"""Tests del driver NMEA 2000 (Sprint 5 stub)."""

from __future__ import annotations

import asyncio

import pytest

from vmssailor.core.enums import Protocol, UnitSI
from vmssailor.core.tag import Tag
from vmssailor.runtime.server.nmea2000 import (
    PGN_ATTITUDE,
    PGN_ENGINE_RAPID,
    N2KPublisher,
    N2KSubscriber,
    PgnFrame,
    encode_pgn_attitude,
    encode_pgn_engine_rapid,
    parse_pgn_attitude,
    parse_pgn_engine_rapid,
)
from vmssailor.runtime.server.tag_store import TagStore


def test_attitude_pgn_roundtrip():
    data = encode_pgn_attitude(yaw_deg=15.5, pitch_deg=-2.3, roll_deg=8.1)
    parsed = parse_pgn_attitude(data)
    assert abs(parsed["roll_deg"] - 8.1) < 0.1
    assert abs(parsed["pitch_deg"] - (-2.3)) < 0.1
    assert abs(parsed["yaw_deg"] - 15.5) < 0.1


def test_engine_rapid_pgn_roundtrip():
    data = encode_pgn_engine_rapid(instance=0, rpm=1520.5)
    parsed = parse_pgn_engine_rapid(data)
    assert parsed["instance"] == 0
    assert abs(parsed["rpm"] - 1520.5) < 1.0


@pytest.mark.asyncio
async def test_n2k_publisher_emits_engine_rapid():
    store = TagStore()
    store.register_tag(Tag(id="ME_PORT.RPM", unit_si=UnitSI.RPM, protocol=Protocol.MODBUS_RTU, address=1))
    frames: list[PgnFrame] = []
    pub = N2KPublisher(store, transport=frames.append)
    await pub.start(period_s=0.05)
    try:
        await store.update("ME_PORT.RPM", 1500.0)
        await asyncio.sleep(0.2)
        engine_frames = [f for f in frames if f.pgn == PGN_ENGINE_RAPID]
        assert len(engine_frames) >= 1
    finally:
        await pub.stop()


@pytest.mark.asyncio
async def test_n2k_subscriber_handles_attitude():
    store = TagStore()
    store.register_tag(Tag(id="VESSEL.ROLL_DEG", unit_si=UnitSI.DEGREE, protocol=Protocol.INTERNAL))
    store.register_tag(Tag(id="VESSEL.PITCH_DEG", unit_si=UnitSI.DEGREE, protocol=Protocol.INTERNAL))
    sub = N2KSubscriber(store)
    await sub.start()
    try:
        data = encode_pgn_attitude(yaw_deg=0.0, pitch_deg=-2.0, roll_deg=5.0)
        sub.inject_frame(
            PgnFrame(
                pgn=PGN_ATTITUDE,
                source=0,
                data=data,
                timestamp=__import__("datetime").datetime.now(__import__("datetime").timezone.utc),
            )
        )
        await asyncio.sleep(0.1)
        roll = store.get("VESSEL.ROLL_DEG")
        pitch = store.get("VESSEL.PITCH_DEG")
        assert roll is not None and roll.value is not None
        assert abs(float(roll.value) - 5.0) < 0.1
        assert pitch is not None and pitch.value is not None
        assert abs(float(pitch.value) - (-2.0)) < 0.1
    finally:
        await sub.stop()