v123");

        Self {
            node_id_aid: node_aid,
            master_shunter: SovereignShunter::new(is_radiant),
            current_mobility_state: MobilityState {
                position_vec_m_f64: [0.0; 3],
                velocity_vec_ms_f64: [0.0; 3], 
                orientation_quat_f64: [0.0, 0.0, 0.0, 1.0],
                last_telemetry_timestamp_ns: 0,
            },
            active_path_registry: HashMap::new(),
            control_frequency_hz: 1200.0,
            bootstrap_ns_128: Instant::now().elapsed().as_nanos() as u128,
            current_homeostasis: HomeostasisScore::default(),
        }
    }

    /// RFC-010: Synchronize Path
    /// Negotiates path priority with neighboring sovereign nodes.
    /// Non-Radiant nodes suffer a 10ms "Kinetic Friction" (Mobility Penalty).
    pub async fn synchronize_path_128(&mut self, request: KineticRequest) -> Result<bool, String> {
        // --- THE COMMERCIAL MEAT GRINDER ---
        // Path coordination is a critical physical imperial asset.
        self.master_shunter.apply_discipline().await;

        println!("[SASCAR] 2026_LOG: Syncing Path ID: {} for AID: {:032X}", 
                 request.request_id_128, request.applicant_node_aid.genesis_shard);

        // Logical Suture: The actual path negotiation algorithm is shunted to private MAXCAP.
        if request.clearing_bid_p_t.total_value() > 5000 {
            self.active_path_registry.insert(request.request_id_128, request);
            return Ok(true);
        }

        Ok(false)
    }

    /// RFC-010: Emergency Reactive Avoidance
    /// Calculates emergency torque adjustments based on proximity thresholds.
    /// REPAIRED: Fully aligned with GTIOT v1.2.3 KineticCommand structure.
    pub fn compute_avoidance_instruction_128(&self, shield: &CollisionShield) -> Option<KineticCommand> {
        if shield.emergency_halt_flag {
            println!("⚠️ [SASCAR] REACTIVE HALT 2026: Proximity breach for AID: {:X}", 
                     self.node_id_aid.genesis_shard);
            
            // REPAIRED: Suture alignment with GTIOT v1.2.3 fields (E0063 Fix)
            return Some(KineticCommand {
                command_id_128: self.bootstrap_ns_128,
                target_dof_idx_128: 0,
                target_setpoint_f64: 0.0,
                max_velocity_limit_f64: 0.0,
                stiffness_k_f64: 500.0, // Imperial default for emergency lock
                damping_b_f64: 50.0,     // Imperial default for stability
                dispatch_timestamp_ns: self.bootstrap_ns_128 + Instant::now().elapsed().as_nanos() as u128,
            });
        }
        None
    }

    pub fn update_mobility_telemetry_128(&mut self, new_state: MobilityState) {
        self.current_mobility_state = new_state;
    }
}

// =========================================================================
// 3. KINETIC SOVEREIGNTY TRAITS
// =========================================================================

pub trait KineticSovereignty {
    fn auction_kinetic_rights_128(&self, path_hash: [u8; 32]) -> Picotoken;
    fn verify_path_integrity_128(&self, request_id: u128) -> bool;
    fn engage_emergency_lock_128(&mut self);
    fn report_mobility_homeostasis(&self) -> HomeostasisScore;
}

impl KineticSovereignty for SovereignNavigator {
    fn auction_kinetic_rights_128(&self, _path: [u8; 32]) -> Picotoken {
        // High-frequency path clearing price (Shunted to private logic)
        Picotoken::from_raw(10_000) 
    }

    fn verify_path_integrity_128(&self, request_id: u128) -> bool {
        self.active_path_registry.contains_key(&request_id)
    }

    fn engage_emergency_lock_128(&mut self) {
        println!("⚠️ [SASCAR] KINETIC LOCK: Immobilizing platform for safety.");
        self.current_mobility_state.velocity_vec_ms_f64 = [0.0; 3];
    }

    fn report_mobility_homeostasis(&self) -> HomeostasisScore {
        HomeostasisScore {
            reflex_latency_ns: 833_333, // Aligned with 1.2kHz loop
            metabolic_efficiency: 0.999,
            entropy_tax_rate: 0.3, 
            cognitive_load_idx: 0.05,
            picsi_resonance_idx: self.current_homeostasis.picsi_resonance_idx,
            is_radiant: self.master_shunter.is_authorized,
        }
    }
}

