import 'package:flutter/material.dart';
import 'package:flutter/services.dart';
import 'package:flutter_test/flutter_test.dart';
import 'package:pilotvault_fly/dji_service.dart';
import 'package:pilotvault_fly/flight_model.dart';
import 'package:pilotvault_fly/fly/product_profile.dart';
import 'package:pilotvault_fly/fly/settings/settings_spec.dart';
import 'package:pilotvault_fly/fly/settings/settings_tabs.dart';
import 'package:pilotvault_fly/fly/state/key_state.dart';
import 'package:pilotvault_fly/fly/telemetry_reducer.dart';
import 'package:pilotvault_fly/ui/fly/fly_screen.dart';
import 'package:pilotvault_fly/ui/fly/panels/camera_write.dart';
import 'package:pilotvault_fly/ui/fly/panels/gimbal_sheet.dart';

import 'fake_dji.dart';
import 'profile_fixtures.dart';
import 'telemetry_fixtures.dart';

FlightModel connectedModel(Map<String, dynamic> profile, {bool flying = false}) {
  final FlightModel m = FlightModel()
    ..connected = true
    ..profile = ProductProfile.fromBridge(profile);
  final Map<String, dynamic> t = telemetryTick();
  t['isFlying'] = flying;
  t['areMotorsOn'] = flying;
  TelemetryReducer(m).apply(t);
  return m;
}

void seed(KeyState s, Map<DjiKey, Object?> values) {
  values.forEach((DjiKey k, Object? v) => s.apply(k.id, v));
}

T spec<T extends SettingSpec>(String tab, String id, [ProductProfile p = ProductProfile.disconnected]) =>
    SettingsTabs.all(p).firstWhere((SettingsTab t) => t.id == tab).rows.firstWhere((SettingSpec r) => r.id == id) as T;

void main() {
  group('Specs', () {
    test('number rows take the aircraft\'s range and step within it', () {
      final KeyState s = KeyState();
      final KeyNumberSpec alt = spec<KeyNumberSpec>(SettingsTabs.safety, 'maxAltitude');
      expect(alt.range(s), (20, 500), reason: 'fallback until the range key reports');
      seed(s, <DjiKey, Object?>{
        SettingsKeys.maxHeight: 120,
        SettingsKeys.maxHeightRange: <String, dynamic>{'supported': true, 'min': 20.0, 'max': 125.0},
      });
      expect(alt.range(s), (20, 125));
      expect(alt.stepped(s, 1), 125, reason: 'clamped to the max');
      expect(alt.stepped(s, -1), 110);
      s.apply(SettingsKeys.maxHeight.id, 125);
      expect(alt.stepped(s, 1), isNull, reason: 'nothing to step to');
    });

    test('low and critical battery keep 5 % apart', () {
      final KeyState s = KeyState();
      seed(s, <DjiKey, Object?>{SettingsKeys.lowBattery: 25, SettingsKeys.criticalBattery: 20});
      final KeyNumberSpec low = spec<KeyNumberSpec>(SettingsTabs.battery, 'lowBattery');
      final KeyNumberSpec critical = spec<KeyNumberSpec>(SettingsTabs.battery, 'criticalBattery');
      expect(low.range(s), (25, 50));
      expect(low.stepped(s, -1), isNull);
      expect(critical.range(s), (10, 20));
      expect(critical.stepped(s, 1), isNull);
      expect(critical.stepped(s, -1), 19);
    });

    test('choices follow the supported list and keep an unknown current value', () {
      final KeyState s = KeyState();
      final KeyChoiceSpec band = spec<KeyChoiceSpec>(SettingsTabs.transmission, 'osBand');
      expect(band.optionsFor(s).length, 4);
      seed(s, <DjiKey, Object?>{
        SettingsKeys.osBands: <Object?>['FREQUENCY_BAND_2_DOT_4_GHZ', 'FREQUENCY_BAND_5_DOT_8_GHZ'],
        SettingsKeys.osBand: 'FREQUENCY_BAND_2_DOT_4_GHZ',
      });
      expect(<String>[for (final (String v, _) in band.optionsFor(s)) v], <String>['FREQUENCY_BAND_2_DOT_4_GHZ', 'FREQUENCY_BAND_5_DOT_8_GHZ']);
      final KeyChoiceSpec stick = spec<KeyChoiceSpec>(SettingsTabs.rc, 'stickMode');
      s.apply(SettingsKeys.stickMode.id, 'STYLE_CUSTOM');
      expect(stick.optionsFor(s).last, ('STYLE_CUSTOM', 'Style custom'));
    });

