"""目标隔离测试（规格 §4：track_id 优先 + 框位置最近邻、帧末老化清理）。"""

from stereo_ranger import StereoConfig, TargetStore

CFG = StereoConfig()  # isolation_gate_px = 50，filter_reset_frames = 5


def test_track_key_stable_across_position_move():
    store = TargetStore(CFG)
    key_1 = store.resolve(0, 7, (100.0, 100.0), 1)
    key_2 = store.resolve(0, 7, (400.0, 100.0), 2)  # 位置大幅移动仍是同一目标
    assert key_1 == key_2
    assert store.count == 1


def test_nearest_neighbor_keeps_identity_within_gate():
    store = TargetStore(CFG)
    key_1 = store.resolve(0, None, (100.0, 100.0), 1)
    key_2 = store.resolve(0, None, (130.0, 140.0), 2)  # 距离 50 ≤ 门限
    assert key_1 == key_2


def test_beyond_gate_creates_new_key():
    store = TargetStore(CFG)
    key_1 = store.resolve(0, None, (100.0, 100.0), 1)
    key_2 = store.resolve(0, None, (200.0, 100.0), 2)  # 距离 100 > 门限
    assert key_1 != key_2
    assert store.count == 2


def test_class_id_separates_states():
    store = TargetStore(CFG)
    assert store.resolve(0, None, (100.0, 100.0), 1) != store.resolve(1, None, (100.0, 100.0), 1)


def test_two_boxes_same_frame_claim_distinct_states():
    store = TargetStore(CFG)
    key_1 = store.resolve(0, None, (100.0, 100.0), 1)
    key_2 = store.resolve(0, None, (110.0, 100.0), 1)  # 同帧第二框不得接管已占用状态
    assert key_1 != key_2
    assert store.count == 2


def test_state_evicted_after_reset_frames_unseen():
    store = TargetStore(CFG)
    key = store.resolve(0, None, (100.0, 100.0), 1)
    store.distance_filter.advance(key, 5.0)
    store.consistency.advance(key, 9.6)
    for frame in range(2, 7):  # 第 2~6 帧：连续 5 帧缺席
        store.end_frame(frame)
    assert store.count == 0
    assert store.distance_filter.value(key) is None
    assert store.consistency.streak(key) == 0


def test_present_but_invalid_keeps_position_state():
    store = TargetStore(CFG)
    key = store.resolve(0, None, (100.0, 100.0), 1)
    store.distance_filter.advance(key, 5.0)
    for frame in range(2, 8):
        store.resolve(0, None, (100.0, 100.0), frame)  # 每帧仍出现
        store.distance_filter.invalidate(key)
    assert store.count == 1  # 位置状态保留
    assert store.distance_filter.value(key) is None  # 滤波状态已按门限清空


def test_clear_resets_everything():
    store = TargetStore(CFG)
    key = store.resolve(0, 5, (100.0, 100.0), 1)
    store.distance_filter.advance(key, 5.0)
    store.clear()
    assert store.count == 0
    assert store.distance_filter.value(key) is None