import json
import sys
import os
# Ensure local package path is discoverable when running from the repo root
repo_root = os.path.abspath(os.path.join(os.path.dirname(__file__), ".."))
if repo_root not in sys.path:
    sys.path.insert(0, repo_root)

from neuplan.dsl import LocalProblem, PlanDelta, SharedVariables
from neuplan.dsl import to_nir
from neuplan.backends.loihi import LoihiBackend
from neuplan.runtime import OnboardRuntime


def test_nir_generation_and_runtime_plan():
    lp1 = LocalProblem(asset="rover1", constraints={"max_speed": 5}, objective={"energy": 1.0})
    lp2 = LocalProblem(asset="droneA", constraints={"max_alt": 100}, objective={"energy": 0.8})
    delta = PlanDelta(delta_id="d1", changes={"requires": ["rover1"]})
    shared = SharedVariables(variables={"global_time": 0})

    nir = to_nir([lp1, lp2], [delta], shared)
    assert isinstance(nir, dict)
    assert "nodes" in nir and "edges" in nir

    backend = LoihiBackend()
    runtime = OnboardRuntime(backend)
    res = runtime.plan([lp1, lp2], [delta], shared, time_budget_s=2.0)
    assert res["status"] in {"ok", "timeout"}
    assert "plan" in res