"""
TDD Tests for Simulation Scenario Runner

Agent ROS Bridge v0.6.4 - Simulation Infrastructure
Following TDD: Red -> Green -> Refactor

Goal: Run 10,000 scenarios for v0.6.2 Gate 2 validation
"""

from dataclasses import dataclass
from pathlib import Path
from typing import List, Optional
from unittest.mock import Mock, patch

import pytest

# =============================================================================
# Phase 1: RED - Write failing tests
# =============================================================================


class TestScenarioRunnerExists:
    """RED: ScenarioRunner class should exist and be importable"""

    def test_scenario_runner_module_exists(self):
        """RED: agent_ros_bridge.simulation module should exist"""
        try:
            from agent_ros_bridge.simulation import ScenarioRunner

            assert True
        except ImportError:
            pytest.fail("ScenarioRunner should be importable from agent_ros_bridge.simulation")

    def test_scenario_runner_class_exists(self):
        """RED: ScenarioRunner class should exist"""
        from agent_ros_bridge.simulation import ScenarioRunner

        assert ScenarioRunner is not None

    def test_scenario_runner_can_be_instantiated(self):
        """RED: Should be able to create ScenarioRunner instance"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        assert runner is not None


class TestScenarioLoading:
    """RED: Should be able to load scenarios from YAML files"""

    def test_load_scenario_method_exists(self):
        """RED: load_scenario method should exist"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        assert hasattr(runner, "load_scenario")

    def test_load_scenario_returns_scenario_object(self):
        """RED: load_scenario should return a Scenario object"""
        from agent_ros_bridge.simulation import Scenario, ScenarioRunner

        runner = ScenarioRunner()
        # Use a mock scenario file
        scenario = runner.load_scenario("navigation_basic.yaml")
        assert isinstance(scenario, Scenario)

    def test_scenario_has_name_attribute(self):
        """RED: Scenario should have a name attribute"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        scenario = runner.load_scenario("navigation_basic.yaml")
        assert hasattr(scenario, "name")
        assert scenario.name == "navigation_basic"

    def test_scenario_has_robot_config(self):
        """RED: Scenario should define robot configuration"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        scenario = runner.load_scenario("navigation_basic.yaml")
        assert hasattr(scenario, "robot_config")
        assert "type" in scenario.robot_config

    def test_scenario_has_environment(self):
        """RED: Scenario should define environment"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        scenario = runner.load_scenario("navigation_basic.yaml")
        assert hasattr(scenario, "environment")
        assert "obstacles" in scenario.environment

    def test_scenario_has_goal(self):
        """RED: Scenario should define goal/task"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        scenario = runner.load_scenario("navigation_basic.yaml")
        assert hasattr(scenario, "goal")
        assert scenario.goal is not None


class TestScenarioExecution:
    """RED: Should be able to execute scenarios"""

    def test_run_scenario_method_exists(self):
        """RED: run_scenario method should exist"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        assert hasattr(runner, "run_scenario")

    def test_run_scenario_returns_result(self):
        """RED: run_scenario should return ScenarioResult"""
        from agent_ros_bridge.simulation import ScenarioResult, ScenarioRunner

        runner = ScenarioRunner()
        result = runner.run_scenario("navigation_basic.yaml")
        assert isinstance(result, ScenarioResult)

    def test_result_has_success_status(self):
        """RED: Result should indicate success or failure"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        result = runner.run_scenario("navigation_basic.yaml")
        assert hasattr(result, "success")
        assert isinstance(result.success, bool)

    def test_result_has_duration(self):
        """RED: Result should include execution duration"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        result = runner.run_scenario("navigation_basic.yaml")
        assert hasattr(result, "duration_ms")
        assert result.duration_ms >= 0

    def test_result_has_trajectory(self):
        """RED: Result should include executed trajectory"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        result = runner.run_scenario("navigation_basic.yaml")
        assert hasattr(result, "trajectory")
        assert isinstance(result.trajectory, list)


class TestBatchExecution:
    """RED: Should run multiple scenarios (10K for Gate 2)"""

    def test_run_batch_method_exists(self):
        """RED: run_batch method should exist"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        assert hasattr(runner, "run_batch")

