#!/usr/bin/env bash

set -uo pipefail

ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
PLATFORM="$(uname -s)"
export DEBUG=0
export PYTHONHASHSEED=0

usage() {
  cat <<'EOF'
Usage:
  ./tests                    Run the normal full test suite
  ./tests --root             Run openpilot/root tests
  ./tests --opendbc          Run opendbc build, lint, and tests
  ./tests --safety           Run safety tests and coverage checks
  ./tests --panda            Run panda build, lint, and tests
  ./tests --mutation         Run safety mutation tests (Linux only)
  ./tests --resources        Run the on-road CPU, memory, and timing test (TICI only)
  ./tests --all              Same as ./tests

Selectors can be combined, for example:
  ./tests --root --safety
EOF
}

run_group() {
  local name="$1"
  shift
  echo
  echo "[$name]"
  "$@"
  local result=$?
  if [ "$result" -eq 0 ]; then
    echo "[$name] passed"
  else
    echo "[$name] failed (exit $result)"
  fi
  return "$result"
}

run_mutation() {
  if [ "$PLATFORM" != "Linux" ]; then
    echo "[mutation] skipped: mutation testing requires Linux"
    return 0
  fi
  run_group mutation bash "$ROOT/opendbc_repo/opendbc/safety/tests/mutation.sh"
}

run_resources() {
  run_group resources "$ROOT/dev" pytest selfdrive/test/test_onroad.py
}

declare -a groups=()
explicit_mutation=0

if [ "$#" -eq 0 ]; then
  groups=(root opendbc safety panda mutation)
fi

while [ "$#" -gt 0 ]; do
  case "$1" in
    --all)
      groups=(root opendbc safety panda mutation)
      ;;
    --root|--openpilot)
      groups+=(root)
      ;;
    --opendbc|--vehicles|--vehicle)
      groups+=(opendbc)
      ;;
    --safety)
      groups+=(safety)
      ;;
    --panda)
      groups+=(panda)
      ;;
    --mutation)
      groups+=(mutation)
      explicit_mutation=1
      ;;
    --resources|--onroad)
      groups+=(resources)
      ;;
    -h|--help)
      usage
      exit 0
      ;;
    *)
      echo "Unknown option: $1" >&2
      usage >&2
      exit 2
      ;;
  esac
  shift
done

if [ "${#groups[@]}" -eq 0 ]; then
  echo "No test groups selected" >&2
  usage >&2
  exit 2
fi

status=0
for group in "${groups[@]}"; do
  case "$group" in
    root)
      run_group root "$ROOT/dev" pytest || status=1
      ;;
    opendbc)
      run_group opendbc bash "$ROOT/opendbc_repo/test.sh" || status=1
      ;;
    safety)
      run_group safety bash "$ROOT/opendbc_repo/opendbc/safety/tests/test.sh" || status=1
      ;;
    panda)
      run_group panda bash "$ROOT/panda/test.sh" || status=1
      ;;
    mutation)
      if [ "$PLATFORM" != "Linux" ] && [ "$explicit_mutation" -eq 1 ]; then
        echo "[mutation] unavailable on $PLATFORM; run it on Linux" >&2
        status=1
      else
        run_mutation || status=1
      fi
      ;;
    resources)
      run_resources || status=1
      ;;
  esac
done

exit "$status"