from shared.contracts import PositionEstimate

from mavlink_gcs_integration import (
    FlightControllerTelemetry,
    InMemoryMavlinkGateway,
    OperatorStatusMessage,
)


def test_telemetry_subscription_emits_normalized_sample() -> None:
    # Arrange
    gateway = InMemoryMavlinkGateway(status_rate_limit_ns=1_000)
    telemetry = FlightControllerTelemetry(
        timestamp_ns=1_000,
        acceleration_mps2=(0.1, 0.2, -9.8),
        attitude_rad=(0.01, 0.02, 1.57),
        altitude_m=250.0,
        airspeed_mps=17.5,
        gps_health="lost",
    )

    # Act
    samples = gateway.subscribe_telemetry([telemetry])

    # Assert
    assert len(samples) == 1
    assert samples[0].imu["accel_z"] == -9.8
    assert samples[0].attitude["yaw"] == 1.57
    assert samples[0].gps_health == "lost"


def test_invalid_gps_input_estimate_is_rejected_without_emission() -> None:
    # Arrange
    gateway = InMemoryMavlinkGateway(status_rate_limit_ns=1_000)
    estimate = PositionEstimate(
        timestamp_ns=2_000,
        latitude_deg=49.9,
        longitude_deg=36.2,
        altitude_m=250.0,
        covariance_semimajor_m=10.0,
        source_label="no_fix",
        fix_type=1,
        horizontal_accuracy_m=10.0,
        anchor_age_ms=0,
    )

    # Act
    result = gateway.emit_gps_input(estimate)

    # Assert
    assert result.emitted is False
    assert result.error is not None
    assert result.error.category == "validation"
    assert gateway.emitted_gps_inputs == []


def test_operator_status_messages_are_rate_limited_by_text() -> None:
    # Arrange
    gateway = InMemoryMavlinkGateway(status_rate_limit_ns=1_000)
    messages = [
        OperatorStatusMessage(timestamp_ns=1_000, severity="warning", text="GPS denied"),
        OperatorStatusMessage(timestamp_ns=1_500, severity="warning", text="GPS denied"),
        OperatorStatusMessage(timestamp_ns=2_100, severity="warning", text="GPS denied"),
    ]

    # Act
    result = gateway.emit_status(messages)

    # Assert
    assert [message.timestamp_ns for message in result.emitted] == [1_000, 2_100]
    assert [message.timestamp_ns for message in result.suppressed] == [1_500]
    assert len(gateway.emitted_status_messages) == 2