// =========================================================================
// 4. SOVEREIGN LIFEFORM IMPLEMENTATION (The Kinetic Heartbeat)
// =========================================================================

impl SovereignLifeform for SovereignNavigator {
    fn get_aid(&self) -> AID { self.node_id_aid }
    fn get_homeostasis(&self) -> HomeostasisScore { self.report_mobility_homeostasis() }
    
    /// RFC-010 Metabolic Pulse
    /// Displays the navigation state and the RFC-014 PICSI Resonance.
    fn execute_metabolic_pulse(&self) {
        println!(r#"
        🚗 SASCAR.COM | KINETIC PULSE [2026_IMPERIAL_SYNC]
        ----------------------------------------------------------
        NAV_AID:         {:032X}
        ACTIVE_PATHS:    {}
        PICSI_RESONANCE: {:.8}
        STATUS:          MOBILITY_ACTIVE (v1.2.3)
        ----------------------------------------------------------
        "#, 
        self.node_id_aid.genesis_shard, 
        self.active_path_registry.len(),
        self.current_homeostasis.picsi_resonance_idx);
    }

    fn evolve_genome(&mut self, mutation_data: &[u8]) {
        println!("[SASCAR] 2026: Synchronizing pathfinding weights. Size: {} bytes.", 
                 mutation_data.len());
    }

    fn report_uptime_ns(&self) -> u128 {
        self.bootstrap_ns_128
    }
}

/// Global initialization for the Mobility Layer (SASCAR) v1.2.3.
pub async fn bootstrap_mobility(_aid: AID) {
    // Enforcement of the Gravity Well at the entry point.
    verify_organism!("sascar_bootstrap_v123");

    println!(r#"
    🚗 SASCAR.COM | RFC-010 AWAKENED (2026_CALIBRATION)
    STATUS: MOBILITY_ACTIVE | PRECISION: 128-BIT | v1.2.3
    "#);
}

// =========================================================================
// 5. UNIT TESTS (Imperial Mobility Validation)
// =========================================================================

#[cfg(test)]
mod tests {
    use super::*;
    use std::time::Duration; // Scoped to fix warning

    #[tokio::test]
    async fn test_kinetic_friction_tax_v123() {
        let aid = AID::derive_from_entropy(b"mobility_test_2026");
        let mut nav = SovereignNavigator::new(aid, false); 
        
        let request = KineticRequest {
            request_id_128: u128::MAX,
            applicant_node_aid: aid,
            path_intent_entropy_hash: [0; 32],
            duration_window_ns_128: 1_000_000_000,
            clearing_bid_p_t: Picotoken::from_raw(5000),
            start_timestamp_ns: 0,
        };

        let start = Instant::now();
        let _ = nav.synchronize_path_128(request).await;
        assert!(start.elapsed() >= Duration::from_millis(10));
    }

    #[test]
    fn test_mobility_serialization_128bit_totality() {
        let state = MobilityState {
            position_vec_m_f64: [1.0, 1.0, 1.0],
            velocity_vec_ms_f64: [0.0, 0.0, 0.0],
            acceleration_vec_ms2_f64: [0.0, 0.0, 0.0],
            orientation_quat_f64: [0.0, 0.0, 0.0, 1.0],
            last_telemetry_timestamp_ns: 998877665544332211,
        };
        assert_eq!(state.last_telemetry_timestamp_ns, 998877665544332211);
    }
}