gps-denied-onboard/tests/unit/replay_input/test_az698_window_alignment.py

"""AZ-698 — tlog trim + mid-flight cross-correlation alignment tests.

Covers AC-1..AC-4 of ``_docs/02_tasks/todo/AZ-698_tlog_trim_midflight_alignment.md``.
AC-5 (end-to-end CLI smoke) is exercised by the existing replay e2e
suite in ``tests/e2e/replay/`` and skipped here when its prerequisites
(ffmpeg-capable cv2 build + real ``derkachi.tlog``) are absent.

Style: every test follows the Arrange / Act / Assert pattern.
"""

from __future__ import annotations

import math
from pathlib import Path
from types import SimpleNamespace
from typing import Any
from unittest.mock import MagicMock

import pytest

from gps_denied_onboard._types.fc import (
    AttitudeSample,
    FcKind,
    FcTelemetryFrame,
    FlightStateSignal,
    GpsHealth,
    ImuTelemetrySample,
    TelemetryKind,
)
from gps_denied_onboard.clock import Clock
from gps_denied_onboard.components.c8_fc_adapter.tlog_replay_adapter import (
    ReplayPace,
    TlogReplayFcAdapter,
)
from gps_denied_onboard.replay_input.auto_sync import (
    _align_via_cross_correlation,
    _resample_uniform,
    _segment_flights_from_imu_energy,
    compute_offset,
    detect_video_motion_onset,
    find_aligned_window,
    validate_offset_or_fail,
)
from gps_denied_onboard.replay_input.errors import ReplayInputAdapterError
from gps_denied_onboard.replay_input.interface import (
    AlignedWindow,
    AutoSyncConfig,
)


# ---------------------------------------------------------------------
# Synthetic-stream helpers


def _ns(seconds: float) -> int:
    return int(seconds * 1_000_000_000)


def _build_motion_burst_stream(
    *,
    start_s: float,
    end_s: float,
    hz: float,
    burst_at_s: float,
    burst_amplitude: float,
    burst_duration_s: float = 1.0,
    baseline_amplitude: float = 0.0,
) -> tuple[tuple[int, float], ...]:
    """Build a synthetic ``(ts_ns, magnitude)`` stream.

    Constant at ``baseline_amplitude`` outside a single rectangular
    burst (``burst_amplitude`` for ``burst_duration_s`` starting at
    ``burst_at_s``). Used so cross-correlation has a clear peak that
    tests can assert exact-index for.
    """
    out: list[tuple[int, float]] = []
    period_s = 1.0 / hz
    t = start_s
    burst_end_s = burst_at_s + burst_duration_s
    while t < end_s:
        if burst_at_s <= t < burst_end_s:
            out.append((_ns(t), burst_amplitude))
        else:
            out.append((_ns(t), baseline_amplitude))
        t += period_s
    return tuple(out)


def _build_double_burst_stream(
    *,
    start_s: float,
    end_s: float,
    hz: float,
    burst_a_at_s: float,
    burst_b_at_s: float,
    burst_amplitude: float,
    burst_duration_s: float = 1.0,
    baseline_amplitude: float = 0.0,
) -> tuple[tuple[int, float], ...]:
    """Two-burst variant to constrain cross-correlation more tightly."""
    out: list[tuple[int, float]] = []
    period_s = 1.0 / hz
    t = start_s
    while t < end_s:
        if burst_a_at_s <= t < burst_a_at_s + burst_duration_s:
            out.append((_ns(t), burst_amplitude))
        elif burst_b_at_s <= t < burst_b_at_s + burst_duration_s:
            out.append((_ns(t), burst_amplitude))
        else:
            out.append((_ns(t), baseline_amplitude))
        t += period_s
    return tuple(out)


def _build_multi_flight_stream(
    *,
    flights: tuple[tuple[float, float], ...],
    end_s: float,
    hz: float,
    in_flight_amplitude: float = 0.3,
    ground_amplitude: float = 0.02,
) -> tuple[tuple[int, float], ...]:
    """Build a multi-flight IMU energy stream.

