#!/usr/bin/env python

# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import traceback

import pytest
from serial import SerialException

from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
from tests.utils import DEVICE

# Import fixture modules as plugins
pytest_plugins = [
    "tests.fixtures.dataset_factories",
    "tests.fixtures.files",
    "tests.fixtures.hub",
    "tests.fixtures.optimizers",
    "tests.plugins.reachy2_sdk",
]


def pytest_addoption(parser):
    """Add custom command line option for hardware tests."""
    parser.addoption(
        "--run-hardware",
        action="store_true",
        default=False,
        help="Run hardware tests that require actual motors connected",
    )
    parser.addoption(
        "--can-port",
        action="store",
        default=None,
        help="CAN interface port (e.g., 'can0' for Linux, '/dev/cu.usbmodem*' for macOS)",
    )


def pytest_configure(config):
    """Register custom marker for hardware tests."""
    config.addinivalue_line("markers", "hardware: mark test as requiring hardware")


def pytest_collection_modifyitems(config, items):
    """Skip hardware tests unless --run-hardware flag is provided."""
    if config.getoption("--run-hardware"):
        # --run-hardware given in cli: do not skip hardware tests
        return
    
    skip_hardware = pytest.mark.skip(reason="need --run-hardware option to run")
    for item in items:
        if "hardware" in item.keywords:
            item.add_marker(skip_hardware)


def pytest_collection_finish():
    print(f"\nTesting with {DEVICE=}")


def _check_component_availability(component_type, available_components, make_component):
    """Generic helper to check if a hardware component is available"""
    if component_type not in available_components:
        raise ValueError(
            f"The {component_type} type is not valid. Expected one of these '{available_components}'"
        )

    try:
        component = make_component(component_type)
        component.connect()
        del component
        return True

    except Exception as e:
        print(f"\nA {component_type} is not available.")

        if isinstance(e, ModuleNotFoundError):
            print(f"\nInstall module '{e.name}'")
        elif isinstance(e, SerialException):
            print("\nNo physical device detected.")
        elif isinstance(e, ValueError) and "camera_index" in str(e):
            print("\nNo physical camera detected.")
        else:
            traceback.print_exc()

        return False


@pytest.fixture
def patch_builtins_input(monkeypatch):
    def print_text(text=None):
        if text is not None:
            print(text)

    monkeypatch.setattr("builtins.input", print_text)


@pytest.fixture
def policy_feature_factory():
    """PolicyFeature factory"""

    def _pf(ft: FeatureType, shape: tuple[int, ...]) -> PolicyFeature:
        return PolicyFeature(type=ft, shape=shape)

    return _pf


def assert_contract_is_typed(features: dict[PipelineFeatureType, dict[str, PolicyFeature]]) -> None:
    assert isinstance(features, dict)
    assert all(isinstance(k, PipelineFeatureType) for k in features)
    assert all(isinstance(v, dict) for v in features.values())
    assert all(all(isinstance(nk, str) for nk in v) for v in features.values())
    assert all(all(isinstance(nv, PolicyFeature) for nv in v.values()) for v in features.values())