"""Reading the environment, and refusing a setting the node cannot use."""

import pytest

from dora_ulite6.config import Config, env_float, env_int
from dora_ulite6.effectors import (
    EFFECTORS,
    GripperEffector,
    NoEffector,
    VacuumEffector,
    get_effector,
)
from dora_ulite6.errors import EffectorUnsupportedError


@pytest.fixture(autouse=True)
def clean_env(monkeypatch):
    """Run every test against a bare environment, whatever the shell set."""
    for name in ("ROBOT_IP", "TOOL_TYPE", "TOOL_OFFSET_MM", "INIT_MODE", "INIT_Z", "DEFAULT_SPEED"):
        monkeypatch.delenv(name, raising=False)


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

    assert config.robot_ip == "192.168.1.192"
    assert isinstance(config.effector, NoEffector)
    assert config.tool_offset_mm == 0.0
    assert config.init_mode == "none"


def test_the_tool_offset_is_the_tools_own_plus_the_extra(monkeypatch):
    monkeypatch.setenv("TOOL_TYPE", "vacuum")
    monkeypatch.setenv("TOOL_OFFSET_MM", "4.5")

    config = Config.from_env()

    assert isinstance(config.effector, VacuumEffector)
    assert config.tool_offset_mm == pytest.approx(VacuumEffector.offset_mm + 4.5)


def test_an_unknown_tool_is_refused_at_startup(monkeypatch):
    monkeypatch.setenv("TOOL_TYPE", "magnet")

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


def test_an_unknown_init_mode_is_refused_at_startup(monkeypatch):
    # Caught here rather than at the first motion, so the node never joins the
    # dataflow with a startup move nobody can name.
    monkeypatch.setenv("INIT_MODE", "somewhere")

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


def test_init_pose_components_are_read(monkeypatch):
    monkeypatch.setenv("INIT_MODE", "pose")
    monkeypatch.setenv("INIT_Z", "180")

    assert Config.from_env().init_pose.z == 180.0


@pytest.mark.parametrize("value", ["", "   "])
def test_a_blank_variable_falls_back_to_the_default(monkeypatch, value):
    monkeypatch.setenv("DEFAULT_SPEED", value)

    assert env_float("DEFAULT_SPEED", 30.0) == 30.0


def test_a_number_that_is_not_one_names_itself(monkeypatch):
    monkeypatch.setenv("PATH_SAMPLES", "four")

    with pytest.raises(ValueError, match="PATH_SAMPLES"):
        env_int("PATH_SAMPLES", 4)


def test_a_bare_flange_refuses_to_grasp():
    with pytest.raises(EffectorUnsupportedError):
        NoEffector().attach(object())


def test_an_effector_is_refused_by_a_driver_that_cannot_switch_it():
    class ArmWithNoTools:
        pass

    with pytest.raises(EffectorUnsupportedError, match="set_vacuum"):
        VacuumEffector().verify(ArmWithNoTools())


def test_each_effector_switches_the_driver_method_it_declares():
    switched = []

    class Arm:
        def set_gripper(self, closed):
            switched.append(closed)

    arm = Arm()
    effector = get_effector("gripper")
    effector.verify(arm)
    effector.attach(arm)
    effector.detach(arm)

    assert isinstance(effector, GripperEffector)
    assert switched == [True, False]


def test_every_registered_effector_declares_a_reach():
    assert all(effector.offset_mm >= 0 for effector in EFFECTORS.values())