"""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
    assert config.joystick_index == 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_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_joystick_index_that_is_not_whole_names_itself(monkeypatch):
    monkeypatch.setenv("JOYSTICK_INDEX", "1.5")

    with pytest.raises(ValueError, match="JOYSTICK_INDEX"):
        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("GAMEPAD_IDLE_RELEASE_S", "5")

    config = Config.from_env()

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