"""run_bridge_test.py —— 桥接闭环入口单元测试（干跑桩 + 打印 + 干跑循环，无硬件）。

重点守住 S2 干跑的安全属性：DryRunPx4 合成新鲜姿态让闭环能跑，但 send_* 只计数、
**绝不下发 offboard**；串口未指定时报错退出而非静默。
"""

import asyncio
from types import SimpleNamespace

import pytest

from pod_bridge.config import BridgeConfig
from pod_bridge.protocol import Telemetry
from pod_bridge.run_bridge import DryRunPx4, _format_status, _run_dry


class FakePod:
    def __init__(self, *frames):
        self.inbox = list(frames)
        self.sent = []
        self.closed = False

    def poll(self):
        out, self.inbox = self.inbox, []
        return out

    def send(self, data):
        self.sent.append(data)

    def close(self):
        self.closed = True


# --- DryRunPx4：合成姿态 + 不发 offboard ------------------------------------
def test_dry_run_px4_state_is_fresh():
    px4 = DryRunPx4(now_ms_fn=lambda: 12345)
    st = px4.own_state()
    assert st.has_attitude and st.position_valid
    assert st.time_ms == 12345 and st.position_time_ms == 12345


def test_dry_run_px4_never_sends_offboard():
    px4 = DryRunPx4()
    assert asyncio.run(px4.start_offboard()) is True
    assert asyncio.run(px4.send_velocity_heading(object())) is True
    assert asyncio.run(px4.send_brake_hover()) is True
    # 只计数，无任何硬件副作用
    assert px4.velocity_calls == 1 and px4.brake_calls == 1


def test_format_status_shows_mode_and_angles():
    out = SimpleNamespace(mode=SimpleNamespace(name="VELOCITY_HEADING"),
                          yaw_rate_dps=10.0, vx_body_mps=0.2, vz_mps=0.0)
    tel = (Telemetry(status1=0b00000100, off_target_x_deg=10.0,
                     off_target_y_deg=-3.0, frame_yaw_deg=0.0), 1000)
    line = _format_status(1.0, out, tel, locked=True)
    assert "VELOCITY_HEADING" in line
    assert "+10.00" in line          # off_target_x
    assert "locked=1" in line


# --- 干跑循环 ---------------------------------------------------------------
def test_run_dry_completes_and_downlinks_only(monkeypatch):
    # 注入假串口：不碰真硬件，验证干跑循环能跑通并正常收尾
    pod = FakePod(Telemetry(status1=0b00000100, off_target_x_deg=10.0))
    monkeypatch.setattr("pod_bridge.run_bridge.PodSerial", lambda *a, **k: pod)
    cfg = BridgeConfig()
    cfg.heading_servo.enabled = True
    cfg.tracking.control.frequency_hz = 200.0   # 加快节拍，缩短测试
    args = SimpleNamespace(port="/dev/fake", duration=0.05, print_hz=0.0)

    rc = asyncio.run(_run_dry(cfg, args))
    assert rc == 0
    assert pod.closed                          # 收尾关闭串口


def test_run_dry_requires_port(monkeypatch):
    monkeypatch.setattr("pod_bridge.run_bridge.PodSerial",
                        lambda *a, **k: pytest.fail("无端口时不应打开串口"))
    cfg = BridgeConfig()                        # pod_serial.port 默认空
    args = SimpleNamespace(port=None, duration=0.0, print_hz=5.0)
    assert asyncio.run(_run_dry(cfg, args)) == 2