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':['dh_pgea'],'topics':['/gripper/states'],
                'services':['/gripper/open','/gripper/close','/gripper/initialize','/dh_pgea/execute']}
    def publisher_count(self, topic): return 1 if topic=='/gripper/states' else 0
    def states(self):
        elapsed=time.monotonic()-self.started if self.started else 0
        moving=bool(self.started and elapsed<getattr(self,'motion_duration',.05))
        last=self.requests[-1][0] if self.requests else ''
        if last=='/gripper/close':
            permille=0. if not moving else 400.
        elif last=='/gripper/open':
            permille=1000. if not moving else 400.
        else:
            permille=500.
        return {},{'89':{'connected':True,'moving':moving,
                          'grip_state':0 if moving else 1,'permille':permille,
                          'gripped':False,'opening_mm':permille/1000.*20}}
    def call(self,typ,name,request,event,timeout):
        self.requests.append((name,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();gateway.motion_duration=.25
        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][0],'/dh_pgea/execute')
                self.assertEqual(gateway.requests[0][1].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()

    def test_open_close_do_not_require_initialized(self):
        gateway=Gateway()
        original=gateway.states
        def states():
            arms,grips=original()
            row=dict(grips['89']);row['initialized']=False
            return arms,{'89':row}
        gateway.states=states
        with tempfile.TemporaryDirectory() as root:
            service=StationService(root=root,gateway=gateway)
            try:
                closed=service._gripper('gripper_close',service.arms['89'],{},threading.Event())
                self.assertTrue(closed['ok'])
                self.assertEqual(gateway.requests[-1][0],'/gripper/close')
                opened=service._gripper('gripper_open',service.arms['89'],{},threading.Event())
                self.assertTrue(opened['ok'])
                self.assertEqual(gateway.requests[-1][0],'/gripper/open')
            finally: service.close()

    def test_need_init_summary_does_not_block_open_close(self):
        from station.operator_gripper_state import present
        row=present('89',rotary=False,stroke_mm=20.0,
                    reading={'connected':True,'initialized':False,'permille':981,
                             'grip_state':1,'source':'ROS'})
        self.assertIn('零点未标定', row['summary'])
        self.assertIn('开口 19.6 mm', row['summary'])
        self.assertNotIn('不会动', row['summary'])
        self.assertNotIn('请先点到位', row['summary'])

    def test_open_close_init_call_dh_pgea_triggers_and_close_must_reach_zero(self):
        gateway=Gateway()
        with tempfile.TemporaryDirectory() as root:
            service=StationService(root=root,gateway=gateway)
            try:
                arm=service.arms['89']
                closed=service._gripper('gripper_close',arm,{},threading.Event())
                self.assertTrue(closed['ok'])
                self.assertEqual(gateway.requests[-1][0],'/gripper/close')
                opened=service._gripper('gripper_open',arm,{},threading.Event())
                self.assertTrue(opened['ok'])
                self.assertEqual(gateway.requests[-1][0],'/gripper/open')
                inited=service._gripper('gripper_init',arm,{},threading.Event())
                self.assertTrue(inited['ok'])
                self.assertEqual(gateway.requests[-1][0],'/gripper/initialize')
            finally: service.close()

    def test_close_fails_when_firmware_says_arrived_but_opening_remains(self):
        gateway=Gateway()
        def states():
            return {},{'89':{'connected':True,'moving':False,'grip_state':1,'permille':130.,
                              'gripped':False,'opening_mm':2.6}}
        gateway.states=states
        with tempfile.TemporaryDirectory() as root:
            service=StationService(root=root,gateway=gateway)
            try:
                result=service._gripper('gripper_close',service.arms['89'],{},threading.Event())
                self.assertFalse(result['ok'])
                self.assertIn('未闭合到位', result['message'])
                self.assertIn('2.6', result['message'])
            finally: service.close()

    def test_gripper_plan_starts_dh_pgea_without_auto_init(self):
        from station.launch_plans import gripper_plan
        argv=gripper_plan({'id':'89','rotary':False,'port':'/dev/ttyUSB0','stroke_mm':20.0,'gripper':'PGEA-100-20-W'},
                          {'baud':115200,'force_pct':20,'speed_pct':50})
        joined=' '.join(str(part) for part in argv)
        self.assertIn('arm_application.dh_pgea_node', joined)
        self.assertIn('auto_init:=false', joined)
        self.assertNotIn('gripper_node', joined)