    ``flights`` is a tuple of ``(start_s, end_s)`` per flight. Between
    flights the energy is ``ground_amplitude``; inside each flight it
    is ``in_flight_amplitude``. Used by the multi-flight segmentation
    tests to mimic a real "3 takeoffs at the same field" tlog.
    """
    out: list[tuple[int, float]] = []
    period_s = 1.0 / hz
    t = 0.0
    while t < end_s:
        in_flight = any(s <= t < e for s, e in flights)
        out.append((_ns(t), in_flight_amplitude if in_flight else ground_amplitude))
        t += period_s
    return tuple(out)


# ---------------------------------------------------------------------
# AC-1: takeoff-aligned regression — find_aligned_window must produce
# the same offset (within ± 50 ms) as the AZ-405 compute_offset path
# when the video covers the take-off.


def test_ac1_takeoff_aligned_offset_matches_az405_within_50ms() -> None:
    # Arrange: 30 s tlog with a take-off-shaped IMU energy burst at
    # t = 2 s; 5 s video with the same-shaped optical-flow burst at
    # video_t = 0.5 s (motion onset half a second into the clip).
    # AZ-405 would resolve offset_ms = (tlog_takeoff_ns -
    # video_motion_onset_ns) // 1e6 ≈ 1.5 s. The AZ-698 aligner
    # must agree within 50 ms.
    tlog_energy = _build_motion_burst_stream(
        start_s=0.0,
        end_s=30.0,
        hz=10.0,
        burst_at_s=2.0,
        burst_amplitude=1.2,
        burst_duration_s=1.5,
        baseline_amplitude=0.0,
    )
    flow_samples = _build_motion_burst_stream(
        start_s=0.0,
        end_s=5.0,
        hz=10.0,
        burst_at_s=0.5,
        burst_amplitude=2.0,
        burst_duration_s=1.5,
        baseline_amplitude=0.0,
    )
    config = AutoSyncConfig()
    expected_offset_ms = _ns(2.0 - 0.5) // 1_000_000

    # Act
    window = _align_via_cross_correlation(
        tlog_energy=tlog_energy,
        flow_samples=flow_samples,
        config=config,
        target_fc_dialect=FcKind.ARDUPILOT_PLANE,
        tlog_path=Path("/nonexistent.tlog"),
        tlog_source_factory=None,
    )

    # Assert
    assert window.fallback_used is False, "expected primary cross-corr path, not fallback"
    assert abs(window.offset_ms - expected_offset_ms) <= 50, (
        f"AZ-698 offset {window.offset_ms} ms outside ±50 ms of AZ-405-equivalent "
        f"{expected_offset_ms} ms"
    )


# ---------------------------------------------------------------------
# AC-2: mid-flight alignment — tlog 0–30 s with motion burst at t=15 s,
# video 0–5 s with motion burst at video_t=1 s. Expected:
#   tlog_start_ns ≈ (15 - 1) s = 14 s   (where video t=0 lands)
#   offset_ms     ≈ 14 000


def test_ac2_mid_flight_alignment_locates_correct_window() -> None:
    # Arrange: distinctive double-burst pattern in both streams so
    # cross-correlation lock is unambiguous (single-burst patterns
    # can lock on the wrong baseline at edge bins).
    tlog_energy = _build_double_burst_stream(
        start_s=0.0,
        end_s=30.0,
        hz=10.0,
        burst_a_at_s=15.0,
        burst_b_at_s=18.0,
        burst_amplitude=1.5,
        burst_duration_s=0.8,
        baseline_amplitude=0.0,
    )
    flow_samples = _build_double_burst_stream(
        start_s=0.0,
        end_s=5.0,
        hz=10.0,
        burst_a_at_s=1.0,
        burst_b_at_s=4.0,
        burst_amplitude=2.5,
        burst_duration_s=0.8,
        baseline_amplitude=0.0,
    )
    config = AutoSyncConfig()
    period_ns = _ns(1.0 / config.alignment_resample_hz)

    # Act
    window = _align_via_cross_correlation(
        tlog_energy=tlog_energy,
        flow_samples=flow_samples,
        config=config,
        target_fc_dialect=FcKind.ARDUPILOT_PLANE,
        tlog_path=Path("/nonexistent.tlog"),
        tlog_source_factory=None,
    )

