"""
Basic tests for weather awareness system.
"""

import pytest
import numpy as np
from saltybot_weather.weather_node import RainDetector


class TestRainDetector:
    """Tests for rain detection algorithm."""

    def test_rain_detector_init(self):
        """Test rain detector initialization."""
        detector = RainDetector()
        assert len(detector.history) == 0

    def test_rain_detector_clear_frame(self):
        """Test rain detection on clear (low-noise) frame."""
        detector = RainDetector()
        # Create a smooth, clear frame (low gradient)
        frame = np.ones((480, 640, 3), dtype=np.uint8) * 128
        prob = detector.detect(frame)
        # Clear frame should have low rain probability
        assert 0.0 <= prob <= 1.0
        assert prob < 0.3

    def test_rain_detector_noisy_frame(self):
        """Test rain detection on noisy (rain-like) frame."""
        detector = RainDetector()
        # Create a noisy frame (high gradient, rain-like)
        np.random.seed(42)
        frame = np.random.randint(0, 255, (480, 640, 3), dtype=np.uint8)
        prob = detector.detect(frame)
        assert 0.0 <= prob <= 1.0

    def test_rain_detector_empty_frame(self):
        """Test rain detection with empty/None frame."""
        detector = RainDetector()
        prob = detector.detect(None)
        assert prob == 0.0

    def test_rain_detector_smoothing(self):
        """Test rain detection history smoothing."""
        detector = RainDetector()
        # Simulate alternating clear and noisy frames
        clear = np.ones((480, 640, 3), dtype=np.uint8) * 128
        noisy = np.random.randint(0, 255, (480, 640, 3), dtype=np.uint8)

        probs = []
        for i in range(10):
            frame = noisy if i % 2 == 0 else clear
            probs.append(detector.detect(frame))

        # History should have 10 elements
        assert len(detector.history) == 10
        # Probabilities should be bounded
        assert all(0.0 <= p <= 1.0 for p in probs)


class TestWeatherState:
    """Basic WeatherState message tests."""

    def test_weather_state_creation(self):
        """Test creating a WeatherState message."""
        try:
            from saltybot_weather_msgs.msg import WeatherState
            ws = WeatherState()
            ws.temperature = 25.0
            ws.humidity = 60.0
            assert ws.temperature == 25.0
            assert ws.humidity == 60.0
        except ImportError:
            pytest.skip("saltybot_weather_msgs not built")


if __name__ == '__main__':
    pytest.main([__file__])