"""Only commands writing the same device conflict; all functions are fake."""
import threading
import time
from unittest import TestCase
from station.command_policy import resources_for
from station.tasks import TaskManager


class ModuleIndependenceTest(TestCase):
    def test_four_modules_execute_concurrently(self):
        manager=TaskManager();release=threading.Event();started={}
        def operation(name,event):
            started[name].set();release.wait(2)
            return {'ok':True}
        try:
            tokens=[]
            for name in ('real_up','camera_refresh','gripper_open','tactile_refresh'):
                started[name]=threading.Event()
                tokens.append(manager.submit(name,resources_for(name,'89'),lambda event,name=name:operation(name,event)))
            self.assertTrue(all(flag.wait(1) for flag in started.values()))
            self.assertTrue(all(manager.snapshot(t)['state']=='running' for t in tokens))
            with self.assertRaises(RuntimeError):
                manager.submit('gripper_close',resources_for('gripper_close','89'),lambda event:{'ok':True})
        finally:
            release.set();manager.close()

    def test_only_composite_a7_workflow_also_owns_gripper(self):
        grip=resources_for('gripper_open','89')
        for action in ('real_up','reset_home','teach_goto','stage_track','stage_locate'):
            self.assertFalse(resources_for(action,'89') & grip,action)
        for action in ('stage_screw','pipeline'):
            self.assertTrue(resources_for(action,'89') & grip,action)
            self.assertFalse(resources_for(action,'89') & resources_for('tactile_reset','89'),action)
            self.assertFalse(resources_for(action,'89') & resources_for('camera_refresh','89'),action)