from dataclasses import replace
import pytest

from linkerhand_calibration.core.domain.profile import ReferenceWaypoint
from linkerhand_calibration.profiles import load_bundled_hand_profile, dump_hand_profile, load_hand_profile
from linkerhand_calibration.runtime.execution import SessionExecution
from linkerhand_calibration.runtime.session import CalibrationPhase as Phase
from linkerhand_calibration.runtime.resume import select_installation_evidence, ResumeVerifier
from test_resume_v2 import _fingerprint


def test_reference_waypoint_cannot_drive_disabled_channel():
    from linkerhand_calibration.core.domain.profile import validate_profile
    profile = load_bundled_hand_profile("g20_right_19")
    channel = next(iter(profile.command.disabled_indices))
    pose = list(profile.command.baseline_values)
    pose[channel] -= 1
    view = profile.vision.views[0]
    tag = next(tag for tag in view.tags if not tag.fixed_reference)
    waypoint = ReferenceWaypoint("show", tuple(pose), {view.name: (tag.tag_id,)})
    profile = replace(profile, motion=replace(profile.motion, resume_verification_waypoints=(waypoint,)))
    with pytest.raises(ValueError, match="disabled channels"):
        validate_profile(profile)


def test_reference_waypoints_share_executor_and_return_before_resume(tmp_path):
    profile = load_bundled_hand_profile("l6_right_8")
    # Legacy v2 sessions retain their all-at-start verification waypoint API.
    profile = replace(profile, artifacts=replace(profile.artifacts, output_schema_version=2))
    pose = (230., 255., 255., 255., 255., 255.)
    waypoint = ReferenceWaypoint("show_tip", pose, {"front": (2,)})
    profile = replace(profile, motion=replace(profile.motion, resume_verification_waypoints=(waypoint,)))
    path = tmp_path/"virtual.yaml"
    path.write_text(dump_hand_profile(profile))
    assert load_hand_profile(path) == profile
    engine = SessionExecution(profile)
    engine.session.device_ready()
    engine.session.start(resume_requested=True)
    current = profile.command.baseline_values
    while engine.session.phase == Phase.BASELINE:
        motion = engine.motion(current); current = motion.target; engine.motion_complete()
    engine.session.reference_locked()
    assert engine.session.phase == Phase.REFERENCE_POSES
    motion = engine.motion(current)
    assert motion.phase == "reference_pose" and motion.target == pose
    while engine.session.phase == Phase.REFERENCE_POSES:
        motion = engine.motion(current); current = motion.target; engine.motion_complete()
    assert current == profile.command.baseline_values
    assert engine.session.phase == Phase.RESUME_VERIFY


def test_resume_never_compares_mounts_from_different_waypoint_poses():
    fingerprint = _fingerprint()
    pose = fingerprint.moving_tag_poses["finger"]
    old = replace(fingerprint, moving_tag_poses={"show/finger": pose})
    new = replace(fingerprint, moving_tag_poses={"other/finger": pose})
    checker = ResumeVerifier(required_moving_poses=("finger",))
    assert not checker.compare(*select_installation_evidence(old, new, {"finger"})).reuse
    assert checker.compare(*select_installation_evidence(old, old, {"finger"})).reuse
    missing = replace(fingerprint, moving_tag_poses={})
    assert not checker.compare(*select_installation_evidence(old, missing, {"finger"})).reuse