import os

import pytest
import yaml

pytest.importorskip('launch_ros')

HERE = os.path.dirname(__file__)
ROOT = os.path.dirname(HERE)


def test_launch_description_has_one_respawning_process_per_node():
    import importlib.util
    spec = importlib.util.spec_from_file_location('robot_launch', os.path.join(ROOT, 'launch', 'robot.launch.py'))
    mod = importlib.util.module_from_spec(spec)
    spec.loader.exec_module(mod)
    from launch.actions import TimerAction
    from launch_ros.actions import Node
    ld = mod.generate_launch_description()
    nodes = [e for e in ld.entities if isinstance(e, Node)]
    delayed = [n for t in ld.entities if isinstance(t, TimerAction) for n in t.actions if isinstance(n, Node)]
    assert len(nodes) + len(delayed) == len(mod.NODES) == 6
    assert len(nodes) == 1 and 'face' in mod.NODES[1] and len(delayed) == 5   # the face starts at once
    # respawn lives on a private attribute that differs between ROS releases, so check the source
    src = open(os.path.join(ROOT, 'launch', 'robot.launch.py')).read()
    assert 'respawn=True' in src and 'respawn_delay' in src


def test_every_node_in_the_launch_file_has_parameters_and_the_face_is_mounted_portrait():
    cfg = yaml.safe_load(open(os.path.join(ROOT, 'config', 'robot.yaml')))
    for name in ('camera', 'hermes_face', 'hermes_face_detector', 'hermes_audio_state', 'hermes_mcp', 'hermes_thermal'):
        assert 'ros__parameters' in cfg[name], name
    assert cfg['hermes_face']['ros__parameters']['rotation'] == 270
    assert cfg['camera']['ros__parameters']['FrameDurationLimits'] == [66666, 66666]


def test_the_mcp_bridge_binds_the_usb_link_and_has_no_head_yet():
    cfg = yaml.safe_load(open(os.path.join(ROOT, 'config', 'robot.yaml')))['hermes_mcp']['ros__parameters']
    assert cfg['bind'] == '10.55.0.2' and cfg['port'] == 8765 and cfg['head'] is False
    assert 'token' not in ' '.join(cfg)                  # the secret lives in an env file, not here


def test_the_thermal_guards_normal_rates_equal_the_real_ones():
    cfg = yaml.safe_load(open(os.path.join(ROOT, 'config', 'robot.yaml')))
    t = cfg['hermes_thermal']['ros__parameters']
    d = cfg['camera']['ros__parameters']['FrameDurationLimits'][0]
    assert abs(t['camera_fps'] - 1e6 / d) < 0.01
    assert t['face_fps'] == cfg['hermes_face']['ros__parameters']['fps']
    assert t['detector_hz'] == cfg['hermes_face_detector']['ros__parameters']['rate_hz']
    assert t['warm_c'] < t['hot_c'] < t['critical_c'] < 85.0       # all below the Pi's hard limit