"""Integration test del router /api/pose_3d/*."""
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_pair():
    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_both_wrists():
    with patch("presa_mano.api.pose_3d_routes._deps.g1") as g1_factory:
        g1 = MagicMock()
        g1.wrist.return_value = _fake_wrist_pair()
        g1_factory.return_value = g1
        r = client.get("/api/pose_3d/state")
        assert r.status_code == 200
        body = r.json()
        assert "wrist" in body
        assert body["wrist"]["left"]["position"] == [0.10, 0.20, 0.30]
        assert body["wrist"]["right"]["position"] == [0.30, -0.20, 0.30]
        assert "poses" in body
        assert "live_max_step_m" in body
        assert body["robot_active"] in ("g1", "h1")


def test_state_502_when_g1_unavailable():
    from presa_mano.clients import G1Unavailable
    with patch("presa_mano.api.pose_3d_routes._deps.g1") as g1_factory:
        g1 = MagicMock()
        g1.wrist.side_effect = G1Unavailable("connection refused")
        g1_factory.return_value = g1
        r = client.get("/api/pose_3d/state")
        assert r.status_code == 502