import tempfile
import unittest
from pathlib import Path
from servos import ControleServos
from braco import Braco

class HW:
    def __init__(self): self.calls=[]
    def pulse(self,ch,us): self.calls.append((ch,us))
    def off(self,ch): self.calls.append((ch,None))

class Tests(unittest.TestCase):
    def setUp(self):
        self.tmp=tempfile.TemporaryDirectory(); self.hw=HW()
        self.servos=ControleServos(Path(self.tmp.name)/'servos.json',self.hw)
        self.arm=Braco(Path(self.tmp.name)/'braco.json',self.servos)
    def tearDown(self): self.servos.close(); self.tmp.cleanup()
    def test_no_startup_movement(self):
        self.assertEqual(self.hw.calls,[])
        self.assertEqual(len(self.arm.status()['articulacoes']),7)
    def test_calibration_single_and_pair(self):
        self.arm.calibrate(1,1700)
        self.assertEqual(self.hw.calls,[(1,1700)])
        self.hw.calls.clear();self.arm.calibrate(5,1800)
        self.assertEqual(self.hw.calls,[(5,1800),(6,1200)])
        with self.assertRaises(ValueError):self.arm.calibrate(1,2600)
    def test_pair_mirrors_and_all_channels_expire(self):
        self.arm.move([90,90,90,90,90,95,90])
        self.assertIn((5,1556),self.hw.calls); self.assertIn((6,1444),self.hw.calls)
        self.assertEqual(set(self.servos.active),set(range(8)))
        self.servos.expire(float('inf')); self.assertEqual(len(self.servos.active),0)
    def test_full_validation_before_any_write(self):
        for pose in [[0]*7,[90]*6,[90]*6+[True]]:
            with self.assertRaises(ValueError): self.arm.move(pose)
        self.assertEqual(self.hw.calls,[])
    def test_save_and_import_invalid_poses_are_atomic(self):
        data=self.arm.status(); data['posturas']=[dict(nome='Centro',angulos=[90]*7)]
        self.arm.save(data)
        other=Braco(self.arm.path,self.servos)
        self.assertEqual(other.status()['posturas'],data['posturas'])
        data['posturas'].append(dict(nome='Inválida',angulos=[180]*7))
        with self.assertRaises(ValueError): self.arm.save(data)
        self.assertEqual(len(self.arm.status()['posturas']),1)

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