from unittest import TestCase
from arm_application.camera_profiles import depth_profile
from arm_application.realsense_color_pub import stream_open_passes, usb2_needs_reset


class CameraProfilesTest(TestCase):
    def test_1080p_color_keeps_native_720p_depth_at_same_rate(self):
        modes={(1280,720,30),(848,480,30),(640,480,15)}
        self.assertEqual(depth_profile((1920,1080,30),modes),(1280,720,30))
        self.assertEqual(depth_profile((848,480,30),modes),(848,480,30))
        with self.assertRaises(ValueError): depth_profile((1920,1080,60),modes)

    def test_usb2_enumeration_requests_one_hardware_reset(self):
        self.assertTrue(usb2_needs_reset('2.1'))
        self.assertTrue(usb2_needs_reset('2.0'))
        self.assertFalse(usb2_needs_reset('3.2'))
        self.assertFalse(usb2_needs_reset(''))

    def test_depth_is_exhausted_before_color_only_fallback(self):
        names = [name for name, _modes in stream_open_passes(True, False, False)]
        self.assertEqual(names, ['depth', 'color'])
        depth_modes = next(modes for name, modes in stream_open_passes(True, False, True) if name == 'depth')
        self.assertEqual(depth_modes, ((True, 'none'),))
        self.assertTrue(all(with_depth for with_depth, _infra in depth_modes))