"""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)、地面站手动命令
stop_track(0x0E)/auto_lock(0x0F+0x10)/center(0x2B)。
"""

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


def test_stop_track_sends_only_stop():
    """地面站「停跟踪」= 只发 0x0E（0x0F 常驻自动锁定仍生效，对齐按键 u）。"""
    bridge = FakeBridge()
    pc = PodController(bridge)
    pc.stop_track()

    assert [c.code for c in bridge.sent] == [ControlCode.STOP_TRACK]


def test_auto_lock_sends_autolock_and_detect_to_track():
    """地面站「自动锁定」= 0x0F + 0x10（对齐按键 a）。"""
    bridge = FakeBridge()
    pc = PodController(bridge)
    pc.auto_lock()

    assert [c.code for c in bridge.sent] == [ControlCode.AUTO_LOCK_ON_FOUND,
                                             ControlCode.DETECT_TO_TRACK]


def test_center_sends_center():
    """地面站「归中」= 0x2B（对齐按键 c）。"""
    bridge = FakeBridge()
    pc = PodController(bridge)
    pc.center()

    assert [c.code for c in bridge.sent] == [ControlCode.CENTER]