    # Assert
    assert window.fallback_used is False
    # video burst A at t=1.0s aligns with tlog burst A at t=15.0s
    # → video t=0 aligns with tlog t=14.0s within ±1 resample period.
    assert abs(window.tlog_start_ns - _ns(14.0)) <= period_ns, (
        f"tlog_start_ns={window.tlog_start_ns} not within one resample period "
        f"({period_ns} ns) of the expected 14 s"
    )
    assert abs(window.offset_ms - 14_000) <= 100
    assert window.tlog_end_ns > window.tlog_start_ns


# ---------------------------------------------------------------------
# AC-3: TlogReplayFcAdapter seek — messages whose raw _timestamp is
# below tlog_start_ns must NOT reach subscribers.


def _make_fake_msg(*, type_name: str, raw_ts_s: float, **fields: Any) -> SimpleNamespace:
    """Build a pymavlink-shaped fake message for replay-adapter tests."""
    msg = SimpleNamespace(_timestamp=raw_ts_s, **fields)

    def _get_type() -> str:
        return type_name

    msg.get_type = _get_type  # type: ignore[attr-defined]
    return msg


def _build_replay_adapter_with_seek(
    *,
    tlog_start_ns: int | None,
    tmp_path: Path,
    monkeypatch: pytest.MonkeyPatch,
) -> tuple[TlogReplayFcAdapter, list[FcTelemetryFrame]]:
    """Construct a TlogReplayFcAdapter wired to deterministic fakes."""
    monkeypatch.setenv("BUILD_TLOG_REPLAY_ADAPTER", "ON")
    tlog_file = tmp_path / "fake.tlog"
    tlog_file.write_bytes(b"\x00")

    received: list[FcTelemetryFrame] = []

    fake_clock = MagicMock(spec=Clock)
    fake_clock.monotonic_ns.return_value = 0
    fake_clock.sleep_until_ns.return_value = None
    fake_wgs = MagicMock()
    fake_fdr = MagicMock()
    fake_fdr.enqueue.return_value = None

    adapter = TlogReplayFcAdapter(
        tlog_path=tlog_file,
        target_fc_dialect=FcKind.ARDUPILOT_PLANE,
        clock=fake_clock,
        wgs_converter=fake_wgs,
        fdr_client=fake_fdr,
        time_offset_ms=0,
        tlog_start_ns=tlog_start_ns,
        pace=ReplayPace.ASAP,
    )
    adapter.subscribe_telemetry(received.append)
    return adapter, received


def test_ac3_adapter_seek_skips_pre_window_messages(
    tmp_path: Path, monkeypatch: pytest.MonkeyPatch
) -> None:
    # Arrange: adapter opened with tlog_start_ns = 100 s; feed 5
    # IMU messages, two below 100 s (must be skipped) and three at
    # or above 100 s (must reach the subscriber).
    adapter, received = _build_replay_adapter_with_seek(
        tlog_start_ns=_ns(100.0),
        tmp_path=tmp_path,
        monkeypatch=monkeypatch,
    )
    pre_window = [
        _make_fake_msg(
            type_name="RAW_IMU",
            raw_ts_s=t,
            time_usec=int(t * 1e6),
            xacc=0,
            yacc=0,
            zacc=1000,
            xgyro=0,
            ygyro=0,
            zgyro=0,
        )
        for t in (50.0, 99.999)
    ]
    in_window = [
        _make_fake_msg(
            type_name="RAW_IMU",
            raw_ts_s=t,
            time_usec=int(t * 1e6),
            xacc=0,
            yacc=0,
            zacc=1000,
            xgyro=0,
            ygyro=0,
            zgyro=0,
        )
        for t in (100.0, 101.5, 110.0)
    ]

    # Act
    for msg in pre_window + in_window:
        adapter.feed_one_message(msg)

    # Assert
    assert len(received) == 3, "expected three in-window IMU frames"
    assert all(
        frame.kind == TelemetryKind.IMU_SAMPLE for frame in received
    ), "non-IMU frame leaked through"
    # ``received_at`` is the raw _timestamp (no offset). Every
    # delivered frame's raw timestamp must be ≥ 100 s.
    for frame in received:
        assert frame.received_at >= _ns(100.0), (
            f"frame with received_at={frame.received_at} ns leaked below the seek bound"
        )


def test_ac3_adapter_default_no_seek_passes_every_message(
    tmp_path: Path, monkeypatch: pytest.MonkeyPatch
) -> None:
    # Arrange: tlog_start_ns=None (default) → no seek; every message reaches subscribers.
    adapter, received = _build_replay_adapter_with_seek(
        tlog_start_ns=None,
        tmp_path=tmp_path,
        monkeypatch=monkeypatch,
    )
    messages = [
        _make_fake_msg(
            type_name="RAW_IMU",
            raw_ts_s=t,
            time_usec=int(t * 1e6),
            xacc=0,
            yacc=0,
            zacc=1000,
            xgyro=0,
            ygyro=0,
            zgyro=0,
        )
        for t in (10.0, 50.0, 100.0)
    ]

