from pathlib import Path

import pytest

from e2e.replay.harness import (
    BlackboxReplayRunner,
    ScenarioConfig,
    ScenarioGroup,
    ScenarioResult,
    validate_derkachi_alignment,
)
from shared.contracts import FramePacket, TelemetrySample
from vio_adapter import LocalVioAdapter, VioInputPacket


def test_derkachi_alignment_validator_accepts_expected_fixture_shape() -> None:
    # Act
    metrics = validate_derkachi_alignment(
        video_duration_s=490.07,
        telemetry_duration_s=490.07,
        telemetry_rows=4_900,
    )

    # Assert
    assert metrics["alignment_valid"] is True
    assert metrics["duration_delta_s"] == 0.0
    assert metrics["frames_per_telemetry"] == pytest.approx(3.0, abs=0.05)


def test_derkachi_alignment_validator_blocks_duration_drift() -> None:
    # Act / Assert
    with pytest.raises(ValueError, match="more than 250 ms"):
        validate_derkachi_alignment(
            video_duration_s=490.07,
            telemetry_duration_s=489.50,
            telemetry_rows=4_900,
        )


def test_public_vio_replay_boundary_emits_frame_by_frame_estimate() -> None:
    # Arrange
    adapter = LocalVioAdapter()
    frame = FramePacket(
        frame_id="derkachi-0001",
        timestamp_ns=1_000_000_000,
        image_ref="_docs/00_problem/input_data/flight_derkachi/flight_derkachi.mp4#0",
        calibration_id="derkachi-calibration-gated",
        occlusion="clear",
        quality=0.9,
    )
    telemetry = (
        TelemetrySample(
            timestamp_ns=1_000_000_000,
            imu={"accel_x": 0.0, "accel_y": 0.0, "accel_z": -9.8},
            attitude={"roll": 0.0, "pitch": 0.0, "yaw": 1.0},
            altitude_m=400.0,
            airspeed_mps=22.0,
            gps_health="healthy",
        ),
    )

    # Act
    result = adapter.process(VioInputPacket(frame=frame, telemetry_samples=telemetry))

    # Assert
    assert result.state_packet is not None
    assert result.health.state == "ready"
    assert result.state_packet.timestamp_ns == frame.timestamp_ns
    assert result.state_packet.tracking_quality > 0.0


def test_public_dataset_and_calibration_prerequisites_are_reported_blocked(tmp_path: Path) -> None:
    # Arrange
    scenario = ScenarioConfig(
        scenario_id="FT-P-03-CALIBRATION",
        name="Calibration-gated public VIO dataset",
        group=ScenarioGroup.PERFORMANCE,
        input_dataset="public_nadir_vio_candidates",
        required_paths=(tmp_path / "camera_intrinsics.yaml",),
    )

    # Act
    result = BlackboxReplayRunner(output_root=tmp_path, scenarios=(scenario,)).run()

    # Assert
    report = result.reports[0]
    assert report.result == ScenarioResult.BLOCKED
    assert "camera_intrinsics.yaml" in report.error_message