"""Tiering decides what needs arming, so a misfiled command is a safety bug."""

import collections

from mcbebop.protocol import xml_index
from mcbebop.protocol.safety import ALWAYS_ALLOWED, tier_for
from mcbebop.protocol.types import Direction, Tier

MOTION = {
    # The aircraft itself.
    "ardrone3.Piloting.FlatTrim",
    "ardrone3.Piloting.TakeOff",
    "ardrone3.Piloting.PCMD",
    "ardrone3.Piloting.Landing",
    "ardrone3.Piloting.Emergency",
    "ardrone3.Piloting.NavigateHome",
    "ardrone3.Piloting.AutoTakeOffMode",
    "ardrone3.Piloting.moveBy",
    "ardrone3.Piloting.UserTakeOff",
    "ardrone3.Piloting.Circle",
    "ardrone3.Piloting.moveTo",
    "ardrone3.Piloting.CancelMoveTo",
    "ardrone3.Piloting.StartPilotedPOI",
    "ardrone3.Piloting.StopPilotedPOI",
    "ardrone3.Piloting.CancelMoveBy",
    "ardrone3.Piloting.StartPilotedPOIV2",
    "ardrone3.Animations.Flip",
    # Running a stored flight plan moves the whole mission.
    "common.Mavlink.Start",
    "common.Mavlink.Pause",
    "common.Mavlink.Stop",
    # Calibration asks a powered aircraft to rotate.
    "common.Calibration.MagnetoCalibration",
    "common.Calibration.PitotCalibration",
    "common.Animations.StartAnimation",
    "common.Animations.StopAnimation",
    "common.Animations.StopAllAnimations",
}


def test_motion_set_is_exactly_these():
    tiered = {c.full_name for c in xml_index.all_commands() if c.tier is Tier.MOTION}
    assert tiered == MOTION


def test_every_motion_command_is_sendable():
    for name in MOTION:
        command = xml_index.get(name)
        assert command is not None, name
        assert command.direction is Direction.TO_DRONE, name


def test_observe_is_the_two_dump_everything_commands():
    sendable_observe = {
        c.full_name
        for c in xml_index.all_commands()
        if c.tier is Tier.OBSERVE and c.direction is Direction.TO_DRONE
    }
    assert sendable_observe == {"common.Common.AllStates", "common.Settings.AllSettings"}


def test_envelope_covers_the_limit_and_radio_classes():
    envelope = {c.full_name for c in xml_index.all_commands() if c.tier is Tier.ENVELOPE}
    for name in (
        "ardrone3.PilotingSettings.MaxAltitude",
        "ardrone3.PilotingSettings.NoFlyOverMaxDistance",
        "ardrone3.SpeedSettings.MaxVerticalSpeed",
        "ardrone3.GPSSettings.SetHome",
        "ardrone3.Network.WifiScan",
        "ardrone3.NetworkSettings.WifiSelection",
        "common.Network.Disconnect",
        "common.WifiSettings.OutdoorSetting",
        "common.FlightPlanSettings.ReturnHomeOnDisconnect",
        "common.Settings.Country",
        "common.Settings.AutoCountry",
        "common.Settings.Reset",
        "common.Common.Reboot",
        "common.Factory.Reset",
        "common.OverHeat.SwitchOff",
        "common.Charger.SetMaxChargeRate",
        "common.Controller.isPiloting",
    ):
        assert name in envelope, name
    assert len(envelope) == 44


def test_config_is_the_harmless_remainder():
    config = {c.full_name for c in xml_index.all_commands() if c.tier is Tier.CONFIG}
    assert len(config) == 31
    for name in (
        "ardrone3.MediaRecord.Picture",
        "ardrone3.MediaStreaming.VideoEnable",
        "ardrone3.PictureSettings.VideoFramerate",
        "ardrone3.Camera.Orientation",
        "common.Common.CurrentDate",
        "common.Settings.ProductName",
        "common.Headlights.intensity",
    ):
        assert name in config, name
    assert not any(
        c.direction is Direction.FROM_DRONE for c in xml_index.all_commands() if c.tier is Tier.CONFIG
    )


def test_sendable_tiers_account_for_every_to_drone_command():
    counts = collections.Counter(
        c.tier for c in xml_index.all_commands() if c.direction is Direction.TO_DRONE
    )
    assert counts[Tier.MOTION] == 25
    assert counts[Tier.ENVELOPE] == 44
    assert counts[Tier.OBSERVE] == 2
    assert counts[Tier.CONFIG] == 31
    assert sum(counts.values()) == 102  # 101 in the XML plus the injected FlatTrim


def test_events_are_observe():
    for command in xml_index.all_commands():
        if command.direction is Direction.FROM_DRONE:
            assert command.tier is Tier.OBSERVE, command.full_name


def test_always_allowed_are_the_two_that_end_a_flight():
    assert frozenset({"ardrone3.Piloting.Landing", "ardrone3.Piloting.Emergency"}) == ALWAYS_ALLOWED
    for name in ALWAYS_ALLOWED:
        command = xml_index.get(name)
        assert command.tier is Tier.MOTION  # locked by tier, exempted by name


def test_tier_for_is_what_the_index_stamped():
    for command in xml_index.all_commands():
        assert tier_for(command) is command.tier