"""Smoke tests for the RealSense D435 service layer.

These tests exercise the dataclasses + the driver in its un-initialized
state. Tests that need real hardware are skipped at runtime.
"""
import pytest
import numpy as np


def _camera_module():
    try:
        return __import__("src.backend.services.camera", fromlist=["*"])
    except ImportError as exc:
        pytest.skip(f"pyrealsense2 not importable: {exc}")


class TestCameraIntrinsics:
    def test_creation(self):
        mod = _camera_module()
        i = mod.CameraIntrinsics(
            fx_ir=383.0, fy_ir=383.0, cx_ir=320.0, cy_ir=240.0,
            fx_rgb=610.0, fy_rgb=610.0, cx_rgb=320.0, cy_rgb=240.0,
        )
        assert i.fx_ir == 383.0
        assert i.fx_rgb == 610.0


class TestCameraFrame:
    def test_creation(self):
        mod = _camera_module()
        rgb = np.zeros((480, 640, 3), dtype=np.uint8)
        depth = np.zeros((480, 640), dtype=np.uint16)
        f = mod.CameraFrame(rgb=rgb, depth=depth, timestamp=1234.5)
        assert f.rgb.shape == (480, 640, 3)
        assert f.depth.shape == (480, 640)
        assert f.timestamp == 1234.5


class TestDiscoveredDevice:
    def test_creation(self):
        mod = _camera_module()
        d = mod.DiscoveredDevice(index=0, vid=0x8086, pid=0x0B07, serial="ABC123", bus=1, device=5)
        assert d.vid == 0x8086
        assert d.serial == "ABC123"
        assert d.index == 0


class TestRealSenseD435:
    def test_defaults(self):
        mod = _camera_module()
        cam = mod.RealSenseD435()
        assert not cam.is_open()
        assert not cam.is_initialized()
        assert cam.intrinsics is None

    def test_capture_when_closed(self):
        mod = _camera_module()
        cam = mod.RealSenseD435()
        assert cam.capture() is None
        assert cam.get_rgb() is None
        assert cam.get_depth() is None

    def test_discover_requires_init(self):
        mod = _camera_module()
        cam = mod.RealSenseD435()
        with pytest.raises(RuntimeError, match="not initialized"):
            cam.discover()

    def test_open_requires_init(self):
        mod = _camera_module()
        cam = mod.RealSenseD435()
        # open() returns False rather than raising when not initialized.
        assert cam.open(0) is False