"""Tests for ``arautopilot.core.vessel_config``."""

from __future__ import annotations

import pytest
from pydantic import ValidationError

from arautopilot.core.actuator_config import ActuatorConfig, ActuatorType
from arautopilot.core.pid_config import PidConfig, PidGains
from arautopilot.core.vessel_config import VesselConfig, VesselType


def _pid() -> PidConfig:
    return PidConfig(
        inner_loop_base=PidGains(kp=2.0),
        outer_loop_base=PidGains(kp=1.0),
    )


def test_vessel_composes_actuator_and_pid() -> None:
    v = VesselConfig(
        name="Test 30",
        type=VesselType.YACHT_MOTOR_PLANEO,
        length_m=30.0,
        max_speed_kn=28.0,
        actuator=ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE),
        pid=_pid(),
    )
    assert v.actuator.type is ActuatorType.HYDRAULIC_REVERSIBLE
    assert v.pid.inner_loop_base.kp == pytest.approx(2.0)
    assert isinstance(v.vessel_id, str) and len(v.vessel_id) > 0


def test_vessel_id_is_unique_across_instances() -> None:
    v1 = VesselConfig(
        name="A",
        type=VesselType.YACHT_MOTOR_PLANEO,
        length_m=30.0,
        max_speed_kn=20.0,
        actuator=ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE),
        pid=_pid(),
    )
    v2 = VesselConfig(
        name="B",
        type=VesselType.YACHT_MOTOR_PLANEO,
        length_m=30.0,
        max_speed_kn=20.0,
        actuator=ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE),
        pid=_pid(),
    )
    assert v1.vessel_id != v2.vessel_id


def test_rejects_zero_length() -> None:
    with pytest.raises(ValidationError):
        VesselConfig(
            name="X",
            type=VesselType.YACHT_MOTOR_PLANEO,
            length_m=0.0,
            max_speed_kn=20.0,
            actuator=ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE),
            pid=_pid(),
        )


def test_rejects_blank_name() -> None:
    with pytest.raises(ValidationError):
        VesselConfig(
            name="",
            type=VesselType.YACHT_MOTOR_PLANEO,
            length_m=30.0,
            max_speed_kn=20.0,
            actuator=ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE),
            pid=_pid(),
        )


def test_vessel_type_covers_brief_categories() -> None:
    expected = {
        "yacht_motor_planeo",
        "yacht_motor_desplazamiento",
        "sailboat_motor",
        "fishing_boat",
        "small_ferry",
        "patrol_boat",
    }
    assert {t.value for t in VesselType} == expected