"""Integration: HeadingEKF smoothing noisy heading input to the outer PID -- Sprint 9.

Verifies that the EKF reduces the impact of sensor noise on the outer PID
without preventing the cascade from converging to the heading setpoint.
"""

from __future__ import annotations

import math
import random

import pytest

from arautopilot.core.heading_ekf import HeadingEKF
from arautopilot.studio.simulator.pid_inner import PidInner, PidInnerConfig
from arautopilot.studio.simulator.pid_outer import PidOuter, PidOuterConfig
from arautopilot.studio.simulator.rudder_dynamics import RudderDynamicsConfig, RudderSimulator
from arautopilot.studio.simulator.vessel_heading import (
    VesselHeadingConfig,
    VesselHeadingSimulator,
    heading_error_deg,
)


def _run_with_noise(
    *,
    noise_std_deg: float = 3.0,
    use_ekf: bool = True,
    setpoint_deg: float = 45.0,
    duration_s: float = 120.0,
    seed: int = 42,
) -> tuple[float, float]:
    """Return (final_error_deg, rudder_total_variation) for a noisy heading run.

    ``rudder_total_variation`` measures how much the rudder setpoint oscillated;
    less variation indicates the EKF is reducing noise amplification.
    """
    rng = random.Random(seed)
    outer = PidOuter(PidOuterConfig(
        base_kp=0.9, base_ki=0.02, base_kd=1.2,
        deadband_deg=0.5, rot_ff_gain=1.5,
    ))
    inner = PidInner(PidInnerConfig(kp=2.5, ki=0.15, kd=0.30))
    rudder = RudderSimulator(RudderDynamicsConfig())
    vessel = VesselHeadingSimulator(VesselHeadingConfig(speed_kn=10.0))
    vessel.reset(heading_deg=0.0)

    ekf = HeadingEKF(
        heading_deg=0.0,
        process_noise_heading=0.01,
        process_noise_rot=0.1,
    )

    outer_acc = 0.0
    inner_dt = 0.02
    rudder_sp = 0.0
    prev_rudder_sp = 0.0
    total_variation = 0.0

    for _ in range(int(duration_s / inner_dt)):
        # Add Gaussian noise to the true heading for the sensor measurement
        noisy_heading = vessel.state.heading_deg + rng.gauss(0.0, noise_std_deg)
        noisy_heading %= 360.0
        noisy_rot = vessel.state.rate_of_turn_dps + rng.gauss(0.0, 0.5)

        if use_ekf:
            ekf.predict(dt_s=inner_dt)
            ekf.update_heading(noisy_heading, noise_deg=noise_std_deg)
            ekf.update_rot(noisy_rot, noise_dps=0.5)
            heading_input = ekf.heading_deg
            rot_input = ekf.rot_dps
        else:
            heading_input = noisy_heading
            rot_input = noisy_rot

        if outer_acc >= 0.1 - 1e-9:
            outer_acc = 0.0
            rudder_sp = outer.step(
                heading_setpoint_deg=setpoint_deg,
                heading_measured_deg=heading_input,
                rate_of_turn_dps=rot_input,
                speed_kn=10.0,
                allowed=True,
            )
            total_variation += abs(rudder_sp - prev_rudder_sp)
            prev_rudder_sp = rudder_sp

        pwm = inner.step(setpoint_deg=rudder_sp, measured_deg=rudder.state.angle_deg, allowed=True)
        rudder.step(dt=inner_dt, pwm_pct=pwm)
        vessel.step(dt=inner_dt, rudder_deg=rudder.state.angle_deg)
        outer_acc += inner_dt

    final_error = abs(heading_error_deg(setpoint_deg, vessel.state.heading_deg))
    return final_error, total_variation


class TestEkfReducesNoise:
    def test_ekf_filter_converges_to_setpoint(self):
        err, _ = _run_with_noise(use_ekf=True, noise_std_deg=3.0)
        assert err < 4.0, f"EKF run did not converge: final error = {err:.2f} deg"

    def test_no_ekf_has_larger_residual_than_ekf(self):
        # Without EKF, large sensor noise prevents tight convergence.
        # This test just confirms the EKF case is materially better.
        err_ekf, _ = _run_with_noise(use_ekf=True, noise_std_deg=3.0, seed=99)
        err_raw, _ = _run_with_noise(use_ekf=False, noise_std_deg=3.0, seed=99)
        assert err_ekf < err_raw, (
            f"EKF should produce lower residual: ekf={err_ekf:.2f} raw={err_raw:.2f}"
        )

    def test_ekf_reduces_rudder_variation(self):
        _, var_ekf = _run_with_noise(use_ekf=True, noise_std_deg=5.0, seed=7)
        _, var_raw = _run_with_noise(use_ekf=False, noise_std_deg=5.0, seed=7)
        assert var_ekf < var_raw, (
            f"EKF should reduce rudder variation: ekf={var_ekf:.1f} raw={var_raw:.1f}"
        )

    def test_ekf_tracks_heading_during_steady_state(self):
        """After convergence, EKF should track true heading within its noise level."""
        ekf = HeadingEKF(heading_deg=45.0)
        rng = random.Random(0)
        true_heading = 45.0
        noise_std = 2.0
        for _ in range(200):
            ekf.predict(dt_s=0.1)
            noisy = true_heading + rng.gauss(0.0, noise_std)
            ekf.update_heading(noisy, noise_deg=noise_std)
        assert abs(ekf.heading_deg - true_heading) < 2.0

    def test_ekf_handles_wrap_around_during_turn(self):
        """EKF should track heading smoothly through the 0/360 boundary."""
        ekf = HeadingEKF(heading_deg=355.0, rot_dps=5.0)
        for _ in range(30):
            ekf.predict(dt_s=0.1)
            # True heading wraps from 355 → 5 during this sequence
            true = (355.0 + _ * 5.0 * 0.1) % 360.0
            ekf.update_heading(true, noise_deg=1.0)
        # Should have tracked through the wrap
        expected = (355.0 + 30 * 5.0 * 0.1) % 360.0
        from arautopilot.core.heading_ekf import _shortest_arc
        diff = abs(_shortest_arc(ekf.heading_deg, expected))
        assert diff < 5.0


class TestEkfEdgeCases:
    def test_large_noise_ekf_still_converges(self):
        err, _ = _run_with_noise(use_ekf=True, noise_std_deg=10.0, duration_s=180.0)
        assert err < 8.0

    def test_zero_noise_ekf_matches_true_heading(self):
        ekf = HeadingEKF(heading_deg=0.0)
        for i in range(100):
            ekf.predict(dt_s=0.1)
            ekf.update_heading(float(i % 360), noise_deg=0.01)
        # With near-zero noise, EKF should track closely
        # (just checking it doesn't crash and stays in [0,360))
        assert 0.0 <= ekf.heading_deg < 360.0