"""CI-tier e2e: run the full pipeline on EuRoC MH_01.

Skipped if the dataset is not installed under datasets/euroc/MH_01/.
"""

from pathlib import Path

import pytest

from gps_denied.testing.datasets.euroc import EuRoCAdapter
from gps_denied.testing.harness import E2EHarness
from gps_denied.testing.metrics import absolute_trajectory_error

# Initial target — calibrated once real numbers land.
EUROC_MH01_RMSE_CEILING_M = 5.0


@pytest.mark.e2e
@pytest.mark.needs_dataset
@pytest.mark.asyncio
async def test_euroc_mh01_pipeline_completes(euroc_mh01_root: Path):
    adapter = EuRoCAdapter(euroc_mh01_root)
    harness = E2EHarness(adapter)
    result = await harness.run()
    assert result.num_frames_submitted > 100, (
        "MH_01 has thousands of frames; harness should have submitted them all"
    )


@pytest.mark.e2e
@pytest.mark.needs_dataset
@pytest.mark.asyncio
async def test_euroc_mh01_rmse_within_ceiling(euroc_mh01_root: Path):
    adapter = EuRoCAdapter(euroc_mh01_root)
    harness = E2EHarness(adapter)
    result = await harness.run()
    if result.estimated_positions_enu.shape[0] == 0:
        pytest.xfail(
            "Pipeline currently emits zero GPS estimates on EuRoC — "
            "expected: VO works but satellite matching + ESKF anchoring not yet tuned. "
            "Convert to regular assert once the pipeline stabilises."
        )
    # Align lengths by truncating to shorter (estimates may lag GT at start)
    n = min(result.estimated_positions_enu.shape[0], result.ground_truth.shape[0])
    ate = absolute_trajectory_error(
        result.estimated_positions_enu[:n],
        result.ground_truth[:n],
    )
    assert ate["rmse"] < EUROC_MH01_RMSE_CEILING_M, f"ATE RMSE={ate['rmse']:.2f}m"