"""VPAIRAdapter unit tests with a fabricated vpair_sample/ layout."""

from pathlib import Path

import pytest

from gps_denied.testing.datasets.base import (
    DatasetNotAvailableError,
    PlatformClass,
)
from gps_denied.testing.datasets.vpair import VPAIRAdapter


@pytest.fixture
def fake_vpair_root(tmp_path: Path) -> Path:
    (tmp_path / "queries").mkdir()
    for fn in ("q_00000.jpg", "q_00001.jpg"):
        (tmp_path / "queries" / fn).write_bytes(b"\xff\xd8\xff\xd9")  # minimal JPEG
    (tmp_path / "poses.csv").write_text(
        "filename,lat,lon,alt,qx,qy,qz,qw,timestamp_ns\n"
        "q_00000.jpg,50.737,7.095,350.0,0,0,0,1,0\n"
        "q_00001.jpg,50.7372,7.0952,350.0,0,0,0,1,1000000000\n"
    )
    return tmp_path


def test_raises_when_missing(tmp_path: Path):
    with pytest.raises(DatasetNotAvailableError):
        VPAIRAdapter(tmp_path / "nope")


def test_capabilities_no_raw_imu(fake_vpair_root: Path):
    adapter = VPAIRAdapter(fake_vpair_root)
    cap = adapter.capabilities
    assert cap.has_raw_imu is False
    assert cap.platform_class == PlatformClass.FIXED_WING


def test_iter_frames(fake_vpair_root: Path):
    adapter = VPAIRAdapter(fake_vpair_root)
    frames = list(adapter.iter_frames())
    assert len(frames) == 2
    assert Path(frames[0].image_path).name == "q_00000.jpg"
    assert frames[1].timestamp_ns == 1_000_000_000


def test_iter_imu_empty(fake_vpair_root: Path):
    adapter = VPAIRAdapter(fake_vpair_root)
    assert list(adapter.iter_imu()) == []


def test_iter_ground_truth(fake_vpair_root: Path):
    adapter = VPAIRAdapter(fake_vpair_root)
    gt = list(adapter.iter_ground_truth())
    assert len(gt) == 2
    assert gt[0].lat == pytest.approx(50.737)
    assert gt[0].alt == pytest.approx(350.0)