import unittest

from utils.config_validate import ConfigError, require, validate_temp_ctrl


def _valid_temp_ctrl_config():
    gains = {"kp": 0.08, "ki": 0.02, "kd": 0.0, "kt": 1.5}
    return {
        "TempCtrl": {
            "pid_type": "Smith",
            "Outer": dict(gains),
            "Inner": {
                "Heat": dict(gains),
                "Hold": dict(gains),
                "Cool": dict(gains),
            },
        }
    }


class TestRequire(unittest.TestCase):
    def test_returns_value_when_present(self):
        self.assertEqual(require({"a": {"b": 1}}, "a.b"), 1)

    def test_raises_on_missing_leaf(self):
        with self.assertRaises(ConfigError):
            require({"a": {}}, "a.b")

    def test_raises_on_missing_intermediate(self):
        with self.assertRaises(ConfigError):
            require({}, "a.b")

    def test_error_names_full_path_up_to_missing_key(self):
        with self.assertRaisesRegex(ConfigError, r"a\.b"):
            require({"a": {}}, "a.b.c")

    def test_raises_on_wrong_type(self):
        with self.assertRaises(ConfigError):
            require({"a": "not a number"}, "a", type=(int, float))

    def test_accepts_matching_type(self):
        self.assertEqual(require({"a": 1.5}, "a", type=(int, float)), 1.5)


class TestValidateTempCtrl(unittest.TestCase):
    def test_valid_config_passes(self):
        validate_temp_ctrl(_valid_temp_ctrl_config())

    def test_missing_gain_raises(self):
        config = _valid_temp_ctrl_config()
        del config["TempCtrl"]["Inner"]["Hold"]["kp"]
        with self.assertRaisesRegex(ConfigError, r"TempCtrl\.Inner\.Hold\.kp"):
            validate_temp_ctrl(config)

    def test_missing_pid_type_raises(self):
        config = _valid_temp_ctrl_config()
        del config["TempCtrl"]["pid_type"]
        with self.assertRaises(ConfigError):
            validate_temp_ctrl(config)

    def test_optional_keys_not_required(self):
        config = _valid_temp_ctrl_config()
        # Outer.y_hold_min, Inner.Hold.yi_max, and the whole Thresholds
        # section all have their own defaults elsewhere and must stay
        # optional here too.
        validate_temp_ctrl(config)
        self.assertNotIn("y_hold_min", config["TempCtrl"]["Outer"])
        self.assertNotIn("Thresholds", config["TempCtrl"])


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