    test('unsupported keys hide, dependent rows follow their switch, ground-only rows lock in flight', () {
      final FlightModel m = connectedModel(mavic2Zoom);
      SettingsContext c() => SettingsContext(profile: m.profile, keys: m.keys, aircraft: m.aircraft);
      final KeySwitchSpec smartRth = spec<KeySwitchSpec>(SettingsTabs.safety, 'smartRth');
      expect(smartRth.visible(c()), isTrue, reason: 'unknown support still shows');
      m.keys.setSupported(SettingsKeys.smartRth, false);
      expect(smartRth.visible(c()), isFalse);

      final KeyNumberSpec distance = spec<KeyNumberSpec>(SettingsTabs.safety, 'maxDistance');
      expect(distance.visible(c()), isFalse);
      m.keys.apply(SettingsKeys.maxRadiusEnabled.id, true);
      expect(distance.visible(c()), isTrue);

      final KeySwitchSpec beginner = spec<KeySwitchSpec>(SettingsTabs.safety, 'beginner');
      expect(beginner.lockedReason(c()), isNull);
      final FlightModel air = connectedModel(mavic2Zoom, flying: true);
      expect(beginner.lockedReason(SettingsContext(profile: air.profile, keys: air.keys, aircraft: air.aircraft)), contains('Land'));
      expect(beginner.lockedReason(SettingsContext(profile: ProductProfile.disconnected, keys: KeyState(), aircraft: air.aircraft)),
          contains('Connect'));
    });

    test('transmission rows follow the link type; battery groups repeat per battery', () {
      final ProductProfile os = ProductProfile.fromBridge(mavic2Zoom);
      final ProductProfile lb = ProductProfile.fromBridge(phantom4);
      final SettingsContext osc = SettingsContext(profile: os, keys: KeyState(), aircraft: connectedModel(mavic2Zoom).aircraft);
      final SettingsContext lbc = SettingsContext(profile: lb, keys: KeyState(), aircraft: connectedModel(phantom4).aircraft);
      expect(spec<KeyChoiceSpec>(SettingsTabs.transmission, 'osChannelMode').visible(osc), isTrue);
      expect(spec<KeyChoiceSpec>(SettingsTabs.transmission, 'osChannelMode').visible(lbc), isFalse);
      expect(spec<KeyChoiceSpec>(SettingsTabs.transmission, 'lbBand').visible(lbc), isTrue);
      expect(spec<KeyChoiceSpec>(SettingsTabs.transmission, 'wifiBand').visible(osc), isFalse);

      List<String> groups(Map<String, dynamic> p) => <String>[
            for (final SettingSpec r in SettingsTabs.all(ProductProfile.fromBridge(p)).firstWhere((SettingsTab t) => t.id == 'battery').rows)
              if (r is GroupSpec) r.label,
          ];
      // The pair and cell-voltage groups are always listed and gated per profile.
      expect(groups(phantom4), <String>['WARNINGS', 'BATTERY', 'BATTERY PAIR', 'CELL VOLTAGE']);
      expect(groups(inspire2X5s), <String>['WARNINGS', 'BATTERY 1', 'BATTERY 2', 'BATTERY PAIR', 'CELL VOLTAGE']);
      final SettingsTab p4 = SettingsTabs.all(lb).firstWhere((SettingsTab t) => t.id == 'battery');
      final SettingsTab i2 = SettingsTabs.all(ProductProfile.fromBridge(inspire2X5s)).firstWhere((SettingsTab t) => t.id == 'battery');
      final SettingsContext i2c = SettingsContext(
          profile: ProductProfile.fromBridge(inspire2X5s), keys: KeyState(), aircraft: connectedModel(inspire2X5s).aircraft);
      expect(p4.rows.firstWhere((SettingSpec r) => r.id == 'group-BATTERY PAIR').visible(lbc), isFalse, reason: 'one pack, nothing to pair');
      expect(i2.rows.firstWhere((SettingSpec r) => r.id == 'group-BATTERY PAIR').visible(i2c), isTrue);
      expect(i2.rows.firstWhere((SettingSpec r) => r.id == 'group-CELL VOLTAGE').visible(i2c), isFalse, reason: 'smart batteries');
      final KeyReadoutSpec cells = spec<KeyReadoutSpec>(SettingsTabs.battery, 'cells1', ProductProfile.fromBridge(inspire2X5s));
      expect(cells.key.index, 1);
    });

