"""Translation both ways: what the console asks for, and what it is shown."""

from dora_teleop import ui
from dora_teleop.arbiter import GAMEPAD, WEB

# --- what the console asks for ---


def test_a_jog_carries_its_six_numbers():
    command = ui.command_of({"type": "jog", "axes": [0.1, 0.2, 0.3, 0.4, 0.5, 0.6]})

    assert command.type == "jog"
    assert command.axes == [0.1, 0.2, 0.3, 0.4, 0.5, 0.6]


def test_a_jog_of_the_wrong_length_is_not_a_jog():
    assert ui.command_of({"type": "jog", "axes": [1, 2, 3]}) is None


def test_a_jog_carrying_something_that_is_not_a_number_is_not_a_jog():
    assert ui.command_of({"type": "jog", "axes": [1, 2, 3, 4, 5, "fast"]}) is None


def test_a_message_we_have_never_heard_of_is_dropped_not_refused():
    # The console and this node version independently; a page from a newer build
    # must not take the arm down by saying something we have not learned yet.
    assert ui.command_of({"type": "hologram"}) is None
    assert ui.command_of({}) is None
    assert ui.command_of("not even an object") is None


def test_taking_control_carries_whether_it_may_preempt():
    command = ui.command_of({"type": "control", "action": "take", "preempt": True})

    assert (command.action, command.preempt) == ("take", True)


def test_the_gripper_button_says_which_way():
    assert ui.command_of({"type": "gripper", "closed": True}).enabled is True
    assert ui.command_of({"type": "gripper", "closed": False}).enabled is False


def test_a_move_needs_a_position():
    assert ui.command_of({"type": "move", "x": 1.0, "y": 2.0}) is None

    command = ui.command_of({"type": "move", "x": 250.0, "y": 0.0, "z": 200.0, "speed": 40})

    assert command.row == {"x": 250.0, "y": 0.0, "z": 200.0, "speed": 40.0}


# --- what the console is shown ---


def test_an_arm_that_cannot_be_reached_reads_as_disconnected():
    view = ui.ArmView(state=ui.UNAVAILABLE)

    assert ui.arm_state(view, jogging=False) == ui.UI_DISCONNECTED


def test_an_arm_still_starting_up_reads_as_disconnected():
    view = ui.ArmView(state=ui.CONNECTING)

    assert ui.arm_state(view, jogging=False) == ui.UI_DISCONNECTED


def test_a_latched_estop_outranks_everything_else():
    # The arm may well read ready, and saying so would invite somebody to push it.
    view = ui.ArmView(state=ui.READY, estop=True, freedrive_on=True)

    assert ui.arm_state(view, jogging=True) == ui.UI_ESTOP


def test_freedrive_outranks_idle():
    # An arm that can be pushed by hand is not one holding station.
    view = ui.ArmView(state=ui.READY, freedrive_on=True)

    assert ui.arm_state(view, jogging=False) == ui.UI_FREEDRIVE


def test_a_moving_arm_we_are_jogging_reads_as_jogging():
    view = ui.ArmView(state=ui.MOVING)

    assert ui.arm_state(view, jogging=True) == ui.UI_JOGGING
    assert ui.arm_state(view, jogging=False) == ui.UI_MOVING


def test_a_recovering_arm_is_there_but_will_not_move():
    view = ui.ArmView(state=ui.RECOVERING)

    assert ui.arm_state(view, jogging=False) == ui.UI_STOPPED


def test_a_state_we_do_not_know_reads_as_disconnected_rather_than_as_ready():
    view = ui.ArmView(state="dancing")

    assert ui.arm_state(view, jogging=False) == ui.UI_DISCONNECTED


def test_the_snapshot_carries_every_key_the_page_reads_by_name():
    view = ui.ArmView(state=ui.READY, pose=[1, 2, 3, 4, 5, 6], joints=[0] * 6, connected=True)

    snapshot = ui.snapshot(view, WEB, jogging=False, timestamp=123.0)

    for key in (
        "type",
        "ts",
        "connected",
        "ready",
        "arm_state",
        "owner",
        "estop",
        "gripper",
        "units",
        "freedrive",
        "position",
        "joints",
    ):
        assert key in snapshot
    assert snapshot["position"] == {"x": 1, "y": 2, "z": 3, "roll": 4, "pitch": 5, "yaw": 6}


def test_an_arm_with_no_pose_yet_reports_none_rather_than_a_stale_one():
    snapshot = ui.snapshot(ui.ArmView(), None, jogging=False, timestamp=0.0)

    assert snapshot["position"] is None
    assert snapshot["owner"] == "none"


def test_the_owner_is_named_so_the_page_can_gate_its_jog_pad():
    assert ui.snapshot(ui.ArmView(), GAMEPAD, False, 0.0)["owner"] == "gamepad"
    assert ui.snapshot(ui.ArmView(), WEB, False, 0.0)["owner"] == "web"


def test_get_state_fills_in_what_telemetry_does_not_carry():
    view = ui.ArmView()

    view.take_get_state({"connected": True, "ready": True, "tool_engaged": True, "freedrive": True})

    assert (view.connected, view.ready, view.tool_engaged, view.freedrive_on) == (True, True, True, True)