"""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 (  # noqa: E402
    coordinate_contract_audit,
    mechanical_self_consistency,
)
from prepare_multisensor_station_dataset import heading_to_enu_yaw  # noqa: E402
from rtk_attitude import attitude_rotation, rtk_body_rotation  # 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_attitude_rotation_applies_baseline_pitch_elevation() -> None:
    _, yaw = heading_to_enu_yaw(0.0, 0.0)  # heading north → body X = +North
    rotation = attitude_rotation(yaw, pitch_deg=10.0, roll_deg=0.0)
    body_x = rotation @ np.array([1.0, 0.0, 0.0])
    np.testing.assert_allclose(
        body_x,
        [0.0, math.cos(math.radians(10.0)), math.sin(math.radians(10.0))],
        atol=1e-12,
    )


def test_vehicle_forward_offset_keeps_pitch_about_baseline() -> None:
    # Baseline points east (vehicle right if nose north); pitch elevates baseline X.
    # Vehicle-forward offset -90 must not simply Ry after vehicle yaw.
    raw_heading = 90.0
    pitch = 10.0
    r_correct = rtk_body_rotation(raw_heading, -90.0, pitch_deg=pitch, roll_deg=0.0)
    _, yaw_raw = heading_to_enu_yaw(raw_heading, 0.0)
    r_baseline = attitude_rotation(yaw_raw, pitch_deg=pitch, roll_deg=0.0)
    rz90 = np.array([[0.0, -1.0, 0.0], [1.0, 0.0, 0.0], [0.0, 0.0, 1.0]])
    np.testing.assert_allclose(r_correct, r_baseline @ rz90, atol=1e-12)
    # Level vehicle-forward X should point north.
    r_level = rtk_body_rotation(raw_heading, -90.0, pitch_deg=0.0, roll_deg=0.0)
    np.testing.assert_allclose(r_level @ np.array([1.0, 0.0, 0.0]), [0.0, 1.0, 0.0], atol=1e-12)


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_is_vehicle_forward_swapped_master() -> None:
    path = ROOT / "run" / "rtk_lidar_mechanical_initial.json"
    document = __import__("json").loads(path.read_text(encoding="utf-8-sig"))
    transform = load_extrinsic_matrix(path)
    np.testing.assert_allclose(transform[:3, 3], [0.210859360, -0.414179474, 0.078500001])
    np.testing.assert_allclose(transform[:3, :3], np.eye(3))
    np.testing.assert_allclose(params_transform(transform_params(transform)), transform, atol=1e-12)
    assert document["baseline_points"] == "vehicle_right"
    assert document["frame_mode"] == "vehicle_forward_heading_offset"
    assert document["heading_offset_deg"] == -90.0
    assert document["rotation_rpy_deg_xyz"][2] == 0.0
    check = mechanical_self_consistency(document)
    assert check["consistent"] is True


def test_mixed_left_xy_plus_right_yaw_mechanical_is_rejected() -> None:
    mixed = {
        "baseline_points": "vehicle_left",
        "translation_m": [0.414179474, 0.210859360, 0.078500001],
        "rotation_rpy_deg_xyz": [0.0, 0.0, 90.0],
        "matrix_4x4": [
            [0.0, -1.0, 0.0, 0.414179474],
            [1.0, 0.0, 0.0, 0.210859360],
            [0.0, 0.0, 1.0, 0.078500001],
            [0.0, 0.0, 0.0, 1.0],
        ],
    }
    check = mechanical_self_consistency(mixed)
    assert check["consistent"] is False


def test_deprecated_minus_xy_right_baseline_is_rejected_for_swapped_master() -> None:
    deprecated = {
        "baseline_points": "vehicle_right",
        "translation_m": [-0.414179474, -0.210859360, 0.078500001],
        "rotation_rpy_deg_xyz": [0.0, 0.0, 90.0],
    }
    check = mechanical_self_consistency(deprecated)
    assert check["consistent"] is False


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)
    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


def test_previous_mixed_result_branch_is_not_recommended() -> None:
    """Old baseline-frame mixed solution disagrees with vehicle-forward mechanical initial."""
    initial_path = ROOT / "run" / "rtk_lidar_mechanical_initial.json"
    solution = np.array(
        [
            [0.00942353438668686, -0.9999215926659111, 0.00824654595155475, 0.4123055815579212],
            [0.9998714355322929, 0.009529416150714898, 0.012895837871912157, 0.2173092104098051],
            [-0.012973411511822136, 0.008123961367132958, 0.9998828390593821, 0.10405760639434848],
            [0.0, 0.0, 0.0, 1.0],
        ],
        float,
    )
    audit = coordinate_contract_audit({
        "solver_initial_extrinsic": str(initial_path),
        "matrix_4x4": solution.tolist(),
    })
    assert audit["requires_physical_axis_confirmation"] is True
    assert audit["status"] in {
        "near_180_degree_axis_conflict",
        "solution_disagrees_with_mechanical_baseline_side",
    }