"""
TDD Tests for Universal Hardware Support

Tests define expected behavior of ROSDevice abstraction.
"""

from unittest.mock import Mock, patch

import pytest

from agent_ros_bridge.hardware import (
    Capability,
    DeviceProfile,
    DeviceRegistry,
    Drone,
    Humanoid,
    Manipulator,
    MobileRobot,
    ROSDevice,
    SensorArray,
)


class TestCapability:
    """Capability defines what a device can do"""

    def test_capability_has_name_description_parameters(self):
        """Red: Capability must store basic info"""
        cap = Capability(
            name="navigate_to",
            description="Navigate to location",
            parameters={"x": float, "y": float},
            return_type="success",
        )
        assert cap.name == "navigate_to"
        assert cap.description == "Navigate to location"
        assert cap.parameters == {"x": float, "y": float}
        assert cap.return_type == "success"

    def test_capability_can_be_safety_critical(self):
        """Red: Some capabilities require extra validation"""
        cap = Capability(
            name="emergency_stop",
            description="Stop immediately",
            parameters={},
            return_type="success",
            safety_critical=True,
        )
        assert cap.safety_critical is True


class TestDeviceProfile:
    """DeviceProfile describes a ROS device"""

    def test_profile_stores_device_info(self):
        """Red: Profile must identify device"""
        profile = DeviceProfile(
            device_id="bot1",
            device_type="mobile_robot",
            manufacturer="Robotis",
            model="TurtleBot3",
        )
        assert profile.device_id == "bot1"
        assert profile.device_type == "mobile_robot"
        assert profile.manufacturer == "Robotis"
        assert profile.model == "TurtleBot3"

    def test_profile_has_capabilities(self):
        """Red: Profile must list capabilities"""
        cap = Capability("move", "Move", {}, "success")
        profile = DeviceProfile(
            device_id="bot1",
            device_type="mobile_robot",
            manufacturer="Test",
            model="TestBot",
            capabilities=[cap],
        )
        assert len(profile.capabilities) == 1
        assert profile.capabilities[0].name == "move"

    def test_profile_tracks_sensors_and_actuators(self):
        """Red: Profile must list hardware components"""
        profile = DeviceProfile(
            device_id="bot1",
            device_type="mobile_robot",
            manufacturer="Test",
            model="TestBot",
            sensors=["lidar", "camera"],
            actuators=["wheels"],
        )
        assert profile.sensors == ["lidar", "camera"]
        assert profile.actuators == ["wheels"]


class TestROSDeviceInterface:
    """ROSDevice is abstract base for all devices"""

    def test_device_requires_connect_method(self):
        """Red: Subclasses must implement connect"""

        class TestDevice(ROSDevice):
            def connect(self):
                return True

            def disconnect(self):
                pass

            def execute_capability(self, name, params):
                return {}

            def get_state(self):
                return {}

        device = TestDevice("test1", Mock())
        assert device.connect() is True

    def test_device_tracks_connection_status(self):
        """Red: Device must track if connected"""
        profile = Mock()
        device = MobileRobot("bot1", profile)

        assert device._connected is False
        device.connect()
        assert device._connected is True
        device.disconnect()
        assert device._connected is False

    def test_device_checks_capability_support(self):
        """Red: Device must report supported capabilities"""
        cap = Capability("navigate", "Navigate", {}, "success")
        profile = DeviceProfile(
            device_id="bot1",
            device_type="mobile_robot",
            manufacturer="Test",
            model="TestBot",
            capabilities=[cap],
        )
        device = MobileRobot("bot1", profile)

        assert device.has_capability("navigate") is True
        assert device.has_capability("fly") is False


class TestMobileRobot:
    """MobileRobot implements ROSDevice for ground robots"""

    def test_mobile_robot_navigates_to_location(self):
        """Red: Must execute navigate_to capability"""
        profile = DeviceProfile(
            device_id="bot1",
            device_type="mobile_robot",
            manufacturer="Test",
            model="TestBot",
            capabilities=[Capability("navigate_to", "Navigate", {"x": float}, "success")],
        )
        robot = MobileRobot("bot1", profile)
        robot.connect()

        result = robot.execute_capability("navigate_to", {"x": 5.0, "y": 3.0})

        assert result["success"] is True

    def test_mobile_robot_reports_position_state(self):
        """Red: Must report current state"""
        profile = Mock()
        robot = MobileRobot("bot1", profile)
        robot.connect()

        state = robot.get_state()

        assert "position" in state
        assert "battery" in state


class TestDrone:
    """Drone implements ROSDevice for aerial vehicles"""

    def test_drone_takes_off(self):
        """Red: Must execute takeoff capability"""
        profile = DeviceProfile(
            device_id="drone1",
            device_type="drone",
            manufacturer="DJI",
            model="Mavic",
            capabilities=[Capability("takeoff", "Take off", {"altitude": float}, "success")],
        )
        drone = Drone("drone1", profile)
        drone.connect()

        result = drone.execute_capability("takeoff", {"altitude": 10.0})

        assert result["success"] is True
        assert "10.0m" in result["message"]

    def test_drone_captures_images(self):
        """Red: Must capture aerial images"""
        profile = DeviceProfile(
            device_id="drone1",
            device_type="drone",
            manufacturer="DJI",
            model="Mavic",
            capabilities=[Capability("capture_image", "Capture", {}, "image_path")],
        )
        drone = Drone("drone1", profile)
        drone.connect()

        result = drone.execute_capability("capture_image", {})

        assert result["success"] is True
        assert "image_path" in result


class TestManipulator:
    """Manipulator implements ROSDevice for robot arms"""

