from types import SimpleNamespace

import pytest

from simulator import HabitatSimulatorConfig, create_habitat_simulator


class _FakeSimulatorConfiguration:
    def __init__(self):
        self.scene_id = ""
        self.enable_physics = True


class _FakeAgentConfiguration:
    def __init__(self):
        self.sensor_specifications = []
        self.action_space = {}


class _FakeCameraSensorSpec:
    def __init__(self):
        self.uuid = ""
        self.sensor_type = None
        self.resolution = []
        self.position = []


class _FakeActuationSpec:
    def __init__(self, amount):
        self.amount = amount


class _FakeActionSpec:
    def __init__(self, name, actuation):
        self.name = name
        self.actuation = actuation


class _FakeConfiguration:
    def __init__(self, sim_cfg, agent_cfgs):
        self.sim_cfg = sim_cfg
        self.agent_cfgs = agent_cfgs


class _FakeSimulator:
    def __init__(self, cfg):
        self.cfg = cfg
        self.initialized_agent_id = None

    def initialize_agent(self, agent_id):
        self.initialized_agent_id = agent_id
        return {"agent_id": agent_id}


def _create_fake_habitat_module():
    return SimpleNamespace(
        SimulatorConfiguration=_FakeSimulatorConfiguration,
        CameraSensorSpec=_FakeCameraSensorSpec,
        SensorType=SimpleNamespace(COLOR="color"),
        Configuration=_FakeConfiguration,
        Simulator=_FakeSimulator,
        agent=SimpleNamespace(
            AgentConfiguration=_FakeAgentConfiguration,
            ActionSpec=_FakeActionSpec,
            ActuationSpec=_FakeActuationSpec,
        ),
    )


def test_create_habitat_simulator_builds_expected_configuration():
    fake_habitat = _create_fake_habitat_module()
    config = HabitatSimulatorConfig(
        scene_path="scene.glb",
        views_per_room=8,
        image_size=128,
        sensor_height=1.25,
        move_forward_step=0.5,
        enable_physics=False,
        sensor_uuid="rgb",
        agent_id=2,
    )

    simulator, agent = create_habitat_simulator(config, habitat_sim_module=fake_habitat)

    assert simulator.cfg.sim_cfg.scene_id == "scene.glb"
    assert simulator.cfg.sim_cfg.enable_physics is False

    created_agent_cfg = simulator.cfg.agent_cfgs[0]
    sensor = created_agent_cfg.sensor_specifications[0]
    assert sensor.uuid == "rgb"
    assert sensor.sensor_type == "color"
    assert sensor.resolution == [128, 128]
    assert sensor.position == [0.0, 1.25, 0.0]

    assert created_agent_cfg.action_space["move_forward"].actuation.amount == 0.5
    assert created_agent_cfg.action_space["turn_left"].actuation.amount == 45.0
    assert created_agent_cfg.action_space["turn_right"].actuation.amount == 45.0

    assert simulator.initialized_agent_id == 2
    assert agent == {"agent_id": 2}


def test_create_habitat_simulator_validates_views_per_room():
    fake_habitat = _create_fake_habitat_module()
    config = HabitatSimulatorConfig(scene_path="scene.glb", views_per_room=0)

    with pytest.raises(ValueError, match="views_per_room"):
        create_habitat_simulator(config, habitat_sim_module=fake_habitat)


def test_create_habitat_simulator_validates_image_size():
    fake_habitat = _create_fake_habitat_module()
    config = HabitatSimulatorConfig(scene_path="scene.glb", image_size=0)

    with pytest.raises(ValueError, match="image_size"):
        create_habitat_simulator(config, habitat_sim_module=fake_habitat)


def test_create_habitat_simulator_validates_move_forward_step():
    fake_habitat = _create_fake_habitat_module()
    config = HabitatSimulatorConfig(scene_path="scene.glb", move_forward_step=0)

    with pytest.raises(ValueError, match="move_forward_step"):
        create_habitat_simulator(config, habitat_sim_module=fake_habitat)