"""flight_intent v1 校验与 goto→Command 映射。"""

from __future__ import annotations

import pytest

from voice_drone.core.flight_intent import (
    goto_action_to_command,
    parse_flight_intent_dict,
)


def _command_stack_available() -> bool:
    try:
        import yaml  # noqa: F401

        from voice_drone.core.command import Command  # noqa: F401

        return True
    except Exception:
        return False


needs_command_stack = pytest.mark.skipif(
    not _command_stack_available(),
    reason="需要 pyyaml 与工程配置以加载 Command",
)


def test_parse_minimal_ok():
    v, err = parse_flight_intent_dict(
        {
            "is_flight_intent": True,
            "version": 1,
            "actions": [{"type": "land", "args": {}}],
            "summary": "降落",
        }
    )
    assert err == []
    assert v is not None
    assert v.actions[0].type == "land"


def test_hover_duration_cloud_legacy_expands_to_wait():
    """云端误将停顿时长写在 hover.args.duration 时，客户端规范化为 hover + wait。"""
    v, err = parse_flight_intent_dict(
        {
            "is_flight_intent": True,
            "version": 1,
            "actions": [
                {"type": "takeoff", "args": {}},
                {"type": "hover", "args": {"duration": 3}},
                {"type": "land", "args": {}},
            ],
            "summary": "test",
        }
    )
    assert err == []
    assert v is not None
    assert len(v.actions) == 4
    assert v.actions[0].type == "takeoff"
    assert v.actions[1].type == "hover"
    assert v.actions[2].type == "wait"
    assert float(v.actions[2].args.seconds) == 3.0
    assert v.actions[3].type == "land"


def test_wait_after_hover_ok():
    v, err = parse_flight_intent_dict(
        {
            "is_flight_intent": True,
            "version": 1,
            "actions": [
                {"type": "takeoff", "args": {}},
                {"type": "hover", "args": {}},
                {"type": "wait", "args": {"seconds": 2.5}},
                {"type": "land", "args": {}},
            ],
            "summary": "test",
        }
    )
    assert err == []
    assert v is not None
    assert len(v.actions) == 4
    assert v.actions[2].type == "wait"
    assert v.trace_id is None


def test_first_wait_rejected():
    v, err = parse_flight_intent_dict(
        {
            "is_flight_intent": True,
            "version": 1,
            "actions": [
                {"type": "wait", "args": {"seconds": 1}},
                {"type": "land", "args": {}},
            ],
            "summary": "x",
        }
    )
    assert v is None
    assert err


def test_extra_top_key_rejected():
    v, err = parse_flight_intent_dict(
        {
            "is_flight_intent": True,
            "version": 1,
            "actions": [{"type": "land", "args": {}}],
            "summary": "x",
            "foo": 1,
        }
    )
    assert v is None
    assert err


@needs_command_stack
def test_goto_body_forward():
    v, err = parse_flight_intent_dict(
        {
            "is_flight_intent": True,
            "version": 1,
            "actions": [
                {
                    "type": "goto",
                    "args": {"frame": "body_ned", "x": 3},
                }
            ],
            "summary": "s",
        }
    )
    assert v is not None and not err
    cmd, reason = goto_action_to_command(v.actions[0], sequence_id=7)
    assert reason is None
    assert cmd is not None
    assert cmd.command == "forward"
    assert cmd.sequence_id == 7


@needs_command_stack
def test_goto_multi_axis_no_command():
    v, err = parse_flight_intent_dict(
        {
            "is_flight_intent": True,
            "version": 1,
            "actions": [
                {
                    "type": "goto",
                    "args": {"frame": "body_ned", "x": 1, "y": 1},
                }
            ],
            "summary": "s",
        }
    )
    assert v is not None and not err
    cmd, reason = goto_action_to_command(v.actions[0], 1)
    assert cmd is None
    assert reason and "multi-axis" in reason