    # Act
    for msg in messages:
        adapter.feed_one_message(msg)

    # Assert
    assert len(received) == 3, "default (no seek) must pass every IMU message"


# ---------------------------------------------------------------------
# AC-4: AC-9 frame-window validator passes for both scenarios.


def test_ac4_validator_passes_for_takeoff_aligned_offset() -> None:
    # Arrange: video frames at 30 fps for 5 s; tlog IMU at 100 Hz
    # for 30 s covering both pre-take-off and post; offset places
    # video t=0 at tlog t=2 s.
    video_ts = [int(t * 1_000_000_000) for t in (i / 30.0 for i in range(150))]
    tlog_ts = [int(t * 1_000_000_000) for t in (i / 100.0 for i in range(3000))]
    offset_ms = 2_000

    # Act
    result = validate_offset_or_fail(
        offset_ms,
        tlog_imu_timestamps_ns=tlog_ts,
        video_frame_timestamps_ns=video_ts,
        threshold_pct=95.0,
        window_ms=100,
    )

    # Assert
    assert result == 0


def test_ac4_validator_passes_for_mid_flight_offset() -> None:
    # Arrange: video covers 0–5 s; tlog covers 0–60 s; mid-flight
    # offset places video t=0 at tlog t=30 s. Every video frame
    # still has an IMU sample within ±100 ms of (vts + 30s) because
    # the tlog covers that range densely.
    video_ts = [int(t * 1_000_000_000) for t in (i / 30.0 for i in range(150))]
    tlog_ts = [int(t * 1_000_000_000) for t in (i / 100.0 for i in range(6000))]
    offset_ms = 30_000

    # Act
    result = validate_offset_or_fail(
        offset_ms,
        tlog_imu_timestamps_ns=tlog_ts,
        video_frame_timestamps_ns=video_ts,
        threshold_pct=95.0,
        window_ms=100,
    )

    # Assert
    assert result == 0


# ---------------------------------------------------------------------
# Resampler unit tests — pin the binning semantics so future
# regressions are caught explicitly.


def test_resample_uniform_averages_within_bin() -> None:
    # Arrange: 3 samples in the first 100 ms bin (values 1, 2, 3 →
    # mean 2.0), 1 sample in the second bin (value 4 → 4.0).
    samples = (
        (_ns(0.00), 1.0),
        (_ns(0.03), 2.0),
        (_ns(0.06), 3.0),
        (_ns(0.15), 4.0),
    )
    period_ns = _ns(0.10)

    # Act
    resampled = _resample_uniform(samples, period_ns, origin_ns=0)

    # Assert
    assert math.isclose(resampled[0], 2.0)
    assert math.isclose(resampled[1], 4.0)


def test_resample_uniform_drops_trailing_empty_bins() -> None:
    # Arrange: one sample in bin 0, then a 1 s gap before the next sample.
    # The samples between get carry-forward of the previous bin's value;
    # trailing zeros only appear AFTER the last sample.
    samples = (
        (_ns(0.0), 5.0),
        (_ns(1.05), 7.0),
    )
    period_ns = _ns(0.1)

    # Act
    resampled = _resample_uniform(samples, period_ns, origin_ns=0)

    # Assert
    # The first bin is 5.0, bins 1..9 carry-forward to 5.0 (the previous
    # bin's value), and bin 10 captures the t=1.05 s sample as 7.0.
    assert resampled[0] == 5.0
    assert resampled[-1] == 7.0
    # No trailing-zero tail.
    assert all(v != 0.0 for v in resampled)


# ---------------------------------------------------------------------
# Fallback path — when cross-correlation confidence is below the
# threshold, find_aligned_window must fall back to the head-takeoff
# detector and set fallback_used=True.


