"""pytest 根配置：保证无论从哪个工作目录启动 pytest，均可导入 utils/ 下的包；
并提供 fake_mavsdk fixture，使网关 mock 单测与真实 libcmavsdk.so 脱钩。"""

import sys
import types
from pathlib import Path

import pytest

_UTILS_DIR = Path(__file__).resolve().parent
if str(_UTILS_DIR) not in sys.path:
    sys.path.insert(0, str(_UTILS_DIR))


@pytest.fixture
def fake_mavsdk(monkeypatch):
    """打桩 mavsdk.offboard 设定点类型(VelocityBodyYawspeed / VelocityNedYaw)。

    MavsdkCommandGateway 构造设定点时惰性 `from mavsdk import offboard`——即便
    offboard 传输层是 mock,也会去加载真实原生库。libcmavsdk.so 损坏或未装的
    机器(如 libstdc++ 缺新符号的树莓派)上,纯 mock 单测会因此误失败。
    用法与 fake_serial 打桩 pyserial 同理:sys.modules 注入轻量桩模块。
    """
    offboard_mod = types.ModuleType("mavsdk.offboard")

    class VelocityBodyYawspeed:
        def __init__(self, forward_m_s, right_m_s, down_m_s, yawspeed_deg_s):
            self.forward_m_s = forward_m_s
            self.right_m_s = right_m_s
            self.down_m_s = down_m_s
            self.yawspeed_deg_s = yawspeed_deg_s

    class VelocityNedYaw:
        def __init__(self, north_m_s, east_m_s, down_m_s, yaw_deg):
            self.north_m_s = north_m_s
            self.east_m_s = east_m_s
            self.down_m_s = down_m_s
            self.yaw_deg = yaw_deg

    offboard_mod.VelocityBodyYawspeed = VelocityBodyYawspeed
    offboard_mod.VelocityNedYaw = VelocityNedYaw
    mavsdk_mod = types.ModuleType("mavsdk")
    mavsdk_mod.offboard = offboard_mod
    monkeypatch.setitem(sys.modules, "mavsdk", mavsdk_mod)
    monkeypatch.setitem(sys.modules, "mavsdk.offboard", offboard_mod)
    return offboard_mod