"""Settings: parsed once at startup, and refused there rather than mid-motion."""

import pytest

from dora_teleop.config import Config


def test_the_defaults_need_no_environment():
    config = Config.from_env()

    assert config.speed_mm_s == 60.0
    assert config.speed_deg_s == 30.0


def test_the_deadman_is_shorter_than_the_arms_own_expiry():
    # The arm node's VELOCITY_COMMAND_TTL_S defaults to 0.5 s and is the
    # backstop. Ours has to fire first, or the backstop backs up nothing.
    assert Config.from_env().deadman.jog_ttl_s < 0.5


def test_the_layers_fire_innermost_first():
    # A stale pad reading has to be noticed before the jog deadline it feeds.
    deadman = Config.from_env().deadman

    assert deadman.joy_ttl_s < deadman.jog_ttl_s


def test_a_blank_variable_falls_back_to_the_default(monkeypatch):
    monkeypatch.setenv("SPEED_MM_S", "   ")

    assert Config.from_env().speed_mm_s == 60.0


def test_a_speed_that_is_not_a_number_names_itself(monkeypatch):
    monkeypatch.setenv("SPEED_MM_S", "brisk")

    with pytest.raises(ValueError, match="SPEED_MM_S"):
        Config.from_env()


def test_a_joy_ttl_at_or_above_the_jog_ttl_is_refused_at_startup(monkeypatch):
    # Layers out of order means a backstop firing before the thing it backs up,
    # which is invisible until the day something actually goes wrong.
    monkeypatch.setenv("JOY_TTL_S", "0.4")

    with pytest.raises(ValueError, match="JOY_TTL_S"):
        Config.from_env()


def test_a_keepalive_at_or_above_the_jog_ttl_is_refused_at_startup(monkeypatch):
    # The repeat has to outpace the arm's own velocity expiry. It cannot be read
    # from here, but JOG_TTL_S already sits below it, so a repeat slower than
    # JOG_TTL_S is a repeat the arm stops between — an arm that stutters under a
    # held stick, with nothing in the logs to say why.
    monkeypatch.setenv("JOG_KEEPALIVE_S", "0.4")

    with pytest.raises(ValueError, match="JOG_KEEPALIVE_S"):
        Config.from_env()


def test_a_keepalive_of_zero_is_refused_at_startup(monkeypatch):
    # Zero would mean repeating every tick, which is the behaviour the keepalive
    # exists to replace.
    monkeypatch.setenv("JOG_KEEPALIVE_S", "0")

    with pytest.raises(ValueError, match="JOG_KEEPALIVE_S"):
        Config.from_env()


@pytest.mark.parametrize("value", ["1.0", "-0.1", "2"])
def test_a_deadzone_outside_the_stick_is_refused_at_startup(monkeypatch, value):
    # A deadzone of 1 would silently make the pad inert; catching it here beats
    # finding out when somebody picks it up.
    monkeypatch.setenv("DEADZONE", value)

    with pytest.raises(ValueError, match="DEADZONE"):
        Config.from_env()


@pytest.mark.parametrize("value", ["-0.1", "1.1"])
def test_an_expo_outside_the_curve_is_refused_at_startup(monkeypatch, value):
    monkeypatch.setenv("EXPO", value)

    with pytest.raises(ValueError, match="EXPO"):
        Config.from_env()


def test_the_timings_can_be_tuned_without_touching_the_speeds(monkeypatch):
    monkeypatch.setenv("JOG_TTL_S", "0.25")
    monkeypatch.setenv("JOY_TTL_S", "0.1")
    monkeypatch.setenv("GAMEPAD_IDLE_RELEASE_S", "5")

    config = Config.from_env()

    assert config.deadman.jog_ttl_s == 0.25
    assert config.deadman.joy_ttl_s == 0.1
    assert config.deadman.gamepad_idle_release_s == 5.0