def test_low_confidence_triggers_takeoff_fallback(
    tmp_path: Path, monkeypatch: pytest.MonkeyPatch
) -> None:
    # Arrange: flat-line tlog (no motion) → cross-correlation has no
    # meaningful peak. The fallback path opens the real tlog via
    # detect_tlog_takeoff which needs a working tlog file. We bypass
    # the actual fallback work by raising the threshold to 1.1 (no
    # peak can clear it) and stubbing the takeoff detector.
    monkeypatch.setattr(
        "gps_denied_onboard.replay_input.auto_sync.detect_tlog_takeoff",
        lambda path, dialect, config, *, source_factory=None: SimpleNamespace(
            onset_ns=_ns(7.0), confidence=0.9
        ),
    )
    flat_tlog = tuple(
        (_ns(t / 10.0), 0.0) for t in range(0, 100)
    )
    flat_flow = tuple(
        (_ns(t / 10.0), 0.0) for t in range(0, 20)
    )
    config = AutoSyncConfig(alignment_low_confidence_threshold=0.5)
    tlog_path = tmp_path / "fake.tlog"
    tlog_path.write_bytes(b"\x00")

    # Act
    window = _align_via_cross_correlation(
        tlog_energy=flat_tlog,
        flow_samples=flat_flow,
        config=config,
        target_fc_dialect=FcKind.ARDUPILOT_PLANE,
        tlog_path=tlog_path,
        tlog_source_factory=None,
    )

    # Assert
    assert window.fallback_used is True
    assert window.tlog_start_ns == _ns(7.0), "fallback did not pick up the stubbed takeoff onset"


# ---------------------------------------------------------------------
# Guard: video stream longer than tlog stream → reject (auto-trim
# requires the video to be a SLICE of a longer tlog).


def test_video_longer_than_tlog_raises() -> None:
    # Arrange
    tlog_energy = tuple((_ns(t / 10.0), 0.5) for t in range(10))
    flow_samples = tuple((_ns(t / 10.0), 0.5) for t in range(50))
    config = AutoSyncConfig()

    # Act + Assert
    with pytest.raises(ReplayInputAdapterError, match="video flow stream is longer"):
        _align_via_cross_correlation(
            tlog_energy=tlog_energy,
            flow_samples=flow_samples,
            config=config,
            target_fc_dialect=FcKind.ARDUPILOT_PLANE,
            tlog_path=Path("/nonexistent.tlog"),
            tlog_source_factory=None,
        )


# ---------------------------------------------------------------------
# AlignedWindow DTO is frozen + slotted.


def test_aligned_window_is_frozen() -> None:
    # Arrange
    w = AlignedWindow(
        tlog_start_ns=1,
        tlog_end_ns=2,
        offset_ms=0,
        confidence=0.9,
        fallback_used=False,
    )

    # Act + Assert
    with pytest.raises((AttributeError, TypeError)):
        w.confidence = 0.5  # type: ignore[misc]


# ---------------------------------------------------------------------
# AC-5: end-to-end CLI smoke — skipped here because it requires
# ffmpeg-capable cv2 + the real ``derkachi.tlog``/``.mp4`` binaries.
# The actual CLI run is covered by ``tests/e2e/replay/`` when those
# prerequisites are available.


def _replay_inputs_present() -> bool:
    fixtures = Path("_docs/00_problem/input_data/flight_derkachi")
    return (fixtures / "derkachi.tlog").is_file() and (fixtures / "derkachi.mp4").is_file()


@pytest.mark.skipif(
    not _replay_inputs_present(),
    reason="AC-5 e2e smoke requires _docs/00_problem/input_data/flight_derkachi/derkachi.{tlog,mp4}",
)
def test_ac5_cli_auto_trim_smoke_uses_find_aligned_window(
    monkeypatch: pytest.MonkeyPatch,
) -> None:
    # Arrange: this test pins the wiring contract — the `--auto-trim`
    # CLI flag must reach ReplayConfig.auto_trim. A full CLI run
    # requires the runtime root which is exercised by the e2e suite.
    from gps_denied_onboard.cli.replay import _build_replay_config
    from gps_denied_onboard.config.schema import Config, ReplayConfig

