"""Test POST /api/pose_3d/align: fit Umeyama + persistenza config."""
from __future__ import annotations

from unittest.mock import patch, MagicMock

import numpy as np
from fastapi.testclient import TestClient

from presa_mano.main import app
from presa_mano.config import get_config

client = TestClient(app)

_CORNERS_PX = [[100, 100], [140, 100], [140, 140], [100, 140]]


def _cam_with_points(points_by_pixel):
    cam = MagicMock()
    cam.intrinsics.return_value = {"rgb": {"fx": 600.0, "fy": 600.0, "cx": 320.0, "cy": 240.0}}
    cam.rgb_url.return_value = "http://cam/rgb.png"

    def _measure(u, v, radius=2):
        key = (int(u), int(v))
        if key in points_by_pixel:
            x, y, z = points_by_pixel[key]
        else:
            xs = [p[0] for p in points_by_pixel.values()]
            ys = [p[1] for p in points_by_pixel.values()]
            zs = [p[2] for p in points_by_pixel.values()]
            x, y, z = sum(xs)/len(xs), sum(ys)/len(ys), sum(zs)/len(zs)
        return {"point_m": {"x": x, "y": y, "z": z}, "depth_mm": int(z * 1000)}
    cam.measure.side_effect = _measure
    return cam


def _marker(found_ids):
    mk = MagicMock()
    mk.detect_url.return_value = {
        "found": [{"id": i, "corners": _CORNERS_PX} for i in found_ids],
        "not_found": [],
    }
    return mk


def test_align_fits_and_persists():
    nuwa_pts = {
        (100, 100): (0.10, 0.10, 0.30),
        (140, 100): (0.14, 0.10, 0.30),
        (140, 140): (0.14, 0.14, 0.30),
        (100, 140): (0.10, 0.14, 0.30),
    }
    d435_pts = {k: (v[0]*2, v[1]*2, v[2]*2) for k, v in nuwa_pts.items()}
    with patch("presa_mano.api.pose_3d_routes._deps.nuwa") as nuwa_f, \
         patch("presa_mano.api.pose_3d_routes._deps.front_camera") as front_f, \
         patch("presa_mano.api.pose_3d_routes._deps.marker") as mk_f:
        nuwa_f.return_value = _cam_with_points(nuwa_pts)
        front_f.return_value = _cam_with_points(d435_pts)
        mk_f.return_value = _marker([7])
        r = client.post("/api/pose_3d/align?ids=0-9&align_id=7")
        assert r.status_code == 200
        body = r.json()
        assert body["found_in_both"] is True
        assert abs(body["scale"] - 2.0) < 1e-3
        assert body["align_id"] == 7
        cc = get_config()["pose_3d"]["cross_camera"]
        assert abs(cc["scale"] - 2.0) < 1e-3
        assert cc["align_id"] == 7
        assert len(cc["R"]) == 3 and len(cc["t"]) == 3


def test_align_tag_missing_in_one_camera_does_not_save():
    pts = {(100,100):(0.1,0.1,0.3),(140,100):(0.14,0.1,0.3),
           (140,140):(0.14,0.14,0.3),(100,140):(0.1,0.14,0.3)}
    with patch("presa_mano.api.pose_3d_routes._deps.nuwa") as nuwa_f, \
         patch("presa_mano.api.pose_3d_routes._deps.front_camera") as front_f, \
         patch("presa_mano.api.pose_3d_routes._deps.marker") as mk_f:
        nuwa_f.return_value = _cam_with_points(pts)
        front_f.return_value = _cam_with_points(pts)
        mk_f.return_value = _marker([1])  # nessun tag id=99
        r = client.post("/api/pose_3d/align?ids=0-9&align_id=99")
        assert r.status_code == 200
        body = r.json()
        assert body["found_in_both"] is False
        assert body.get("error")
        assert "cross_camera" not in get_config().get("pose_3d", {})