import tempfile
from pathlib import Path
from types import SimpleNamespace
from unittest import TestCase
import numpy as np
from arm_application.tactile_flow import tactile_devices,select_source,flow_preview,read_sample


class TactileFlowTest(TestCase):
    def test_discovery_filters_realsense_and_duplicate_interfaces(self):
        with tempfile.TemporaryDirectory() as folder:
            root=Path(folder);sys=root/'class';sys.mkdir()
            for name,vendor,index in [('video0','8086','0'),('video1','1bcf','0'),('video2','1bcf','1'),('video3','0bda','0')]:
                entry=sys/name;entry.mkdir();(entry/'index').write_text(index)
                usb=root/('usb-'+name);usb.mkdir();(usb/'idVendor').write_text(vendor)
                (entry/'device').symlink_to(usb,target_is_directory=True)
            found=tactile_devices(sys,Path('/dev'))
            self.assertEqual(found,['/dev/video1'])
            self.assertEqual(select_source('left',{},found),'/dev/video1')
            self.assertIsNone(select_source('right',{},found))
            self.assertEqual(select_source('right',{'right_video':'/dev/v4l/by-path/sensor'},found),'/dev/v4l/by-path/sensor')

    def test_actual_vector_field_changes_preview_and_rejects_bad_shapes(self):
        flow=np.zeros((64,64,2),np.float32)
        rest=flow_preview(flow);flow[...,0]=12
        motion=flow_preview(flow)
        self.assertEqual(motion.shape,(360,360,3));self.assertFalse(np.array_equal(rest,motion))
        with self.assertRaises(ValueError):flow_preview(np.zeros((8,8)))

    def test_uses_raw_force_channels_and_reads_flow_only_once(self):
        info=SimpleNamespace(FPS=1,FNORMAL=2,FSHEARX=3,FSHEARY=4,FNORMAL_RAW=5,FSHEARX_RAW=6,FSHEARY_RAW=7,VRAW=8)
        calls=[]
        def read(*keys):
            calls.append(keys);return 30.,200.,3.,-4.,np.zeros((8,8,2))
        row=read_sample(SimpleNamespace(info=info,read_info=read))
        self.assertEqual(calls,[(1,5,6,7,8)])
        self.assertEqual(row['fnormal'],200.);self.assertEqual(row['fsheary'],-4.)

    def test_preview_polling_is_independent_of_slow_state_poll(self):
        import base64,threading,time
        from unittest.mock import patch
        from station.runtime_client import RuntimeClient
        client=RuntimeClient.__new__(RuntimeClient)
        client._lock=threading.RLock();client._stop=threading.Event()
        from collections import deque
        client._force_history={'left':deque(maxlen=1800),'right':deque(maxlen=1800)}
        client._force_cursors={};client._force_epochs={}
        client._snapshot={'view':{'on':True}};client._frames={};client.socket=Path('/unused')
        calls=[]
        def rpc_call(*args,**kwargs):
            calls.append(args[1]);return {'frames':{'left_shear':base64.b64encode(b'jpeg').decode()},
                'samples':{'left':[{'seq':1,'t':time.time(),'fnormal':.5,'fshearx':.2,'fsheary':-.3}]},'epochs':{'left':0}}
        with patch('station.runtime_client.rpc.call',side_effect=rpc_call):
            thread=threading.Thread(target=client._poll_frames);thread.start()
            time.sleep(.16);client._stop.set();thread.join(1)
        self.assertGreaterEqual(len(calls),3)
        self.assertEqual(set(calls),{'tactile_preview'})
        self.assertEqual(client._frames['left_shear'],b'jpeg')
        self.assertEqual(len(client._force_history['left']),1)
        self.assertEqual(client._force_cursors['left'],1)