    args = SimpleNamespace(
        video=Path("/tmp/v.mp4"),
        tlog=Path("/tmp/t.tlog"),
        output=Path("/tmp/o.jsonl"),
        camera_calibration=Path("/tmp/c.json"),
        config_path=Path("/tmp/c.yaml"),
        mavlink_signing_key=Path("/tmp/k.bin"),
        pace="asap",
        time_offset_ms=None,
        skip_auto_sync_validation=False,
        auto_trim=True,
    )
    key_file = Path("/tmp/k.bin")
    key_file.write_bytes(b"\x00" * 32)
    base = Config()
    base = type(base)(
        mode=base.mode,
        log=base.log,
        fdr=base.fdr,
        runtime=base.runtime,
        fc=base.fc,
        gcs=base.gcs,
        replay=ReplayConfig(),
        components=base.components,
    )

    # Act
    new_config = _build_replay_config(args, base)

    # Assert
    assert new_config.replay.auto_trim is True
    assert new_config.replay.time_offset_ms is None


# Cross-reference: the existing AZ-405 fixture still passes (no regression).


def test_autosync_decision_offset_is_within_ac9_window_for_baseline() -> None:
    # Arrange: a takeoff-shaped tlog detector result + a video
    # motion-onset detector result. compute_offset returns the
    # AZ-405 offset_ms which is the AZ-698 baseline AC-1 references.
    from gps_denied_onboard.replay_input.auto_sync import _DetectorResult

    tlog_result = _DetectorResult(onset_ns=_ns(2.5), confidence=0.9)
    video_result = _DetectorResult(onset_ns=_ns(0.5), confidence=0.85)

    # Act
    decision = compute_offset(tlog_result, video_result)

    # Assert
    assert decision.offset_ms == 2_000
    assert decision.combined_confidence == pytest.approx(0.85, abs=1e-6)


# ---------------------------------------------------------------------
# Multi-flight tlog handling (user constraint: "if 1 flight take it, if
# multiple take the last"). The pre-NCC segmenter is the gatekeeper.


def test_segmenter_one_flight_returns_single_span() -> None:
    # Arrange: 120 s tlog with a single flight from t=10..100 s.
    samples = _build_multi_flight_stream(
        flights=((10.0, 100.0),),
        end_s=120.0,
        hz=10.0,
    )

    # Act
    segments = _segment_flights_from_imu_energy(
        samples,
        motion_threshold=0.1,
        min_flight_duration_ns=_ns(30.0),
        max_internal_gap_ns=_ns(5.0),
    )

    # Assert
    assert len(segments) == 1
    seg_start_ns, seg_end_ns = segments[0]
    assert abs(seg_start_ns - _ns(10.0)) <= _ns(0.2)
    assert abs(seg_end_ns - _ns(100.0)) <= _ns(0.2)


def test_segmenter_three_flights_returns_three_spans_in_order() -> None:
    # Arrange: 360 s tlog with three takeoffs (60 s flights with 30 s
    # ground gaps between them) — mimics the Derkachi scenario the
    # user flagged: one tlog, three sorties, video covers only the
    # last one.
    flights_def = ((10.0, 70.0), (100.0, 160.0), (190.0, 250.0))
    samples = _build_multi_flight_stream(
        flights=flights_def,
        end_s=300.0,
        hz=10.0,
    )

    # Act
    segments = _segment_flights_from_imu_energy(
        samples,
        motion_threshold=0.1,
        min_flight_duration_ns=_ns(30.0),
        max_internal_gap_ns=_ns(5.0),
    )

    # Assert
    assert len(segments) == 3
    for (actual_start, actual_end), (want_start, want_end) in zip(
        segments, flights_def
    ):
        assert abs(actual_start - _ns(want_start)) <= _ns(0.2)
        assert abs(actual_end - _ns(want_end)) <= _ns(0.2)


def test_segmenter_drops_ground_blip_below_min_duration() -> None:
    # Arrange: a 5 s ground manoeuvre (engine test) followed by a
    # real 60 s flight. With min_flight_duration_ns=30 s the blip
    # must be discarded, leaving only the real flight.
    samples = _build_multi_flight_stream(
        flights=((5.0, 10.0), (50.0, 110.0)),
        end_s=120.0,
        hz=10.0,
    )