    def test_manipulator_moves_to_position(self):
        """Red: Must move to 3D position"""
        profile = DeviceProfile(
            device_id="arm1",
            device_type="manipulator",
            manufacturer="UR",
            model="UR10",
            capabilities=[Capability("move_to", "Move", {"x": float}, "success")],
        )
        arm = Manipulator("arm1", profile)
        arm.connect()

        result = arm.execute_capability("move_to", {"x": 0.5, "y": 0.2, "z": 0.3})

        assert result["success"] is True

    def test_manipulator_grasps_with_force(self):
        """Red: Must grasp with specified force"""
        profile = DeviceProfile(
            device_id="arm1",
            device_type="manipulator",
            manufacturer="UR",
            model="UR10",
            capabilities=[Capability("grasp", "Grasp", {"force": float}, "success")],
        )
        arm = Manipulator("arm1", profile)
        arm.connect()

        result = arm.execute_capability("grasp", {"force": 0.5})

        assert result["success"] is True
        assert "0.5N" in result["message"]


class TestHumanoid:
    """Humanoid implements ROSDevice for bipedal robots"""

    def test_humanoid_walks(self):
        """Red: Must walk specified steps"""
        profile = DeviceProfile(
            device_id="digit1",
            device_type="humanoid",
            manufacturer="Agility",
            model="Digit",
            capabilities=[Capability("walk", "Walk", {"direction": str}, "success")],
        )
        humanoid = Humanoid("digit1", profile)
        humanoid.connect()

        result = humanoid.execute_capability("walk", {"direction": "forward", "steps": 5})

        assert result["success"] is True
        assert "forward 5 steps" in result["message"]

    def test_humanoid_climbs(self):
        """Red: Must climb surfaces"""
        profile = DeviceProfile(
            device_id="digit1",
            device_type="humanoid",
            manufacturer="Agility",
            model="Digit",
            capabilities=[Capability("climb", "Climb", {"surface": str}, "success")],
        )
        humanoid = Humanoid("digit1", profile)
        humanoid.connect()

        result = humanoid.execute_capability("climb", {"surface": "stairs"})

        assert result["success"] is True


class TestSensorArray:
    """SensorArray implements ROSDevice for data collection"""

    def test_sensor_array_senses(self):
        """Red: Must sense environment"""
        profile = DeviceProfile(
            device_id="sensors1",
            device_type="sensor_array",
            manufacturer="Generic",
            model="MultiSensor",
            capabilities=[Capability("sense", "Sense", {"modality": str}, "data")],
        )
        sensors = SensorArray("sensors1", profile)
        sensors.connect()

        result = sensors.execute_capability("sense", {"modality": "thermal"})

        assert result["success"] is True
        assert "data" in result


class TestDeviceRegistry:
    """DeviceRegistry manages all connected devices"""

    def test_registry_creates_devices(self):
        """Red: Must create and connect devices"""
        registry = DeviceRegistry()
        profile = DeviceProfile(
            device_id="bot1",
            device_type="mobile_robot",
            manufacturer="Test",
            model="TestBot",
            capabilities=[],
        )

        device = registry.create_device("bot1", "mobile_robot", profile)

        assert device is not None
        assert device.device_id == "bot1"
        assert "bot1" in registry.list_devices()

    def test_registry_finds_by_capability(self):
        """Red: Must find devices supporting capability"""
        registry = DeviceRegistry()

        # Create robot with navigate capability
        robot_profile = DeviceProfile(
            device_id="bot1",
            device_type="mobile_robot",
            manufacturer="Test",
            model="TestBot",
            capabilities=[Capability("navigate_to", "Navigate", {}, "success")],
        )
        robot = registry.create_device("bot1", "mobile_robot", robot_profile)

        # Create drone without navigate capability
        drone_profile = DeviceProfile(
            device_id="drone1",
            device_type="drone",
            manufacturer="Test",
            model="TestDrone",
            capabilities=[Capability("takeoff", "Take off", {}, "success")],
        )
        drone = registry.create_device("drone1", "drone", drone_profile)

        navigators = registry.get_devices_by_capability("navigate_to")

        assert len(navigators) == 1
        assert navigators[0].device_id == "bot1"

    def test_registry_supports_custom_device_types(self):
        """Red: Must allow registering new device types"""
        registry = DeviceRegistry()

        class CustomRobot(ROSDevice):
            def connect(self):
                self._connected = True
                return True

            def disconnect(self):
                pass

            def execute_capability(self, name, params):
                return {"success": True}

            def get_state(self):
                return {}

        registry.register_device_type("custom", CustomRobot)

        profile = DeviceProfile(
            device_id="custom1",
            device_type="custom",
            manufacturer="Test",
            model="CustomBot",
            capabilities=[],
        )
        device = registry.create_device("custom1", "custom", profile)

        assert isinstance(device, CustomRobot)


class TestTDDPrinciples:
    """Verify TDD principles are followed"""

    def test_all_device_types_have_tests(self):
        """Red: Every device type must have corresponding tests"""
        # This test documents that we have tests for:
        # - MobileRobot
        # - Drone
        # - Manipulator
        # - Humanoid
        # - SensorArray
        device_types = ["MobileRobot", "Drone", "Manipulator", "Humanoid", "SensorArray"]

        for device_type in device_types:
            test_class = globals().get(f"Test{device_type}")
            assert test_class is not None, f"Missing tests for {device_type}"

    def test_tests_define_behavior_not_verify(self):
        """Red: Tests must specify what code should do"""
        # Tests above use docstrings like:
        # "Red: Must execute navigate_to capability"
        # "Red: Must capture aerial images"
        # These define expected behavior BEFORE implementation
        pass  # This test passes if all above tests exist
