"""附录2交会/串行换频约束和本轮优化的回归用例。"""
from dataclasses import replace
import math

import pytest

from mcm26b.config import ProblemConfig
from mcm26b.planner import ClearCertificate, DirectionalExtension
from mcm26b.planner.bayes_loop import BayesLoop, Task
from mcm26b.planner.seven import validate_seven_coverage
from mcm26b.protocol.client import SimulatorClient
from mcm26b.protocol.rules import DIRECTION, NO_SIGNAL
from mcm26b.sim import LocalSimulator, LocalSimTransport, Source


def setup(sources=(), cls=BayesLoop, config=ProblemConfig()):
    sim = LocalSimulator(list(sources), robot_id='TEST', config=config)
    client = SimulatorClient('TEST', config=config, transport=LocalSimTransport(sim))
    return sim, client, cls(client, config)


def test_seven_coverage_checks_tuned_radius_and_rejects_holes():
    config = ProblemConfig()
    assert validate_seven_coverage(config.bayes.station_ring_radius_m, config) < 1000
    for radius in (0, 500, 2000):
        with pytest.raises(ValueError):
            validate_seven_coverage(radius, config)


def test_seven_stations_cannot_prove_directional_absence():
    # +x边界源朝外，七站全在源背面；第四问必须保留域外发现站。
    source = Source(1, 1800, 0, 1000, directional=True, heading_deg=0)
    sim, _, loop = setup([source])
    assert all(sim._observe(p, 1)[0] == NO_SIGNAL for p in loop.ledger.points)
    _, _, directional = setup([source], cls=DirectionalExtension)
    assert any(sim._observe(p, 1)[0] == DIRECTION for p in directional.ledger.points)


def test_stopped_opportunistic_measure_is_serial_and_never_repeats_location():
    sim, client, loop = setup([Source(1, 800, 200, 1500)])
    client.enter()
    loop._record_measure(1, (0, 0), client.measure((0, 0), 1))
    client.measure((600, 0), 2)
    before = client.state.virtual_time_s
    loop._measure_at_stop()
    assert loop.opportunistic_measures == 1
    assert client.state.virtual_time_s - before == 6  # 1秒换频+5秒停靠检测
    assert client.state.position == (600, 0)
    assert loop.belief.candidate_set(1).contains((800, 200))
    loop._measure_at_stop()
    assert client.state.virtual_time_s - before == 6


def test_route_cost_accounts_for_channel_state_and_clear_preserves_it():
    _, client, loop = setup()
    client.state.channel = 3
    at = (0., 0.)
    clear = Task('clear', at, 5, channel=7)
    locate = Task('locate', at, 6, channel=3)
    station = Task('station', at, 18, station_index=0, station_channels=(1, 2, 3))
    assert loop._path_cost([clear, locate]) == 10
    assert loop._path_cost([locate, station]) == 5 + 17
    assert loop._path_cost([station, locate]) == 17 + 6


def test_shorter_clear_target_still_covers_every_possible_source():
    _, _, loop = setup()
    cert = ClearCertificate(1, (100, 0), 5, 19.5, True)
    result = loop._near_clear_target(cert)
    assert math.dist((0, 0), result.center) < 100
    assert result.radius_m <= result.limit_m
    for k in range(360):
        p = (100 + 5*math.cos(math.radians(k)), 5*math.sin(math.radians(k)))
        assert math.dist(result.center, p) <= 19.5


def test_out_of_range_probe_does_not_certify_directionality():
    base = ProblemConfig()
    config = replace(base, search=replace(base.search, max_blocked_probes=1))
    _, client, loop = setup([Source(1, 800, 0, 1000)], cls=DirectionalExtension, config=config)
    client.enter()
    outcome = client.measure((0, 0), 1)
    loop.belief.update_measure(1, (0, 0), outcome.result, outcome.svd_deg)
    loop._next_probe = lambda region, channel: (3000, 0)
    loop._fallback_clear = lambda channel, region: False
    assert not loop._localize_and_clear(1)
    assert loop.directional_observed == []
    assert loop.anomalies == []