    # Act
    segments = _segment_flights_from_imu_energy(
        samples,
        motion_threshold=0.1,
        min_flight_duration_ns=_ns(30.0),
        max_internal_gap_ns=_ns(5.0),
    )

    # Assert
    assert len(segments) == 1
    seg_start_ns, _seg_end_ns = segments[0]
    assert abs(seg_start_ns - _ns(50.0)) <= _ns(0.2)


def test_segmenter_keeps_brief_cruise_lull_inside_flight() -> None:
    # Arrange: one flight with a 3 s cruise lull mid-way. The lull is
    # below max_internal_gap_ns=5 s, so the segmenter must keep the
    # whole flight as a single segment.
    samples = _build_multi_flight_stream(
        flights=((10.0, 45.0), (48.0, 100.0)),
        end_s=120.0,
        hz=10.0,
    )

    # Act
    segments = _segment_flights_from_imu_energy(
        samples,
        motion_threshold=0.1,
        min_flight_duration_ns=_ns(30.0),
        max_internal_gap_ns=_ns(5.0),
    )

    # Assert
    assert len(segments) == 1
    seg_start_ns, seg_end_ns = segments[0]
    assert abs(seg_start_ns - _ns(10.0)) <= _ns(0.2)
    assert abs(seg_end_ns - _ns(100.0)) <= _ns(0.2)


def test_find_aligned_window_picks_last_flight_for_multi_flight_tlog(
    tmp_path: Path,
) -> None:
    # Arrange: a 300 s tlog with three sorties (10..70, 100..160,
    # 190..250 s). The video covers only the LAST sortie — flow
    # samples at video-clock 0..30 s with a motion burst at
    # video t=5 s that, on the tlog timeline, corresponds to
    # tlog t=200 s (5 s into flight 3 which starts at 190 s).
    flights_def = ((10.0, 70.0), (100.0, 160.0), (190.0, 250.0))
    tlog_energy = _build_multi_flight_stream(
        flights=flights_def,
        end_s=260.0,
        hz=10.0,
    )
    flow_samples = _build_motion_burst_stream(
        start_s=0.0,
        end_s=30.0,
        hz=10.0,
        burst_at_s=5.0,
        burst_amplitude=2.0,
        burst_duration_s=3.0,
        baseline_amplitude=0.05,
    )
    config = AutoSyncConfig(
        alignment_segment_min_flight_duration_seconds=30.0,
        alignment_segment_max_internal_gap_seconds=5.0,
    )

    # Inject the pre-loaded IMU energy by monkey-patching the loader
    # used inside find_aligned_window; the function reads a tlog via
    # pymavlink, but for the unit-level invariant we want to assert
    # the segment selection — not the binary parser.
    import gps_denied_onboard.replay_input.auto_sync as auto_sync_mod

    fake_tlog = tmp_path / "multi_flight.tlog"
    fake_tlog.write_bytes(b"\x00")
    fake_video = tmp_path / "video.mp4"
    fake_video.write_bytes(b"\x00")

    def _fake_loader(
        path: Path,
        *,
        max_messages: int,
        source_factory: Any,
    ) -> tuple[tuple[int, float], ...]:
        return tlog_energy

    def _fake_frames(
        path: Path, scan_seconds: float,
    ) -> "list[tuple[int, Any]]":
        import numpy as np

        rng = np.random.default_rng(42)
        frames: list[tuple[int, Any]] = []
        prev_offset = np.zeros((16, 16, 3), dtype=np.int16)
        for ts_ns, mag in flow_samples:
            # 3-channel BGR (cvtColor BGR→GRAY needs ≥ 3 channels).
            # During a burst we shift pixels — that motion is what
            # Farneback flow magnitudes pick up.
            base = rng.integers(0, 30, size=(16, 16, 3), dtype=np.int16)
            shift_px = int(mag * 4)
            if shift_px > 0:
                base = np.roll(base, shift=shift_px, axis=0)
            frame = np.clip(base + prev_offset, 0, 255).astype(np.uint8)
            frames.append((ts_ns, frame))
            prev_offset = np.zeros_like(prev_offset)
        return frames

    monkeypatch = pytest.MonkeyPatch()
    try:
        monkeypatch.setattr(
            auto_sync_mod, "_load_tlog_imu_energy_stream", _fake_loader
        )

