from __future__ import annotations

import tempfile
import time
from pathlib import Path

import pytest

from cognitive_agent.application.calibration import protocol
from cognitive_agent.application.calibration.service import CalibrationService


def test_protocol_matches_android_golden_vectors() -> None:
    assert protocol.crc8(b"123456789") == 0x4B
    vectors = (
        (
            protocol.command(0x00, protocol.OP_HELLO, protocol.AXIS_ALL),
            "A1 00 01 FF 00 00 00 55",
        ),
        (
            protocol.command(0x01, protocol.OP_ARM, protocol.AXIS_ALL, 0x4E37),
            "A1 01 02 FF 37 4E 00 0A",
        ),
        (
            protocol.command(0x23, protocol.OP_CALIBRATE, protocol.AXIS_ALL),
            "A1 23 10 FF 00 00 00 33",
        ),
        (
            protocol.command(0x24, protocol.OP_MOVE_PERMILLE, 0, 1000),
            "A1 24 11 00 E8 03 00 78",
        ),
        (
            protocol.command(0x25, protocol.OP_STOP, protocol.AXIS_ALL),
            "A1 25 12 FF 00 00 00 6E",
        ),
    )
    for actual, expected in vectors:
        assert actual == bytes.fromhex(expected)


def test_protocol_parses_status_and_rejects_bad_crc() -> None:
    ack = protocol.parse(0x621, bytes.fromhex("B1 22 10 02 00 07 01 A9"))
    assert isinstance(ack, protocol.Ack)
    assert ack.accepted

    controller = protocol.parse(0x622, bytes.fromhex("C1 01 00 17 07 FF 02 4E"))
    assert isinstance(controller, protocol.ControllerStatus)
    assert controller.can_ready
    assert controller.motor_ready
    assert controller.armed

    frame = bytearray.fromhex("D1 00 F0 00 E0 01 17 40")
    frame[2] ^= 1
    with pytest.raises(protocol.ProtocolError):
        protocol.parse(0x630, bytes(frame))


def test_simulation_uses_real_wire_boundary_and_generates_pose() -> None:
    with tempfile.TemporaryDirectory() as directory:
        service = CalibrationService(Path(directory))
        service.start()
        try:
            initial = service.snapshot()
            assert initial["transport"] == {
                "mode": "hardware",
                "state": "disconnected",
                "detail": "尚未连接",
            }

            connected = service.connect_can({"mode": "simulation"})
            assert connected["transport"]["state"] == "online"
            assert connected["controller"]["can_ready"]
            assert connected["controller"]["motor_ready"]
            assert [axis["range"] for axis in connected["axes"]] == [480, 647, 917, 373]

            service.move(0, 800)
            time.sleep(0.2)
            moving = service.snapshot()
            assert moving["controller"]["armed"]
            assert moving["axes"][0]["moving"]

            time.sleep(0.45)
            pose = service.snapshot()["mqtt"]
            assert pose["state"] == "simulated"
            assert pose["count"] >= 1
            assert "Seat_cushion" in pose["areas"]

            stopped = service.stop()
            assert not stopped["controller"]["armed"]
        finally:
            service.close()