    test('formatting', () {
      expect(formatCells(<Object?>[3850, 3861]), '3.85  3.86 V');
      expect(formatValue('FREQUENCY_BAND_2_DOT_4_GHZ'), 'Frequency band 2.4 ghz');
      expect(formatValue(true), 'On');
      expect(feetHint(120), '≈ 394 ft');
    });
  });

  group('Key state', () {
    test('key events reach the model only while connected', () {
      final FlightModel m = connectedModel(phantom4);
      final TelemetryReducer r = TelemetryReducer(m);
      expect(r.apply(<String, dynamic>{'type': 'key', 'id': SettingsKeys.novice.id, 'value': true}), isTrue);
      expect(m.keys.value(SettingsKeys.novice), isTrue);
      m.clearTelemetry();
      m.connected = false;
      r.apply(<String, dynamic>{'type': 'key', 'id': SettingsKeys.novice.id, 'value': false});
      expect(m.keys.value(SettingsKeys.novice), isNull);
    });

    test('subscriptions listen only to supported keys and cancel on dispose', () async {
      final FakeDjiService dji = FakeDjiService()..unsupportedKeys.add('ESC_BEEPING_ENABLED');
      final KeyState s = KeyState();
      final KeySubscriptions subs = KeySubscriptions(dji, s);
      await subs.watch(<DjiKey>[SettingsKeys.novice, SettingsKeys.escBeep, SettingsKeys.novice]);
      expect(dji.calls, <String>['listenKey(NOVICE_MODE_ENABLED)']);
      expect(s.supported(SettingsKeys.escBeep), isFalse);
      expect(s.supported(SettingsKeys.novice), isTrue);
      subs.dispose();
      await Future<void>.delayed(Duration.zero);
      expect(dji.calls.last, 'cancelKey');
    });
  });

  group('Sheet', () {
    Future<FakeDjiService> pump(WidgetTester tester, FlightModel m, {FakeDjiService? dji}) async {
      tester.view.physicalSize = const Size(844, 390);
      tester.view.devicePixelRatio = 1;
      addTearDown(tester.view.reset);
      final FakeDjiService d = dji ?? FakeDjiService();
      await tester.pumpWidget(const SizedBox());
      await tester.pumpWidget(MaterialApp(home: FlyScreen(model: m, dji: d)));
      await tester.pump(const Duration(milliseconds: 50));
      await tester.tap(find.byKey(const ValueKey<String>('settings-button')));
      await tester.pump();
      await tester.pump(const Duration(milliseconds: 300));
      return d;
    }

    Future<void> tab(WidgetTester tester, String id) async {
      await tester.tap(find.byKey(ValueKey<String>('settings-tab-$id')));
      await tester.pump();
      await tester.pump();
    }

    testWidgets('opens over the video with the product\'s tabs', (WidgetTester tester) async {
      final FakeDjiService dji = await pump(tester, connectedModel(mavic2Zoom));
      for (final String t in <String>['safety', 'vision', 'rc', 'transmission', 'battery', 'gimbal', 'general']) {
        expect(find.byKey(ValueKey<String>('settings-tab-$t')), findsOneWidget, reason: t);
      }
      expect(find.byType(FlyScreen), findsOneWidget, reason: 'a sheet, not a route');
      expect(dji.calls, contains('listenKey(GO_HOME_HEIGHT_IN_METERS)'));
      await tester.tap(find.byKey(const ValueKey<String>('settings-close')));
      await tester.pumpAndSettle();
      expect(find.byKey(const ValueKey<String>('settings-tab-safety')), findsNothing);
      expect(dji.calls.last, 'cancelKey');
    });

