from copy import deepcopy
from dataclasses import replace
from pathlib import Path

import pytest

from cognitive_agent.application.n7_seat_preset import (
    N7_SEAT_PRESET_CAPABILITIES,
    expand_n7_seat_preset,
)
from cognitive_agent.application.vehicle_profile import VehicleProfileRegistry

ROOT = Path(__file__).resolve().parents[2]


def preset(targets=None):
    return {
        "domain": "local_vehicle", "capability": "local_scene.seat_preset",
        "target_scope": "vehicle", "operation": "set", "at_ms": 0,
        "parameters": {"targets_pulse": [246, 112, 405, 342] if targets is None else targets},
    }


@pytest.fixture
def vehicle():
    return VehicleProfileRegistry(ROOT / "config" / "vehicles").get("denza_n7")


def test_preset_uses_vehicle_calibration_and_keeps_original_pulses(vehicle):
    action = preset()
    original = deepcopy(action)
    operations = expand_n7_seat_preset(action, vehicle)
    assert [item["capability"] for item in operations] == list(N7_SEAT_PRESET_CAPABILITIES)
    assert [item["parameters"]["position_pct"] for item in operations] == [51, 30, 44, 53]
    assert all(item["target_scope"] == "passenger" for item in operations)
    assert action == original
    calibrated = replace(vehicle, seat_motors={
        **vehicle.seat_motors,
        "longitudinal": replace(vehicle.seat_motors["longitudinal"], hall_total_pulses=500),
    })
    assert expand_n7_seat_preset(action, calibrated)[0]["parameters"] == {"position_pct": 49}


@pytest.mark.parametrize("targets", [
    [], [1, 2, 3], [1, 2, 3, 4, 5], "246,112,405,342",
    [True, 112, 405, 342], [246.5, 112, 405, 342], ["246", 112, 405, 342],
    [-1, 112, 405, 342], [481, 112, 405, 342], [246, 375, 405, 342],
    [246, 112, 918, 342], [246, 112, 405, 648],
])
def test_invalid_pulses_are_rejected_without_clamping(vehicle, targets):
    with pytest.raises(ValueError):
        expand_n7_seat_preset(preset(targets), vehicle)


@pytest.mark.parametrize("field,value", [
    ("target_scope", "driver"), ("domain", "seat"), ("operation", "toggle"),
    ("parameters", {"targets_pulse": [246, 112, 405, 342], "speed": 100}),
])
def test_unrecognized_target_or_contract_cannot_move_a_seat(vehicle, field, value):
    action = preset()
    action[field] = value
    with pytest.raises(ValueError):
        expand_n7_seat_preset(action, vehicle)


def test_zero_and_small_targets_do_not_accidentally_home(vehicle):
    assert [item["parameters"]["position_pct"] for item in expand_n7_seat_preset(
        preset([0, 0, 0, 0]), vehicle
    )] == [0, 0, 0, 0]
    assert [item["parameters"]["position_pct"] for item in expand_n7_seat_preset(
        preset([1, 1, 1, 1]), vehicle
    )] == [1, 1, 1, 1]
    assert [item["parameters"]["position_pct"] for item in expand_n7_seat_preset(
        preset([480, 374, 917, 647]), vehicle
    )] == [100, 100, 100, 100]


def test_delayed_actions_keep_the_vehicle_timing(vehicle):
    action = preset()
    action["at_ms"] = 3000
    assert expand_n7_seat_preset(action, vehicle) is None


def test_wrong_vehicle_or_missing_calibration_is_rejected(vehicle):
    with pytest.raises(ValueError):
        expand_n7_seat_preset(preset(), replace(vehicle, id="other_vehicle"))
    with pytest.raises(ValueError):
        expand_n7_seat_preset(preset(), replace(vehicle, seat_motors={}))