from shared.contracts import FramePacket, TelemetrySample
from vio_adapter import LocalVioAdapter, VioInputPacket


def _frame(**overrides: object) -> FramePacket:
    payload: dict[str, object] = {
        "frame_id": "frame-1",
        "timestamp_ns": 1_000_000,
        "image_ref": "replay/frame-1.jpg",
        "calibration_id": "calib-1",
        "occlusion": "clear",
        "quality": 0.85,
    }
    payload.update(overrides)
    return FramePacket.model_validate(payload)


def _telemetry(timestamp_ns: int = 1_000_000) -> TelemetrySample:
    return TelemetrySample(
        timestamp_ns=timestamp_ns,
        imu={"accel_x": 0.1, "accel_y": 0.0, "accel_z": 9.8},
        attitude={"roll": 0.0, "pitch": 0.01, "yaw": 0.02},
        altitude_m=120.0,
        airspeed_mps=24.0,
        gps_health="lost",
    )


def test_valid_synchronized_packet_emits_vio_state() -> None:
    # Arrange
    adapter = LocalVioAdapter()
    packet = VioInputPacket(frame=_frame(), telemetry_samples=(_telemetry(),))

    # Act
    result = adapter.process(packet)

    # Assert
    assert result.error is None
    assert result.state_packet is not None
    assert result.state_packet.timestamp_ns == 1_000_000
    assert result.state_packet.tracking_quality == 0.85
    assert result.health.state == "ready"


def test_timestamp_mismatch_is_explicit_validation_error() -> None:
    # Arrange
    adapter = LocalVioAdapter(timestamp_tolerance_ns=1_000)
    packet = VioInputPacket(frame=_frame(), telemetry_samples=(_telemetry(2_000_000),))

    # Act
    result = adapter.process(packet)

    # Assert
    assert result.state_packet is None
    assert result.error is not None
    assert result.error.component == "vio_adapter"
    assert result.error.cause == "gap_exceeded"
    assert result.health.state == "degraded"


def test_tracking_loss_degrades_health_without_emitting_absolute_position() -> None:
    # Arrange
    adapter = LocalVioAdapter(degraded_quality_threshold=0.35)
    packet = VioInputPacket(frame=_frame(quality=0.2), telemetry_samples=(_telemetry(),))

    # Act
    result = adapter.process(packet)

    # Assert
    assert result.state_packet is not None
    assert result.health.state == "degraded"
    assert "latitude_deg" not in result.state_packet.model_dump()
    assert "longitude_deg" not in result.state_packet.model_dump()