"""Regression tests for the RTK–LiDAR coordinate and initialization contract."""

from __future__ import annotations

import math
import sys
from pathlib import Path

import numpy as np

ROOT = Path(__file__).resolve().parents[1]
sys.path.insert(0, str(ROOT / "tools"))
sys.path.insert(0, str(ROOT / "code"))

from finalize_direct_rtk_lidar import coordinate_contract_audit  # noqa: E402
from prepare_multisensor_station_dataset import heading_to_enu_yaw  # noqa: E402
from rigorous_calibration import (  # noqa: E402
    build_parser,
    load_extrinsic_matrix,
    params_transform,
    transform_params,
)


def test_left_baseline_heading_plus_90_points_vehicle_forward() -> None:
    corrected, yaw = heading_to_enu_yaw(270.0, 90.0)
    assert corrected == 0.0
    assert math.degrees(yaw) == 90.0


def test_east_vehicle_heading_maps_to_zero_enu_yaw() -> None:
    corrected, yaw = heading_to_enu_yaw(0.0, 90.0)
    assert corrected == 90.0
    assert math.degrees(yaw) == 0.0


def test_pair_registration_has_no_extrinsic_argument() -> None:
    parser = build_parser()
    pair_options = {
        option
        for action in parser._subparsers._group_actions[0].choices["pairs"]._actions
        for option in action.option_strings
    }
    assert "--initial-extrinsic" not in pair_options
    assert "--global-voxel" in pair_options


def test_mechanical_initial_round_trip() -> None:
    path = ROOT / "run" / "rtk_lidar_mechanical_initial.json"
    transform = load_extrinsic_matrix(path)
    np.testing.assert_allclose(transform[:3, 3], [0.414179474, 0.210859360, 0.004000001])
    np.testing.assert_allclose(transform[:3, :3], [[0.0, -1.0, 0.0], [1.0, 0.0, 0.0], [0.0, 0.0, 1.0]])
    np.testing.assert_allclose(params_transform(transform_params(transform)), transform, atol=1e-12)


def test_near_180_degree_solution_is_flagged_for_physical_axis_check() -> None:
    initial_path = ROOT / "run" / "rtk_lidar_mechanical_initial.json"
    initial = load_extrinsic_matrix(initial_path)
    # Flip the declared mechanical forward axis by ~180 deg about Z.
    solution = np.eye(4)
    solution[:3, :3] = initial[:3, :3] @ np.diag([-1.0, -1.0, 1.0])
    solution[:3, 3] = initial[:3, 3]
    audit = coordinate_contract_audit({
        "solver_initial_extrinsic": str(initial_path),
        "matrix_4x4": solution.tolist(),
    })
    assert audit["status"] == "near_180_degree_axis_conflict"
    assert audit["requires_physical_axis_confirmation"] is True