"""P1-4 安全阀与退出可解释性验收。

覆盖 论文“实验结果与分析”一节 §P1-4：
- summary 必须显式给出完成依据 completion_basis（数量上界 vs 逐频道证明）；
- 逐频道缺席必须带证据来源 absence_evidence（pf_empty / coverage）；
- 重复复扫计数 redundant_rescan_measures 是历史 98.84% 空复扫问题的回归指标；
- 虚拟安全余量不小于单动作耗时上界（配置被调小时仍成立）。
"""

import unittest
from dataclasses import replace

from mcm26b.config import ProblemConfig
from mcm26b.planner import DirectionalExtension, OmnidirectionalLoop
from mcm26b.planner.bayes_loop import BayesLoop
from mcm26b.protocol.client import SimulatorClient
from mcm26b.harness import LocalSimTransport, LocalSimulator
from mcm26b.harness import mixed_scene, random_omni_scene

CONFIG = replace(ProblemConfig(),
                 search=replace(ProblemConfig().search,
                                bearing_rounding_margin_deg=0.005,
                                persistent_search=False))


def _run(loop_cls, sources, config=CONFIG):
    simulator = LocalSimulator(sources, robot_id="T-SAFE", config=config)
    client = SimulatorClient("T-SAFE", config=config,
                             transport=LocalSimTransport(simulator))
    return loop_cls(client, config).run(), simulator


class SafetyValveTests(unittest.TestCase):
    def test_summary_completion_and_absence_evidence(self):
        sources = random_omni_scene(seed=5, count=10, config=CONFIG)
        summary, _ = _run(BayesLoop, sources)
        truth = sorted(s.channel for s in sources)
        self.assertEqual(sorted(summary["cleared_channels"]), truth)
        self.assertEqual(summary["completion_basis"], "per_channel_proof")
        self.assertEqual(sorted(summary["absent_channels"]),
                         sorted(set(range(1, 21)) - set(truth)))
        evidence = summary["absence_evidence"]
        self.assertEqual(sorted(int(c) for c in evidence),
                         sorted(summary["absent_channels"]))
        self.assertTrue(set(evidence.values()) <= {"pf_empty", "coverage"})
        self.assertIsInstance(summary["redundant_rescan_measures"], int)
        self.assertGreaterEqual(summary["virtual_reserve_s"], 10_000.0)

    def test_redundant_rescan_measure_is_counted(self):
        """同一测点重复检测必须被计数（正常模式应为 0）。"""
        sources = random_omni_scene(seed=7, count=10, config=CONFIG)
        summary, _ = _run(BayesLoop, sources)
        self.assertEqual(summary["redundant_rescan_measures"], 0)

    def test_count_cap_is_distinguished_from_proof(self):
        """16 源时按数量上界停止，completion_basis 不得写成逐频道证明。"""
        sources = random_omni_scene(seed=11, count=16, config=CONFIG)
        summary, _ = _run(BayesLoop, sources)
        self.assertGreaterEqual(len(summary["cleared_channels"]), 16)
        self.assertEqual(summary["completion_basis"], "count_cap")

    def test_q4_completion_basis_present(self):
        sources = mixed_scene(seed=3, count=10, directional=3, config=CONFIG)
        summary, simulator = _run(DirectionalExtension, sources)
        truth = sorted(s.channel for s in sources)
        self.assertEqual(sorted(summary["cleared_channels"]), truth)
        self.assertIn(summary["completion_basis"],
                      {"per_channel_proof", "count_cap"})
        self.assertEqual(sorted(simulator.cleared), truth)


class VirtualReserveTests(unittest.TestCase):
    def test_reserve_covers_single_action_bound(self):
        """配置余量被调小到 0 时，有效余量仍不得小于单动作上界。"""
        tight = replace(ProblemConfig(),
                        search=replace(ProblemConfig().search,
                                       virtual_reserve_s=0.0))
        sources = random_omni_scene(seed=1, count=1, config=tight)
        simulator = LocalSimulator(sources, robot_id="T-RES", config=tight)
        client = SimulatorClient("T-RES", config=tight,
                                 transport=LocalSimTransport(simulator))
        loop = OmnidirectionalLoop(client, tight)
        reach = max((x * x + y * y) ** 0.5 for x, y in loop.ledger.points)
        bound = 2.0 * reach / tight.cost.speed_mps \
            + tight.cost.measure_s + tight.cost.switch_s
        self.assertGreaterEqual(loop._min_virtual_reserve(), bound)
        self.assertLess(loop._min_virtual_reserve(), 10_000.0)


if __name__ == "__main__":
    unittest.main()