import tempfile
import threading
import time
from unittest import TestCase
from station.control_service import StationService


class Gateway:
    active_arm='89'
    def __init__(self): self.started=None;self.requests=[]
    def graph(self): return {'nodes':[],'topics':[],'services':['/station/grippers/arm_89/execute']}
    def states(self):
        elapsed=time.monotonic()-self.started if self.started else 0
        return {},{'89':{'connected':True,'moving':bool(self.started and elapsed<.25),
                          'grip_state':0 if self.started and elapsed<.25 else 1,'permille':500.}}
    def call(self,typ,name,request,event,timeout):
        self.requests.append(request);self.started=time.monotonic()
        return type('Reply',(),{'success':True,'message':'accepted'})()
    def close(self): pass


class GripperCommandsTest(TestCase):
    def test_waits_for_physical_completion_and_rejects_bounds(self):
        gateway=Gateway()
        with tempfile.TemporaryDirectory() as root:
            service=StationService(root=root,gateway=gateway)
            try:
                arm=service.arms['89'];start=time.monotonic()
                result=service._gripper('gripper_tune',arm,{'kind':'pos','pos':500,'force':33,'speed':25},threading.Event())
                self.assertTrue(result['ok']);self.assertGreater(time.monotonic()-start,.2)
                self.assertEqual(gateway.requests[0].command.position,arm['stroke_mm']/2)
                count=len(gateway.requests)
                with self.assertRaises(ValueError):
                    service._gripper('gripper_tune',arm,{'kind':'pos','pos':500,'force':999,'speed':25},threading.Event())
                self.assertEqual(len(gateway.requests),count)
            finally: service.close()

    def test_configuration_changes_never_retarget_commands(self):
        from pathlib import Path
        gateway=Gateway()
        with tempfile.TemporaryDirectory() as root:
            service=StationService(root=root,gateway=gateway)
            try:
                path=Path(root)/'site.yaml';path.write_text('robot: before')
                service.config_path=path;service._config_signature=service._signature()
                path.write_text('robot: different-device')
                with self.assertRaisesRegex(RuntimeError,'配置已变化'):
                    service.submit('gripper_probe','89')
                self.assertEqual(gateway.requests,[])
                self.assertTrue(service._frozen_config.is_file())
            finally: service.close()