"""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


def _fake_yolo_top(class_name="pestello", conf=0.87):
    return {"detections": [
        {"class": class_name, "confidence": conf,
         "bbox": {"x1": 100.0, "y1": 80.0, "x2": 220.0, "y2": 180.0}},
        {"class": "altra", "confidence": 0.5,
         "bbox": {"x1": 10.0, "y1": 10.0, "x2": 50.0, "y2": 50.0}},
    ]}


def test_detect_front_filters_class_and_returns_top():
    with patch("presa_mano.api.right_arm_routes._deps.yolo") as ying, \
         patch("presa_mano.api.right_arm_routes._deps.front_camera") as cam_f:
        yolo = MagicMock()
        yolo.detect_url.return_value = _fake_yolo_top()
        ying.return_value = yolo
        cam = MagicMock()
        cam.rgb_url.return_value = "http://192.168.123.99:8878/api/rgb"
        cam.intrinsics.return_value = {"width": 640, "height": 480}
        cam_f.return_value = cam

        r = client.post("/api/right_arm/detect/front",
                        json={"class_name": "pestello", "conf": 0.4})
        assert r.status_code == 200
        body = r.json()
        assert body["detections"][0]["class"] == "pestello"
        assert body["image_size"] == [640, 480]


def test_detect_front_404_when_no_match():
    with patch("presa_mano.api.right_arm_routes._deps.yolo") as ying, \
         patch("presa_mano.api.right_arm_routes._deps.front_camera") as cam_f:
        yolo = MagicMock()
        yolo.detect_url.return_value = {"detections": []}
        ying.return_value = yolo
        cam = MagicMock()
        cam.rgb_url.return_value = "http://x/api/rgb"
        cam.intrinsics.return_value = {"width": 640, "height": 480}
        cam_f.return_value = cam
        r = client.post("/api/right_arm/detect/front",
                        json={"class_name": "pestello"})
        assert r.status_code == 404


def test_detect_front_falls_back_to_proxy_url_on_yolo_failure():
    """Se YOLO non riesce sull'URL diretto, ripeti con `proxy_base_url`."""
    attempts = []

    def _detect_url(image_url, conf=None):
        attempts.append(image_url)
        if "192.168" in image_url:
            raise RuntimeError("dns timeout")
        return _fake_yolo_top()

    with patch("presa_mano.api.right_arm_routes._deps.yolo") as ying, \
         patch("presa_mano.api.right_arm_routes._deps.front_camera") as cam_f:
        yolo = MagicMock()
        yolo.detect_url.side_effect = _detect_url
        ying.return_value = yolo
        cam = MagicMock()
        cam.rgb_url.return_value = "http://192.168.123.99:8878/api/rgb"
        cam.intrinsics.return_value = {"width": 640, "height": 480}
        cam_f.return_value = cam

        r = client.post("/api/right_arm/detect/front",
                        json={"class_name": "pestello",
                              "proxy_base_url": "http://localhost:8890"})
        assert r.status_code == 200
        assert len(attempts) == 2
        assert "192.168" in attempts[0]
        assert attempts[1].endswith("/api/right_arm/snapshot/front")