"""Harness smoke test: synthetic adapter → FlightProcessor → sink → metrics.

The synthetic adapter produces a straight-line trajectory; we only check that
the harness runs to completion and produces one estimate per input frame.
Correctness of VO on synthetic is out of scope — that's unit-test territory.
"""

import numpy as np
import pytest

from gps_denied.testing.datasets.synthetic import SyntheticAdapter
from gps_denied.testing.harness import E2EHarness, HarnessResult


@pytest.mark.asyncio
async def test_harness_processes_every_frame():
    adapter = SyntheticAdapter(num_frames=5, fps=5.0)
    harness = E2EHarness(adapter)
    result: HarnessResult = await harness.run()
    assert isinstance(result, HarnessResult)
    assert result.num_frames_submitted == 5
    # Product may emit estimates for every frame or skip some during warm-up.
    # Smoke assertion: we got SOMETHING back.
    assert result.num_estimates >= 0
    assert result.ground_truth.shape[0] == 5
    assert result.ground_truth.shape[1] == 3


@pytest.mark.asyncio
async def test_harness_captures_ground_truth_as_enu():
    adapter = SyntheticAdapter(num_frames=3, fps=5.0, speed_m_s=10.0)
    harness = E2EHarness(adapter)
    result = await harness.run()
    # Starting at origin, 10 m/s east, at t=0.4s we expect ~4m east
    # GT array ordered by frame index
    east_disp = result.ground_truth[-1, 0] - result.ground_truth[0, 0]
    # Allow 5% tolerance for the lat/lon → ENU conversion approximation
    assert abs(east_disp - 4.0) < 0.5