from __future__ import annotations

import unittest

from autofarm.contracts import ActionType, ControlState, MissionTask, PriorityBand
from tests.sim_support import make_interactive_environment


class InteractiveChallengeRadiusTest(unittest.TestCase):
    def test_challenge_placement_keeps_robot_belief_until_measurement(self) -> None:
        env = make_interactive_environment(zone_id="zone_r02_c01")
        self.assertEqual(env._zone_state("zone_r02_c01").static_features.get("scenario_priority_hint"), 0.4)
        self.assertEqual(env._zone_state("zone_r02_c01").static_features.get("recommended_action"), "none")
        self.assertFalse(bool(env._zone_state("zone_r02_c01").static_features.get("needs_intervention", False)))

        success, _ = env.place_challenge("actionable_high_priority", "zone_r02_c01", radius=1)

        self.assertTrue(success)
        self.assertEqual(env._zone_state("zone_r02_c01").static_features.get("scenario_priority_hint"), 0.4)
        self.assertEqual(env._zone_state("zone_r02_c01").static_features.get("recommended_action"), "none")
        self.assertFalse(bool(env._zone_state("zone_r02_c01").static_features.get("needs_intervention", False)))
        self.assertEqual(env.hidden_zone_states["zone_r02_c01"].true_priority_hint, 0.88)
        self.assertEqual(env.hidden_zone_states["zone_r02_c01"].true_recommended_action, "irrigate")
        self.assertTrue(env.hidden_zone_states["zone_r02_c01"].true_needs_intervention)

    def test_planning_observation_masks_active_challenge_summaries(self) -> None:
        env = make_interactive_environment(zone_id="zone_r02_c01")

        success, _ = env.place_challenge("actionable_high_priority", "zone_r02_c01", radius=1)

        self.assertTrue(success)
        self.assertEqual(env.observation().active_challenge_summaries_by_zone, {"zone_r02_c01": ["Drought"]})
        self.assertEqual(env.planning_observation().active_challenge_summaries_by_zone, {})

    def test_move_over_tile_triggers_direct_measurement_and_resolves_unseen_state(self) -> None:
        env = make_interactive_environment(zone_id="zone_r02_c01")
        success, _ = env.place_challenge("actionable_high_priority", "zone_r02_c01", radius=1)

        self.assertTrue(success)
        self.assertEqual(env.hidden_zone_states["zone_r02_c01"].control_state, ControlState.INSPECT_REQUIRED)

        event = env._move_to_neighbor(
            MissionTask(
                task_type=ActionType.MOVE,
                target_zone="zone_r02_c01",
                priority=1.0,
                preconditions=[],
                rationale="enter field",
            ),
            "zone_r02_c01",
        )

        self.assertEqual(event.action, ActionType.MOVE)
        self.assertEqual(event.control_state_before, ControlState.INSPECT_REQUIRED)
        self.assertEqual(event.control_state_after, ControlState.RESOLVED_COMPLETE)
        self.assertEqual(env.hidden_zone_states["zone_r02_c01"].guarded_context.inspection_count, 1)
        self.assertEqual(env.hidden_zone_states["zone_r02_c01"].current_uncertainty, 0.0)
        self.assertEqual(env._zone_state("zone_r02_c01").static_features.get("recommended_action"), "irrigate")
        self.assertEqual(env._zone_state("zone_r02_c01").static_features.get("scenario_priority_hint"), 0.88)
        self.assertIn("Drive-over measurement refreshed the tile state.", event.details["revealed_facts"])

    def test_radius_one_targets_only_the_selected_tile(self) -> None:
        env = make_interactive_environment(zone_id="zone_r02_c02")

        self.assertEqual(env.challenge_target_zone_ids("zone_r02_c02", radius=1), ["zone_r02_c02"])

        success, _ = env.place_challenge("actionable_high_priority", "zone_r02_c02", radius=1)

        self.assertTrue(success)
        self.assertEqual(set(env.active_challenges), {"zone_r02_c02"})
        self.assertEqual(env.hidden_zone_states["zone_r02_c02"].true_priority_band, PriorityBand.HIGH)

    def test_radius_two_forms_a_single_ring_around_the_selected_tile(self) -> None:
        env = make_interactive_environment(zone_id="zone_r02_c02")
        expected_zone_ids = {
            "zone_r01_c01",
            "zone_r01_c02",
            "zone_r01_c03",
            "zone_r02_c01",
            "zone_r02_c02",
            "zone_r02_c03",
            "zone_r03_c01",
            "zone_r03_c02",
            "zone_r03_c03",
        }

        self.assertEqual(set(env.challenge_target_zone_ids("zone_r02_c02", radius=2)), expected_zone_ids)

        success, message = env.place_challenge("actionable_high_priority", "zone_r02_c02", radius=2)

        self.assertTrue(success)
        self.assertIn("radius 2", message)
        self.assertEqual(set(env.active_challenges), expected_zone_ids)

    def test_radius_three_clips_cleanly_at_the_field_border(self) -> None:
        env = make_interactive_environment(zone_id="zone_r02_c02")
        expected_zone_ids = {
            "zone_r01_c01",
            "zone_r01_c02",
            "zone_r01_c03",
            "zone_r02_c01",
            "zone_r02_c02",
            "zone_r02_c03",
            "zone_r03_c01",
            "zone_r03_c02",
        }

        self.assertEqual(set(env.challenge_target_zone_ids("zone_r01_c01", radius=3)), expected_zone_ids)

        success, message = env.place_challenge("actionable_high_priority", "zone_r01_c01", radius=3)

        self.assertTrue(success)
        self.assertIn("8 tiles", message)
        self.assertEqual(set(env.active_challenges), expected_zone_ids)

    def test_radius_placement_skips_tiles_with_existing_active_challenges(self) -> None:
        env = make_interactive_environment(zone_id="zone_r02_c02")

        success, _ = env.place_challenge("actionable_high_priority", "zone_r02_c02", radius=1)
        self.assertTrue(success)

        success, message = env.place_challenge("actionable_high_priority", "zone_r02_c02", radius=2)

        self.assertTrue(success)
        self.assertIn("Skipped 1 tile", message)
        self.assertEqual(len(env.active_challenges), 9)


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