import pytest

rclpy = pytest.importorskip('rclpy')


def test_the_node_constructs_and_has_the_three_targets():
    """Declaring a parameter twice raises at construction, and nothing else exercises the node."""
    from hermes_thermal.thermal_node import ThermalNode
    rclpy.init()
    try:
        node = ThermalNode()
        assert [t.name for t in node.targets] == ['/camera', '/hermes_face', '/hermes_face_detector']
        assert node.policy.level == 'ok'
        node.destroy_node()
    finally:
        rclpy.shutdown()


def test_a_full_heat_then_cool_run_through_the_real_node_does_not_crash_and_steps_down_one_level_at_a_time():
    """The bug this guards against: a logging call site whose severity changed (warn heating, info cooling)
    raised in the timer callback, so the node died on its first cooling step."""
    from rclpy.parameter import Parameter
    from hermes_thermal.thermal_node import ThermalNode
    rclpy.init()
    try:
        node = ThermalNode()
        node.act = False                                          # no other nodes here; this is about the policy path
        node.set_parameters([Parameter('dwell_s', value=0.0)])
        levels = []
        for temp in (60.0, 73.0, 78.0, 85.0, 60.0, 60.0, 60.0, 60.0):
            node.set_parameters([Parameter('fake_temp_c', value=temp)])
            node._poll()                                          # _poll, not _tick: let any exception surface
            levels.append(node.policy.level)
        assert levels == ['ok', 'warm', 'hot', 'critical', 'hot', 'warm', 'ok', 'ok']
        node.destroy_node()
    finally:
        rclpy.shutdown()


def test_the_tick_survives_an_unexpected_error():
    from hermes_thermal.thermal_node import ThermalNode
    rclpy.init()
    try:
        node = ThermalNode()
        node._poll = lambda: (_ for _ in ()).throw(RuntimeError('boom'))
        node._tick()                                              # must not raise
        node.destroy_node()
    finally:
        rclpy.shutdown()