"""Run the installed upstream's pure methods, without constructing a hardware robot."""

import ast
import importlib.metadata
import json
import unittest
from pathlib import Path
from typing import Any

import numpy as np


class UpstreamKinematicsTests(unittest.TestCase):
    def test_actual_061_methods_match_shared_wheel_fixture(self):
        self.assertEqual(importlib.metadata.version("lerobot"), "0.6.1")
        path = importlib.metadata.distribution("lerobot").locate_file(
            "lerobot/robots/lekiwi/lekiwi.py"
        )
        tree = ast.parse(path.read_text())
        robot = next(
            node for node in tree.body if isinstance(node, ast.ClassDef) and node.name == "LeKiwi"
        )
        names = {"_degps_to_raw", "_raw_to_degps", "_body_to_wheel_raw", "_wheel_raw_to_body"}
        methods = [
            node for node in robot.body if isinstance(node, ast.FunctionDef) and node.name in names
        ]
        self.assertEqual({node.name for node in methods}, names)
        # Only the four audited numeric methods. No imports, constructors, buses or cameras.
        cls = ast.ClassDef(
            name="PureKinematics",
            bases=[],
            keywords=[],
            body=methods,
            decorator_list=[],
            type_params=[],
        )
        namespace = {"np": np, "Any": Any}
        module = ast.fix_missing_locations(ast.Module(body=[cls], type_ignores=[]))
        exec(compile(module, str(path), "exec"), namespace)
        pure = namespace["PureKinematics"]()
        fixture = json.loads(
            (
                Path(__file__).resolve().parents[3] / "contracts/fixtures/lekiwi-kinematics.json"
            ).read_text()
        )
        for case in fixture["cases"]:
            with self.subTest(body=case["body"]):
                raw = pure._body_to_wheel_raw(*case["body"])
                self.assertEqual(list(raw), fixture["wheelOrder"])
                self.assertEqual(list(raw.values()), case["wheelRaw"])
                if max(abs(v) for v in case["wheelRaw"]) < 3000:
                    body = pure._wheel_raw_to_body(*case["wheelRaw"])
                    for observed, expected in zip(body.values(), case["body"], strict=True):
                        self.assertAlmostEqual(observed, expected, delta=0.02)