"""log_test.py —— 任务日志模块单元测试。

覆盖：open 建目录/写表头、事件 JSONL、遥测 CSV、telemetry_every_n 节流、
disabled 时零副作用、close 收尾。
"""

import csv
import json

import pytest

from task_runner.log import TaskLogConfig, TaskLogger, TelemetryRecord


def _cfg(tmp_path, **kw):
    c = TaskLogConfig(dir=str(tmp_path), **kw)
    return c


def test_open_creates_dir_and_csv_header(tmp_path):
    logger = TaskLogger(_cfg(tmp_path))
    logger.open()
    logger.close()

    assert (tmp_path / "task_events.jsonl").exists()
    assert (tmp_path / "task_telemetry.csv").exists()

    with open(tmp_path / "task_telemetry.csv", encoding="utf-8") as f:
        header = next(csv.reader(f))
    assert header[0] == "t_s"
    assert "state" in header
    assert "distance_to_target_m" in header


def test_log_event_writes_jsonl(tmp_path):
    logger = TaskLogger(_cfg(tmp_path))
    logger.open()
    logger.log_event(1000, "state", from_state="wait",
                     to_state="arm_takeoff", reason="收到地面坐标")
    logger.log_event(2000, "emergency", reason="RC 接管")
    logger.close()

    with open(tmp_path / "task_events.jsonl", encoding="utf-8") as f:
        lines = [json.loads(x) for x in f if x.strip()]
    assert len(lines) == 2
    assert lines[0]["type"] == "state"
    assert lines[0]["from_state"] == "wait"
    assert lines[0]["to_state"] == "arm_takeoff"
    assert lines[0]["ts_ms"] == 1000
    assert lines[0]["t_s"] == 0.0          # 首个事件 t_s = 0
    assert lines[1]["t_s"] == 1.0          # 第二个事件 t_s = 1.0s


def test_log_telemetry_writes_csv_rows(tmp_path):
    logger = TaskLogger(_cfg(tmp_path))
    logger.open()
    rec = TelemetryRecord(state="goto", pos_valid=True, latitude_deg=47.39,
                          distance_to_target_m=33.5, mode="VELOCITY_HEADING",
                          yaw_rate_dps=-30.0, vx_body_mps=1.7)
    logger.log_telemetry(1000, rec)
    logger.log_telemetry(1100, rec)
    logger.close()

    with open(tmp_path / "task_telemetry.csv", encoding="utf-8") as f:
        rows = list(csv.DictReader(f))
    assert len(rows) == 2
    assert rows[0]["state"] == "goto"
    assert rows[0]["pos_valid"] == "True"
    assert rows[0]["distance_to_target_m"] == "33.5"
    assert rows[0]["t_s"] == "0.0"
    assert rows[1]["t_s"] == "0.1"


def test_telemetry_throttled_by_every_n(tmp_path):
    logger = TaskLogger(_cfg(tmp_path, telemetry_every_n=5))
    logger.open()
    rec = TelemetryRecord(state="goto")
    for i in range(12):
        logger.log_telemetry(1000 + i * 100, rec)
    logger.close()

    with open(tmp_path / "task_telemetry.csv", encoding="utf-8") as f:
        rows = list(csv.DictReader(f))
    assert len(rows) == 2  # 第 5、10 次各记一次


def test_disabled_logs_nothing(tmp_path):
    logger = TaskLogger(_cfg(tmp_path, enabled=False))
    logger.open()
    logger.log_event(1000, "state", from_state="wait", to_state="arm_takeoff")
    logger.log_telemetry(1000, TelemetryRecord(state="goto"))
    logger.close()

    # 未 open（disabled）→ 不建目录、不写文件
    assert not (tmp_path / "task_events.jsonl").exists()
    assert not (tmp_path / "task_telemetry.csv").exists()


def test_log_before_open_is_noop(tmp_path):
    logger = TaskLogger(_cfg(tmp_path))
    logger.log_event(1000, "state", from_state="wait", to_state="arm_takeoff")
    logger.log_telemetry(1000, TelemetryRecord(state="goto"))
    logger.close()
    assert not (tmp_path / "task_events.jsonl").exists()


def test_append_keeps_existing_rows(tmp_path):
    """重复 open（追加模式）不清空既有内容，表头不重复写。"""
    logger = TaskLogger(_cfg(tmp_path))
    logger.open()
    logger.log_telemetry(1000, TelemetryRecord(state="wait"))
    logger.close()

    logger2 = TaskLogger(_cfg(tmp_path))
    logger2.open()
    logger2.log_telemetry(2000, TelemetryRecord(state="goto"))
    logger2.close()

    with open(tmp_path / "task_telemetry.csv", encoding="utf-8") as f:
        rows = list(csv.DictReader(f))
    assert len(rows) == 2
    assert rows[0]["state"] == "wait"
    assert rows[1]["state"] == "goto"