"""The probe: what it draws, without a pad or a terminal."""

from dora_teleop import mapping, probe
from dora_teleop.joy import Sample
from tests.conftest import buttons_for, stick


def test_a_centred_stick_puts_the_marker_in_the_middle():
    drawn = probe.bar(0.0)

    assert drawn[len(drawn) // 2] == "#"


def test_the_bar_leans_the_way_the_stick_is_pushed():
    left = probe.bar(-1.0)
    right = probe.bar(1.0)

    assert left.index("#") < left.index("|")
    assert right.index("#") > right.index("|")


def test_a_reading_beyond_full_deflection_stays_on_the_bar():
    # SDL has been known to report slightly outside -1..1 on a worn stick.
    assert "#" in probe.bar(-4.0)
    assert "#" in probe.bar(4.0)


def test_no_gamepad_says_so_and_says_the_arm_is_being_held_still(config):
    # Absence covers both "no pad" and "dora-joy stopped sending", and the probe
    # must not imply the arm is waiting on something it is not.
    drawn = probe.render(Sample(present=False), Sample(present=False), [0.0] * 6, config)

    assert "no gamepad" in drawn
    assert "hold still" in drawn


def test_every_axis_the_pad_reports_is_shown_even_the_unused_ones(config):
    # A pad whose sticks land on indices we do not use is exactly what this is
    # for, so nothing may be hidden.
    sample = Sample(axes=[0.0] * 8, buttons=[], present=True)

    drawn = probe.render(sample, sample, [0.0] * 6, config)

    assert "unused" in drawn
    assert "axes (8 reported)" in drawn


def test_a_pressed_button_is_named(config):
    sample = stick(buttons=buttons_for(grasp=True))

    drawn = probe.render(sample, sample, [0.0] * 6, config)

    assert "grasp" in drawn


def test_nothing_pressed_says_so_rather_than_showing_an_empty_line(config):
    drawn = probe.render(stick(), stick(), [0.0] * 6, config)

    assert "none pressed" in drawn


def test_the_velocity_is_shown_in_the_units_the_arm_takes(config):
    pushed = stick(axes=[0.0, -1.0])
    velocity = mapping.velocity(pushed.axes, [], config)

    drawn = probe.render(pushed, pushed, velocity, config)

    assert "mm/s" in drawn
    assert "deg/s" in drawn
    assert f"{config.speed_mm_s:+8.2f}" in drawn


def test_a_still_arm_is_reported_as_still(config):
    drawn = probe.render(stick(), stick(), [0.0] * 6, config)

    assert "told to hold still" in drawn


def test_a_moving_arm_is_reported_as_moving(config):
    pushed = stick(axes=[0.0, -1.0])
    drawn = probe.render(pushed, pushed, [10.0, 0, 0, 0, 0, 0], config)

    assert "moving: yes" in drawn


def test_whether_the_pad_is_asking_for_the_arm_is_shown(config):
    # The probe is where a resting trigger claiming the arm would have been
    # visible, so it says what `is_active` thinks rather than leaving it implied.
    rest, pushed = stick(), stick(axes=[0.0, -1.0])

    assert "asking for the arm: no" in probe.render(rest, rest, [0.0] * 6, config)
    assert "asking for the arm: yes" in probe.render(pushed, pushed, [0.0] * 6, config)


def test_a_pad_that_does_not_fit_the_layout_is_called_out(config):
    # This is the tool for exactly that pad, so the reason goes on the screen
    # rather than only in the node's log.
    wrong = stick(axes=[0.0, 0.0, 0.0, -1.0, -1.0, -1.0])
    mismatch = "axis 3 rests at -1.000, which is not where right stick Y sits"

    drawn = probe.render(wrong, Sample(present=False), [0.0] * 6, config, mismatch)

    assert "does not match the layout" in drawn
    assert mismatch in drawn
    assert "asking for the arm: no" in drawn


def test_the_raw_axes_are_still_shown_for_a_pad_that_does_not_fit(config):
    # The numbers are the evidence: they are what `Layout` gets corrected from.
    wrong = stick(axes=[0.0, 0.0, 0.0, -1.0, -1.0, -1.0])

    drawn = probe.render(wrong, Sample(present=False), [0.0] * 6, config, "axis 3")

    assert "-1.000" in drawn
    assert "axes (6 reported)" in drawn