"""Integration test: Craft mode with real hardware.

Exercises the full Craft -> SerialBridge -> dish code path.
Requires /dev/ttyUSB2 (Carryout G2 via RS-422).

NOT part of the normal test suite -- run explicitly:
    uv run pytest tests/test_craft_integration.py -v -s
"""

import asyncio
import os

import pytest

from birdcage_tui.app import BirdcageApp
from birdcage_tui.screens.control import ControlScreen
from birdcage_tui.widgets.craft_panel import CraftPanel, CraftTrackingStatus

SERIAL_PORT = "/dev/ttyUSB2"


def _az_delta(a: float, b: float) -> float:
    """Minimum angular distance accounting for 360 wrap."""
    d = abs(a - b) % 360.0
    return min(d, 360.0 - d)


pytestmark = pytest.mark.skipif(
    not os.path.exists(SERIAL_PORT),
    reason=f"{SERIAL_PORT} not available",
)


@pytest.mark.asyncio
async def test_craft_search_with_real_api():
    """Search the live Craft API and verify results populate."""
    app = BirdcageApp()
    app.demo_mode = True
    app.craft_url = "https://space.warehack.ing"

    async with app.run_test(size=(120, 40)) as pilot:
        await pilot.pause()

        control = app.query_one("#control", ControlScreen)
        control.switch_mode("craft")
        await pilot.pause()

        panel = app.query_one("#ctrl-craft-panel", CraftPanel)

        panel.post_message(CraftPanel.SearchRequested("ISS"))
        await asyncio.sleep(3.0)

        from textual.widgets import DataTable

        table = app.query_one("#craft-results-table", DataTable)
        print(f"  Search returned {table.row_count} results")
        assert table.row_count > 0, "Craft API returned no results for 'ISS'"


@pytest.mark.asyncio
async def test_direct_motor_command():
    """Verify move_motor works through the bridge.

    Moves AZ by +1 degree and back. Isolates serial bridge
    independent of Craft.
    """
    app = BirdcageApp()
    app.demo_mode = False
    app.serial_port = SERIAL_PORT
    app.firmware_name = "g2"
    app.skip_init = True

    async with app.run_test(size=(120, 40)) as pilot:
        await pilot.pause()
        await asyncio.sleep(1.0)

        assert app.device is not None
        assert app.device.is_connected

        pos = app.device.get_position()
        start_az = pos["azimuth"]
        start_el = pos["elevation"]
        print(f"  Current: AZ={start_az:.2f} EL={start_el:.2f}")

        # Move AZ by +1 degree (stay within wrap range)
        target_az = (start_az + 1.0) % 360.0
        print(f"  Moving AZ to {target_az:.2f}")
        app.device.move_motor(0, target_az)
        await asyncio.sleep(3.0)

        pos2 = app.device.get_position()
        print(f"  After move: AZ={pos2['azimuth']:.2f} EL={pos2['elevation']:.2f}")

        delta = _az_delta(pos2["azimuth"], target_az)
        print(f"  AZ delta from target: {delta:.2f} degrees")
        assert delta < 2.0, f"Dish didn't move close to target (delta={delta})"

        # Move back
        print(f"  Returning to AZ={start_az:.2f}")
        app.device.move_motor(0, start_az)
        await asyncio.sleep(3.0)

        pos3 = app.device.get_position()
        print(f"  Final: AZ={pos3['azimuth']:.2f} EL={pos3['elevation']:.2f}")


@pytest.mark.asyncio
async def test_craft_tracking_moves_real_dish():
    """Track a target via Craft API and verify the dish gets commands.

    Uses the real serial device. Tracks briefly then returns
    to the original position.
    """
    app = BirdcageApp()
    app.demo_mode = False
    app.serial_port = SERIAL_PORT
    app.firmware_name = "g2"
    app.skip_init = True
    app.craft_url = "https://space.warehack.ing"

    async with app.run_test(size=(120, 40)) as pilot:
        await pilot.pause()
        await asyncio.sleep(1.0)

        control = app.query_one("#control", ControlScreen)
        control.switch_mode("craft")
        await pilot.pause()

        assert app.device is not None
        assert app.device.is_connected
        print(f"  Device connected on {SERIAL_PORT}")

        pos_before = app.device.get_position()
        print(
            f"  Starting position: "
            f"AZ={pos_before['azimuth']:.2f} "
            f"EL={pos_before['elevation']:.2f}"
        )

        panel = app.query_one("#ctrl-craft-panel", CraftPanel)

        # Search for something likely above horizon
        panel.post_message(CraftPanel.SearchRequested("Moon"))
        await asyncio.sleep(3.0)

        from textual.widgets import DataTable

        table = app.query_one("#craft-results-table", DataTable)
        print(f"  Moon search: {table.row_count} results")

        if table.row_count == 0:
            panel.post_message(CraftPanel.SearchRequested("Jupiter"))
            await asyncio.sleep(3.0)
            print(f"  Jupiter search: {table.row_count} results")

        if table.row_count == 0:
            panel.post_message(CraftPanel.SearchRequested("Sun"))
            await asyncio.sleep(3.0)
            print(f"  Sun search: {table.row_count} results")

        assert table.row_count > 0, "No search results found"

        # Read the first row
        first_key = list(table.rows.keys())[0]
        row = table.get_row(first_key)
        target_name = row[0]
        target_type = row[1]
        target_id = int(row[2])
        print(f"  Tracking: {target_name} ({target_type}:{target_id})")

        # Start tracking
        panel.post_message(
            CraftPanel.TrackRequested(
                target_type=target_type,
                target_id=target_id,
                name=target_name,
                min_el=18.0,
            )
        )

        # Let the tracking loop run a few cycles
        await asyncio.sleep(6.0)

        status = app.query_one("#craft-tracking-status", CraftTrackingStatus)
        print(
            f"  State: {status.state}, "
            f"AZ={status.azimuth:.2f}, EL={status.elevation:.2f}, "
            f"moves={status.moves}, error={status.error!r}"
        )

        assert status.state in ("TRACKING", "WAITING"), (
            f"Unexpected state: {status.state}"
        )

        if status.state == "TRACKING":
            assert status.moves >= 1, "No motor commands issued"
            pos_after = app.device.get_position()
            print(
                f"  Position after: "
                f"AZ={pos_after['azimuth']:.2f} "
                f"EL={pos_after['elevation']:.2f}"
            )
            daz = _az_delta(pos_after["azimuth"], pos_before["azimuth"])
            del_ = abs(pos_after["elevation"] - pos_before["elevation"])
            print(f"  Dish moved: dAZ={daz:.2f} dEL={del_:.2f}")
        else:
            print("  Target below horizon or min_el -- WAITING is OK")

        # Stop tracking
        control._stop_craft_tracking()
        await pilot.pause()

        # Return to starting position
        print(
            f"  Returning to: "
            f"AZ={pos_before['azimuth']:.2f} "
            f"EL={pos_before['elevation']:.2f}"
        )
        app.device.move_to(pos_before["azimuth"], pos_before["elevation"])
        await asyncio.sleep(2.0)

        print("  Integration test complete")