    testWidgets('a switch writes optimistically and rolls back on refusal', (WidgetTester tester) async {
      final FlightModel m = connectedModel(mavic2Zoom);
      seed(m.keys, <DjiKey, Object?>{SettingsKeys.smartRth: false});
      final FakeDjiService dji = await pump(tester, m);
      await tester.tap(find.byKey(const ValueKey<String>('row-smartRth')));
      await tester.pump();
      expect(dji.calls, contains('setKey(SMART_RETURN_TO_HOME_ENABLED, true)'));
      expect(m.keys.value(SettingsKeys.smartRth), isTrue);
      await tester.pump(cameraSettle);
      expect(m.keys.value(SettingsKeys.smartRth), isFalse, reason: 'never confirmed');

      dji.failWith = PlatformException(code: 'DJI_ERROR', message: 'Not supported');
      await tester.tap(find.byKey(const ValueKey<String>('row-smartRth')));
      await tester.pump();
      await tester.pump();
      expect(m.keys.value(SettingsKeys.smartRth), isFalse);
      expect(find.textContaining('Not supported'), findsOneWidget);
    });

    testWidgets('a confirmed write stays; unsupported rows are gone', (WidgetTester tester) async {
      final FlightModel m = connectedModel(mavic2Zoom);
      seed(m.keys, <DjiKey, Object?>{SettingsKeys.goHomeHeight: 100});
      final FakeDjiService dji = FakeDjiService()
        ..echo = m.keys
        ..unsupportedKeys.add('ESC_BEEPING_ENABLED');
      await pump(tester, m, dji: dji);
      expect(find.text('≈ 328 ft'), findsOneWidget);
      await tester.tap(find.byKey(const ValueKey<String>('step-rthAltitude-plus')));
      await tester.pump(cameraSettle);
      expect(dji.calls, contains('setKey(GO_HOME_HEIGHT_IN_METERS, 110)'));
      expect(find.text('110 m'), findsOneWidget);
      await tester.scrollUntilVisible(find.byKey(const ValueKey<String>('spec-sensors')), 200,
          scrollable: find.descendant(of: find.byKey(const ValueKey<String>('settings-list-safety')), matching: find.byType(Scrollable)));
      expect(find.byKey(const ValueKey<String>('row-escBeep')), findsNothing);
    });

    testWidgets('a far-off number can be typed, clamped to the range', (WidgetTester tester) async {
      final FlightModel m = connectedModel(mavic2Zoom);
      seed(m.keys, <DjiKey, Object?>{SettingsKeys.goHomeHeight: 100});
      final FakeDjiService dji = await pump(tester, m);
      await tester.tap(find.byKey(const ValueKey<String>('value-rthAltitude')));
      await tester.pumpAndSettle();
      await tester.enterText(find.byKey(const ValueKey<String>('number-input')), '900');
      await tester.tap(find.byKey(const ValueKey<String>('number-set')));
      await tester.pumpAndSettle();
      expect(dji.calls, contains('setKey(GO_HOME_HEIGHT_IN_METERS, 500)'));
      await tester.pump(cameraSettle);
    });

    testWidgets('ground-only rows lock in flight', (WidgetTester tester) async {
      final FlightModel m = connectedModel(mavic2Zoom, flying: true);
      seed(m.keys, <DjiKey, Object?>{SettingsKeys.novice: false});
      final FakeDjiService dji = await pump(tester, m);
      await tester.scrollUntilVisible(find.byKey(const ValueKey<String>('row-beginner')), 200,
          scrollable: find.descendant(of: find.byKey(const ValueKey<String>('settings-list-safety')), matching: find.byType(Scrollable)));
      expect(find.text('Land and stop the motors to change'), findsOneWidget);
      await tester.tap(find.byKey(const ValueKey<String>('row-beginner')), warnIfMissed: false);
      await tester.pump();
      expect(dji.calls.where((String c) => c.startsWith('setKey')), isEmpty);
    });

