import copy
import json
import unittest
from pathlib import Path

from mujoco_control_bridge import protocol as p
from mujoco_control_bridge.client import SimRobotClient

FIXTURE = json.loads(
    (Path(__file__).resolve().parents[2] / "contracts/fixtures/single-joint.json").read_text()
)


class ProtocolTests(unittest.TestCase):
    def test_shared_fixture(self):
        descriptor = p.descriptor(FIXTURE["descriptor"])
        p.observation(FIXTURE["observation"], descriptor)
        action = p.action(FIXTURE["validAction"], descriptor)
        p.same_identity(action, FIXTURE["identity"])
        for invalid in FIXTURE["invalidActions"]:
            with self.subTest(invalid["label"]), self.assertRaises(p.RobotError) as caught:
                action = p.action({**FIXTURE["validAction"], **invalid["patch"]}, descriptor)
                p.same_identity(action, FIXTURE["identity"])
            self.assertEqual(caught.exception.code, invalid["code"])

    def test_finite_clamp_and_extra_fields(self):
        for value in (float("nan"), float("inf"), True, "0", 10**1000):
            with self.subTest(value=str(value)[:20]), self.assertRaises(p.RobotError):
                p.values({"slider.position": value}, FIXTURE["descriptor"]["actionChannels"])
        self.assertEqual(
            p.values({"slider.position": 20}, FIXTURE["descriptor"]["actionChannels"], True),
            {"slider.position": 1},
        )
        for raw in ('{"x":1,"x":2}', '{"x":NaN}', '{"x":Infinity}', "["):
            with self.assertRaises(p.RobotError):
                p.loads(raw)

    def test_unknown_units_capabilities_versions(self):
        for mutation in ("unit", "frame", "capability", "fingerprint"):
            descriptor = copy.deepcopy(FIXTURE["descriptor"])
            if mutation == "unit":
                descriptor["actionChannels"][0]["unit"] = "deg"
            elif mutation == "frame":
                descriptor["frame"] = "unknown"
            elif mutation == "fingerprint":
                descriptor["modelFingerprint"] = "not-sha"
            else:
                descriptor["capabilities"]["training"] = "true"
            with self.subTest(mutation), self.assertRaises(p.RobotError):
                p.descriptor(descriptor)

    def test_only_local_endpoints_and_token_not_in_url(self):
        for endpoint in (
            "https://127.0.0.1",
            "http://evil.test",
            "http://user:token@127.0.0.1",
            "http://localhost/?token=secret",
            "http://localhost/path",
        ):
            with self.subTest(endpoint), self.assertRaises(ValueError):
                SimRobotClient(endpoint, token="test-only-not-a-real-secret")


if __name__ == "__main__":
    unittest.main()