"""pod_control_test.py —— 吊舱目标识别/锁定控制器单元测试。

覆盖：arm_detection 发 0x07(识别,目标类型)+0x0F(自动锁定)、
stop_tracking 发 0x0E(停止)+0x08(识别关)。
"""

from pod_bridge.protocol import ControlCode
from task_runner.pod_control import PodController


class FakeBridge:
    def __init__(self):
        self.sent = []

    def send_control(self, cmd):
        self.sent.append(cmd)


def test_arm_detection_sends_detect_and_autolock():
    bridge = FakeBridge()
    pc = PodController(bridge, target_type=1)
    pc.arm_detection()

    assert len(bridge.sent) == 2
    assert bridge.sent[0].code == ControlCode.TARGET_DETECT_ON
    assert bridge.sent[0].param_x == 1          # 目标类型 1 = 无人机
    assert bridge.sent[1].code == ControlCode.AUTO_LOCK_ON_FOUND


def test_arm_detection_default_target_type_is_person_vehicle():
    bridge = FakeBridge()
    pc = PodController(bridge)  # 默认 target_type=0 = 人/车
    pc.arm_detection()
    assert bridge.sent[0].code == ControlCode.TARGET_DETECT_ON
    assert bridge.sent[0].param_x == 0


def test_stop_tracking_sends_stop_and_detect_off():
    bridge = FakeBridge()
    pc = PodController(bridge)
    pc.stop_tracking()

    assert len(bridge.sent) == 2
    assert bridge.sent[0].code == ControlCode.STOP_TRACK
    assert bridge.sent[1].code == ControlCode.TARGET_DETECT_OFF