import { fireEvent, render, screen } from '@testing-library/react';
import { ActuatorControl } from './SidebarPanel';
import type { ActuatorInfo } from '../../simulation/SimulationSession';

const actuator: ActuatorInfo = {
  id: 0,
  name: 'shoulder_motor',
  value: 0.5,
  min: -1,
  max: 1,
  limited: true,
  jointId: 0,
  jointName: 'shoulder',
  jointType: 3,
  unit: 'N·m',
  kind: 'motor',
  controlCount: 1,
  gear: 2,
  gain: 1,
  kp: 0,
  kv: 0,
  ctrlLimited: true,
  ctrlMin: -1,
  ctrlMax: 1,
  forceLimited: true,
  forceMin: -20,
  forceMax: 20,
};

describe('ActuatorControl', () => {
  it('显示对应关节和常用力矩单位', () => {
    render(<ActuatorControl actuator={actuator} onControl={() => {}} onParameters={() => {}} />);
    expect(screen.getByText('shoulder_motor')).toBeVisible();
    expect(screen.getByText('关节：shoulder')).toBeVisible();
    expect(screen.getByText('1.000 N·m')).toBeVisible();
  });

  it('内部按 gear 换算输出，但参数面板只开放 kp、kv 等业务参数', () => {
    const onControl = vi.fn(),
      onParameters = vi.fn();
    render(
      <ActuatorControl actuator={actuator} onControl={onControl} onParameters={onParameters} />,
    );
    fireEvent.change(screen.getByRole('slider'), { target: { value: '2' } });
    expect(onControl).toHaveBeenCalledWith(1);
    fireEvent.click(screen.getByText('常用参数'));
    expect(screen.queryByLabelText('传动比 gear')).not.toBeInTheDocument();
    expect(screen.queryByLabelText('固定增益 gain')).not.toBeInTheDocument();
    const kp = screen.getByLabelText(/kp（MJCF stiffness/);
    fireEvent.change(kp, { target: { value: '3' } });
    fireEvent.blur(kp);
    expect(onParameters).toHaveBeenCalledWith(
      expect.objectContaining({ kp: 3, ctrlLimited: true, forceLimited: true }),
    );
  });

  it('position 伺服使用角度目标并开放 kp、kv', () => {
    const onParameters = vi.fn();
    render(
      <ActuatorControl
        actuator={{
          ...actuator,
          name: 'shoulder_servo',
          kind: 'position',
          unit: '°',
          value: Math.PI / 2,
          min: -Math.PI,
          max: Math.PI,
          gear: 1,
          kp: 100,
          kv: 10,
          gain: 100,
        }}
        onControl={() => {}}
        onParameters={onParameters}
      />,
    );
    expect(screen.getByText('90.000 °')).toBeVisible();
    fireEvent.click(screen.getByText('常用参数'));
    const kp = screen.getByLabelText(/位置增益 kp/);
    fireEvent.change(kp, { target: { value: '150' } });
    fireEvent.blur(kp);
    expect(onParameters).toHaveBeenCalledWith(expect.objectContaining({ kp: 150, kv: 10 }));
  });

  it('非 motor 驱动器保持原始控制单位且不开放通用参数编辑', () => {
    render(
      <ActuatorControl
        actuator={{ ...actuator, name: 'custom', kind: 'other', unit: '', value: 0.25 }}
        onControl={() => {}}
        onParameters={() => {}}
      />,
    );
    expect(screen.getByText('0.250')).toBeVisible();
    expect(screen.queryByText('常用参数')).not.toBeInTheDocument();
    expect(screen.getByText(/不是可直接编辑的 motor\/position/)).toBeVisible();
  });
});