"""Integration tests for lidar_manager_web REST API."""

from __future__ import annotations

import os
import time

import pytest
import requests

BASE = os.environ.get("TEST_BASE_URL", "http://127.0.0.1:18080")
TIMEOUT = 10
PREFERRED_MISSION_ID = "testmission00001"


def resolve_mission_id(api: requests.Session) -> str:
    env_id = os.environ.get("TEST_MISSION_ID", "").strip()
    if env_id:
        return env_id
    missions = api.get(f"{BASE}/api/missions", timeout=TIMEOUT).json().get("missions", [])
    ids = [m["id"] for m in missions if isinstance(m, dict) and m.get("id")]
    if PREFERRED_MISSION_ID in ids:
        return PREFERRED_MISSION_ID
    if not ids:
        pytest.fail("no missions available")
    return ids[0]


@pytest.fixture(scope="module")
def api():
    session = requests.Session()
    session.headers.update({"Content-Type": "application/json"})
    deadline = time.time() + TIMEOUT
    while time.time() < deadline:
        try:
            r = session.get(f"{BASE}/api/health", timeout=1)
            if r.status_code == 200 and r.json().get("ok"):
                break
        except requests.RequestException:
            pass
        time.sleep(0.2)
    else:
        pytest.fail(f"Server not ready at {BASE}")
    return session


@pytest.fixture(scope="module")
def mission_id(api):
    return resolve_mission_id(api)


def clear_queue(api: requests.Session) -> None:
    api.delete(f"{BASE}/api/mission_queue", timeout=TIMEOUT)


def wait_runner_state(api: requests.Session, state: str, timeout: float = 8.0) -> dict:
    deadline = time.time() + timeout
    while time.time() < deadline:
        runner = api.get(f"{BASE}/api/mission_queue", timeout=TIMEOUT).json().get("runner", {})
        if runner.get("state") == state:
            return runner
        time.sleep(0.15)
    pytest.fail(f"runner did not reach state {state!r} within {timeout}s")


def enqueue_mission(api: requests.Session, mission_id: str) -> None:
    r = api.post(
        f"{BASE}/api/mission_queue",
        json={"mission_id": mission_id},
        timeout=TIMEOUT,
    )
    assert r.status_code == 201


def test_health(api):
    r = api.get(f"{BASE}/api/health", timeout=TIMEOUT)
    assert r.status_code == 200
    assert r.json()["ok"] is True


def test_missions_available(api, mission_id):
    r = api.get(f"{BASE}/api/missions", timeout=TIMEOUT)
    assert r.status_code == 200
    ids = {m["id"] for m in r.json().get("missions", [])}
    assert mission_id in ids


def test_mir_v2_enqueue_and_list(api, mission_id):
    api.delete(f"{BASE}/api/mission_queue", timeout=TIMEOUT)
    r = api.post(
        f"{BASE}/api/v2.0.0/mission_queue",
        json={"mission_id": mission_id, "priority": 3, "robot_id": "default"},
        timeout=TIMEOUT,
    )
    assert r.status_code == 201
    body = r.json()
    assert body["mission_id"] == mission_id
    assert body["priority"] == 3

    listed = api.get(f"{BASE}/api/v2.0.0/mission_queue", timeout=TIMEOUT)
    assert listed.status_code == 200
    assert any(item.get("mission_id") == mission_id for item in listed.json())


def test_queue_pause_continue(api, mission_id):
    clear_queue(api)
    enqueue_mission(api, mission_id)
    wait_runner_state(api, "running", timeout=5)

    r = api.post(f"{BASE}/api/mission_queue/pause", timeout=TIMEOUT)
    assert r.status_code == 200
    assert r.json().get("state") == "paused"

    r = api.post(f"{BASE}/api/mission_queue/continue", timeout=TIMEOUT)
    assert r.status_code == 200
    assert r.json().get("state") != "paused"


def test_queue_cancel_rejects_when_idle(api):
    clear_queue(api)
    r = api.post(f"{BASE}/api/mission_queue/cancel", timeout=TIMEOUT)
    assert r.status_code == 400
    body = r.json()
    assert "error" in body


def test_queue_cancel_stops_running_mission(api, mission_id):
    clear_queue(api)
    enqueue_mission(api, mission_id)
    wait_runner_state(api, "running", timeout=5)

    r = api.post(f"{BASE}/api/mission_queue/cancel", timeout=TIMEOUT)
    assert r.status_code == 200
    assert r.json().get("message")

    wait_runner_state(api, "idle", timeout=8)
    data = api.get(f"{BASE}/api/mission_queue", timeout=TIMEOUT).json()
    assert data["runner"]["state"] == "idle"

    cancelled = [item for item in data.get("queue", []) if item.get("status") == "cancelled"]
    assert cancelled, "expected a cancelled queue entry"
    assert cancelled[0].get("mission_id") == mission_id
    log = cancelled[0].get("log") or []
    assert any(entry.get("message") == "Mission hủy bởi operator" for entry in log if isinstance(entry, dict))


def test_queue_cancel_rejects_while_cancelling(api, mission_id):
    clear_queue(api)
    enqueue_mission(api, mission_id)
    wait_runner_state(api, "running", timeout=5)

    first = api.post(f"{BASE}/api/mission_queue/cancel", timeout=TIMEOUT)
    assert first.status_code == 200

    second = api.post(f"{BASE}/api/mission_queue/cancel", timeout=TIMEOUT)
    assert second.status_code == 400

    wait_runner_state(api, "idle", timeout=8)


def test_modbus_trigger_flow(api, mission_id):
    trig = api.post(
        f"{BASE}/api/triggers",
        json={"name": "pytest-trigger", "coil_id": 1005, "mission_id": mission_id},
        timeout=TIMEOUT,
    )
    assert trig.status_code == 201
    trig_id = trig.json()["id"]

    before = len(api.get(f"{BASE}/api/mission_queue", timeout=TIMEOUT).json())
    fire = api.post(f"{BASE}/api/modbus/coils/1005/trigger", timeout=TIMEOUT)
    assert fire.status_code == 200

    after = api.get(f"{BASE}/api/mission_queue", timeout=TIMEOUT).json()
    assert len(after) >= before

    deleted = api.delete(f"{BASE}/api/triggers/{trig_id}", timeout=TIMEOUT)
    assert deleted.status_code == 204


def test_fleet_schedule_asap(api, mission_id):
    r = api.post(
        f"{BASE}/api/fleet/schedules",
        json={
            "name": "pytest-schedule",
            "mission_id": mission_id,
            "start_mode": "asap",
            "priority": 0,
            "robot_id": "default",
        },
        timeout=TIMEOUT,
    )
    assert r.status_code == 201
    sched_id = r.json()["id"]

    deleted = api.delete(f"{BASE}/api/fleet/schedules/{sched_id}", timeout=TIMEOUT)
    assert deleted.status_code == 204


def test_lidar_crud(api):
    created = api.post(
        f"{BASE}/api/lidars",
        json={"name": "pytest-lidar", "ip": "10.99.0.1", "port": 2112},
        timeout=TIMEOUT,
    )
    assert created.status_code == 201
    lidar_id = created.json()["id"]

    updated = api.put(
        f"{BASE}/api/lidars/{lidar_id}",
        json={"name": "pytest-lidar", "ip": "10.99.0.2", "port": 2112},
        timeout=TIMEOUT,
    )
    assert updated.status_code == 200

    deleted = api.delete(f"{BASE}/api/lidars/{lidar_id}", timeout=TIMEOUT)
    assert deleted.status_code == 204