"""Integration test del router /api/right_arm/*."""
from __future__ import annotations

from unittest.mock import patch, MagicMock

from fastapi.testclient import TestClient

from presa_mano.main import app

client = TestClient(app)


def _fake_wrist_response():
    return {
        "left_wrist": {"position": [0.10, 0.20, 0.30], "quaternion": [0, 0, 0, 1]},
        "right_wrist": {"position": [0.30, -0.20, 0.30], "quaternion": [0, 0, 0, 1]},
    }


def test_state_returns_wrist_pose_and_config():
    with patch("presa_mano.api.right_arm_routes._deps.g1") as g1_factory:
        g1 = MagicMock()
        g1.wrist.return_value = _fake_wrist_response()
        g1_factory.return_value = g1

        r = client.get("/api/right_arm/state")
        assert r.status_code == 200
        body = r.json()
        assert body["wrist"]["position"] == [0.30, -0.20, 0.30]
        assert "rpy_deg" in body["wrist"]
        assert body["side"] == "right" or body["side"] in ("left", "right")
        assert "home_pose" in body
        assert "custom_pose" in body
        assert "offset_camera_mm" in body
        assert "axis_signs" in body
        assert "max_step_m" in body
        assert "z_floor_m" in body
        assert "robot_active" in body
        assert "timings_ms" in body


def test_state_502_when_g1_unavailable():
    from presa_mano.clients import G1Unavailable
    with patch("presa_mano.api.right_arm_routes._deps.g1") as g1_factory:
        g1 = MagicMock()
        g1.wrist.side_effect = G1Unavailable("connection refused")
        g1_factory.return_value = g1
        r = client.get("/api/right_arm/state")
        assert r.status_code == 502


def test_activate_sets_robot_active_g1_and_side_right():
    # /activate è idempotente: chiama PUT /api/config e ritorna /state
    with patch("presa_mano.api.right_arm_routes._deps.g1") as g1_factory:
        g1 = MagicMock()
        g1.wrist.return_value = _fake_wrist_response()
        g1_factory.return_value = g1
        r = client.post("/api/right_arm/activate")
        assert r.status_code == 200
        body = r.json()
        assert body["robot_active"] == "g1"
        assert body["side"] == "right"


def test_snapshot_front_returns_jpeg():
    fake_jpeg = b"\xff\xd8\xff" + b"\x00" * 100  # magic JPEG bytes
    with patch("presa_mano.api.right_arm_routes._deps.front_camera") as factory:
        cam = MagicMock()
        cam.rgb_jpeg.return_value = fake_jpeg
        factory.return_value = cam
        r = client.get("/api/right_arm/snapshot/front")
        assert r.status_code == 200
        assert r.headers["content-type"].startswith("image/jpeg")
        assert r.content == fake_jpeg


def test_snapshot_wrist_returns_jpeg():
    fake_jpeg = b"\xff\xd8\xff" + b"\x00" * 50
    with patch("presa_mano.api.right_arm_routes._deps.nuwa") as factory:
        cam = MagicMock()
        cam.rgb_jpeg.return_value = fake_jpeg
        factory.return_value = cam
        r = client.get("/api/right_arm/snapshot/wrist")
        assert r.status_code == 200
        assert r.headers["content-type"].startswith("image/jpeg")
        assert r.content == fake_jpeg


def test_snapshot_front_502_on_failure():
    with patch("presa_mano.api.right_arm_routes._deps.front_camera") as factory:
        cam = MagicMock()
        cam.rgb_jpeg.side_effect = RuntimeError("connection refused")
        factory.return_value = cam
        r = client.get("/api/right_arm/snapshot/front")
        assert r.status_code == 502