    def test_run_batch_accepts_glob_pattern(self):
        """RED: Should accept glob pattern for scenarios"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        results = runner.run_batch(scenarios="nav_*.yaml")
        assert isinstance(results, list)

    def test_run_batch_returns_results_list(self):
        """RED: Should return list of ScenarioResult"""
        from agent_ros_bridge.simulation import ScenarioResult, ScenarioRunner

        runner = ScenarioRunner()
        results = runner.run_batch(scenarios="nav_*.yaml")
        assert all(isinstance(r, ScenarioResult) for r in results)

    def test_run_batch_supports_parallel_execution(self):
        """RED: Should support parallel execution for speed"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        results = runner.run_batch(scenarios="nav_*.yaml", parallel=True, max_workers=4)
        assert isinstance(results, list)

    @pytest.mark.slow
    def test_can_run_10000_scenarios(self):
        """RED: Gate 2 requirement - 10K scenarios"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()

        # Generate 10K scenario paths (mock)
        scenarios = [f"scenario_{i:05d}.yaml" for i in range(10000)]

        results = runner.run_batch(scenarios=scenarios, parallel=True, max_workers=16)

        assert len(results) == 10000
        assert all(hasattr(r, "completed") for r in results)
        assert all(r.completed for r in results)


class TestScenarioResultMetrics:
    """RED: Results should include metrics for analysis"""

    def test_result_has_safety_violations(self):
        """RED: Should track safety violations"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        result = runner.run_scenario("navigation_basic.yaml")
        assert hasattr(result, "safety_violations")
        assert isinstance(result.safety_violations, list)

    def test_result_has_deviation_from_plan(self):
        """RED: Should track deviation from planned path"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        result = runner.run_scenario("navigation_basic.yaml")
        assert hasattr(result, "max_deviation_m")
        assert result.max_deviation_m >= 0

    def test_result_has_collision_count(self):
        """RED: Should track collisions"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        result = runner.run_scenario("navigation_basic.yaml")
        assert hasattr(result, "collision_count")
        assert result.collision_count >= 0


class TestSimulationReporting:
    """RED: Should generate reports from batch runs"""

    def test_generate_report_method_exists(self):
        """RED: Should be able to generate summary report"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()
        assert hasattr(runner, "generate_report")

    def test_report_includes_success_rate(self):
        """RED: Report should include success rate"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()

        results = runner.run_batch(scenarios="nav_*.yaml")
        report = runner.generate_report(results)

        assert "success_rate" in report
        assert 0 <= report["success_rate"] <= 1

    def test_report_includes_average_duration(self):
        """RED: Report should include average duration"""
        from agent_ros_bridge.simulation import ScenarioRunner

        runner = ScenarioRunner()

        results = runner.run_batch(scenarios="nav_*.yaml")
        report = runner.generate_report(results)

        assert "average_duration_ms" in report
        assert report["average_duration_ms"] >= 0


# =============================================================================
# Test Data Fixtures
# =============================================================================


@pytest.fixture
def sample_scenario_yaml(tmp_path):
    """Create a sample scenario YAML file for testing"""
    yaml_content = """
name: navigation_basic
robot_config:
  type: differential_drive
  max_velocity: 1.0
  max_acceleration: 0.5
environment:
  obstacles:
    - {x: 2.0, y: 2.0, radius: 0.5}
    - {x: 5.0, y: 3.0, radius: 0.3}
  bounds:
    min_x: 0.0
    max_x: 10.0
    min_y: 0.0
    max_y: 10.0
goal:
  type: navigate_to_pose
  pose:
    x: 8.0
    y: 8.0
    theta: 0.0
"""
    scenario_file = tmp_path / "navigation_basic.yaml"
    scenario_file.write_text(yaml_content)
    return str(scenario_file)


@pytest.fixture
def mock_scenario_runner():
    """Create a mock scenario runner for isolated testing"""
    from agent_ros_bridge.simulation import ScenarioRunner

    runner = ScenarioRunner()
    # Mock the actual execution to avoid dependencies
    runner._execute_scenario = Mock(
        return_value={
            "success": True,
            "duration_ms": 1500,
            "trajectory": [(0, 0, 0), (1, 0, 0), (2, 0, 0)],
            "safety_violations": [],
            "collision_count": 0,
            "max_deviation_m": 0.1,
        }
    )
    return runner