        # Act
        window = find_aligned_window(
            fake_tlog,
            fake_video,
            config,
            target_fc_dialect=FcKind.ARDUPILOT_PLANE,
            video_frames_factory=_fake_frames,
        )
    finally:
        monkeypatch.undo()

    # Assert: the aligner MUST select FLIGHT 3 (190..250 s), NOT
    # flight 1 (10..70 s). Whether NCC locks on or the fallback
    # path fires, the resulting window must lie inside flight 3 —
    # that's the user-visible contract ("take the last flight").
    flight3_start_ns, flight3_end_ns = (_ns(190.0), _ns(250.0))
    assert window.flight_count_detected == 3
    assert window.selected_flight_index == 2
    assert flight3_start_ns <= window.tlog_start_ns <= flight3_end_ns
    # Sanity: did NOT lock onto flight 1 or 2.
    assert window.tlog_start_ns > _ns(160.0)


def test_align_via_cross_correlation_locks_onto_burst_inside_last_segment() -> None:
    # Arrange: pre-segmented tlog energy restricted to flight 3
    # (mimicking what find_aligned_window passes after segmentation),
    # plus a flow stream whose burst pattern matches a specific
    # offset inside that segment. This directly exercises the NCC
    # path with the inputs the post-segmentation aligner sees.
    last_segment_tlog = _build_motion_burst_stream(
        start_s=190.0,
        end_s=250.0,
        hz=10.0,
        burst_at_s=210.0,
        burst_amplitude=1.5,
        burst_duration_s=5.0,
        baseline_amplitude=0.05,
    )
    flow_samples = _build_motion_burst_stream(
        start_s=0.0,
        end_s=30.0,
        hz=10.0,
        burst_at_s=10.0,
        burst_amplitude=2.0,
        burst_duration_s=5.0,
        baseline_amplitude=0.05,
    )
    config = AutoSyncConfig()

    # Act
    window = _align_via_cross_correlation(
        tlog_energy=last_segment_tlog,
        flow_samples=flow_samples,
        config=config,
        target_fc_dialect=FcKind.ARDUPILOT_PLANE,
        tlog_path=Path("/nonexistent.tlog"),
        tlog_source_factory=None,
        flight_count_detected=3,
        selected_flight_index=2,
    )

    # Assert: NCC must lock on (high confidence, no fallback). The
    # tlog_start_ns must be the start of the matched 30 s window —
    # video burst at video_t=10 s lines up with tlog_t=210 s ⇒
    # tlog_start_ns ≈ 200 s (210 s − 10 s).
    assert not window.fallback_used
    assert window.confidence > 0.6
    assert window.flight_count_detected == 3
    assert window.selected_flight_index == 2
    assert abs(window.tlog_start_ns - _ns(200.0)) <= _ns(0.2)


def test_find_aligned_window_uses_only_segment_for_segmented_tlog_fallback(
    tmp_path: Path,
) -> None:
    # Arrange: a 3-flight tlog where the video flow is flat (no
    # structure for NCC to lock onto). NCC must produce confidence
    # ~ 0; the fallback path must use the LAST segment start, NOT
    # the head-takeoff detector (which would lock onto flight 1).
    flights_def = ((10.0, 70.0), (100.0, 160.0), (190.0, 250.0))
    tlog_energy = _build_multi_flight_stream(
        flights=flights_def,
        end_s=260.0,
        hz=10.0,
    )
    flat_flow = tuple((_ns(t / 10.0), 0.5) for t in range(0, 50))
    config = AutoSyncConfig()

    # Act
    window = _align_via_cross_correlation(
        tlog_energy=tuple(
            (ts, e) for ts, e in tlog_energy
            if _ns(190.0) <= ts <= _ns(250.0)
        ),
        flow_samples=flat_flow,
        config=config,
        target_fc_dialect=FcKind.ARDUPILOT_PLANE,
        tlog_path=tmp_path / "x.tlog",
        tlog_source_factory=None,
        flight_count_detected=3,
        selected_flight_index=2,
    )

    # Assert
    assert window.fallback_used is True
    assert window.flight_count_detected == 3
    assert window.selected_flight_index == 2
    # The fallback must use flight 3's start, not flight 1's takeoff.
    assert window.tlog_start_ns >= _ns(190.0)
    assert window.tlog_start_ns <= _ns(250.0)