"""Shared pytest fixtures for the AR-Autopilot Sprint 0 test suite."""

from __future__ import annotations

import pytest

from arautopilot.core import (
    ActuatorConfig,
    ActuatorType,
    GainSchedulePoint,
    PidConfig,
    PidGains,
    ProjectConfig,
    VesselConfig,
    VesselType,
)


@pytest.fixture
def hydraulic_actuator() -> ActuatorConfig:
    """A realistic hydraulic reversible actuator config for fixture composition."""
    return ActuatorConfig(
        type=ActuatorType.HYDRAULIC_REVERSIBLE,
        name="Test Hynautic-class pump",
        deadband_pct=7.0,
        min_useful_pwm_pct=12.0,
        asymmetry_stbd_over_port=1.0,
        max_rudder_angle_deg=35.0,
        max_rate_dps=4.0,
        max_current_a=20.0,
        feedback_required=True,
    )


@pytest.fixture
def basic_pid() -> PidConfig:
    """A minimal valid cascaded PID with a 3-point gain schedule."""
    return PidConfig(
        inner_loop_base=PidGains(kp=2.5, ki=0.15, kd=0.30),
        outer_loop_base=PidGains(kp=0.90, ki=0.02, kd=1.20),
        gain_schedule=[
            GainSchedulePoint(speed_knots=5.0,  gains=PidGains(kp=1.20, ki=0.03, kd=0.80)),
            GainSchedulePoint(speed_knots=15.0, gains=PidGains(kp=0.90, ki=0.02, kd=1.20)),
            GainSchedulePoint(speed_knots=28.0, gains=PidGains(kp=0.55, ki=0.01, kd=1.80)),
        ],
        rot_feedforward_gain=1.5,
    )


@pytest.fixture
def basic_vessel(hydraulic_actuator: ActuatorConfig, basic_pid: PidConfig) -> VesselConfig:
    return VesselConfig(
        name="M/Y Test 30",
        type=VesselType.YACHT_MOTOR_PLANEO,
        length_m=30.0,
        displacement_t=120.0,
        max_speed_kn=28.0,
        actuator=hydraulic_actuator,
        pid=basic_pid,
    )


@pytest.fixture
def basic_project(basic_vessel: VesselConfig) -> ProjectConfig:
    return ProjectConfig(
        client_name="Test Client S.L.",
        project_name="Sprint 0 demo project",
        notes="Generated by conftest fixture.",
        vessel=basic_vessel,
    )