    testWidgets('remote tab: stick mode with its diagram, linking is slide-confirmed', (WidgetTester tester) async {
      final FlightModel m = connectedModel(mavic2Zoom);
      seed(m.keys, <DjiKey, Object?>{SettingsKeys.stickMode: 'STYLE_2', SettingsKeys.pairingState: 'PAIRED'});
      final FakeDjiService dji = await pump(tester, m);
      await tab(tester, 'rc');
      expect(find.text('Mode 2'), findsOneWidget);
      expect(find.text('Up-down: Up / down'), findsOneWidget, reason: 'Mode 2 left stick is throttle');
      await tester.tap(find.byKey(const ValueKey<String>('row-stickMode')));
      await tester.pump();
      await tester.tap(find.byKey(const ValueKey<String>('opt-STYLE_1')));
      await tester.pump();
      expect(dji.calls, contains('setKey(AIRCRAFT_MAPPING_STYLE, STYLE_1)'));
      expect(find.text('Up-down: Forward / back'), findsOneWidget);
      await tester.pump(cameraSettle);
      await tester.scrollUntilVisible(find.byKey(const ValueKey<String>('action-startPairing')), 200,
          scrollable: find.descendant(of: find.byKey(const ValueKey<String>('settings-list-rc')), matching: find.byType(Scrollable)));
      await tester.ensureVisible(find.byKey(const ValueKey<String>('action-startPairing')));
      await tester.pump();
      await tester.tap(find.byKey(const ValueKey<String>('action-startPairing')));
      await tester.pump();
      await tester.pump(const Duration(milliseconds: 300));
      expect(find.textContaining("aircraft's link button"), findsOneWidget, reason: 'the slide-to-confirm dialog');
      expect(dji.calls.where((String c) => c.startsWith('performKeyAction')), isEmpty, reason: 'nothing runs before the slide');
    });

    testWidgets('vision tab on an obstacle-sensing aircraft; transmission shows the link\'s rows', (WidgetTester tester) async {
      final FlightModel m = connectedModel(mavic2Zoom);
      seed(m.keys, <DjiKey, Object?>{SettingsKeys.osChannelMode: 'AUTO'});
      final FakeDjiService dji = await pump(tester, m);
      await tab(tester, 'vision');
      expect(find.byKey(const ValueKey<String>('row-collision')), findsOneWidget);
      await tab(tester, 'transmission');
      expect(find.byKey(const ValueKey<String>('row-osChannelMode')), findsOneWidget);
      expect(find.byKey(const ValueKey<String>('row-osChannel')), findsNothing, reason: 'Auto picks the channel');
      expect(find.byKey(const ValueKey<String>('row-lbBand')), findsNothing);
      await tester.tap(find.byKey(const ValueKey<String>('row-osChannelMode')));
      await tester.pump();
      await tester.tap(find.byKey(const ValueKey<String>('opt-MANUAL')));
      await tester.pump();
      expect(dji.calls, contains('setKey(CHANNEL_SELECTION_MODE, MANUAL)'));
      // The spectrum chart above pushes the channel row down the lazy list.
      await tester.scrollUntilVisible(find.byKey(const ValueKey<String>('row-osChannel')), 80,
          scrollable: find.descendant(of: find.byKey(const ValueKey<String>('settings-list-transmission')), matching: find.byType(Scrollable)));
      expect(find.byKey(const ValueKey<String>('row-osChannel')), findsOneWidget);
      await tester.pump(cameraSettle);
    });

    testWidgets('gimbal tab hosts the gimbal list; general clears the route', (WidgetTester tester) async {
      final FlightModel m = connectedModel(mavic2Zoom);
      await pump(tester, m);
      await tab(tester, 'gimbal');
      expect(find.byType(GimbalSettingsList), findsOneWidget);
      await tab(tester, 'general');
      expect(find.byKey(const ValueKey<String>('row-showRoute')), findsOneWidget);
      expect(find.byKey(const ValueKey<String>('action-clearRoute')), findsOneWidget);
      expect(find.text('Mavic 2 Zoom'), findsNothing, reason: 'About shows the model the connection reported');
    });

    testWidgets('without a connection nothing is asked and rows show as previews', (WidgetTester tester) async {
      final FlightModel m = FlightModel();
      final FakeDjiService dji = await pump(tester, m);
      expect(find.text('NOT CONNECTED'), findsOneWidget);
      expect(dji.calls.where((String c) => c.startsWith('listenKey')), isEmpty);
      expect(find.text('Connect the aircraft to change'), findsWidgets);
    });
  });
}