import re
from pathlib import Path

ROOT = Path(__file__).resolve().parents[1]
NODE = ROOT / "firmware" / "xiao-esp32c6-sensor-node"
def source(name): return (NODE / name).read_text()

def test_wiring_matches_assembly():
    config = source("sensor_node_config.h")
    expected = {"RS485_DE_PIN":"D2", "RS485_TX_PIN":"D4", "RS485_RX_PIN":"D5",
                "BNO086_SDA_PIN":"D7", "BNO086_SCL_PIN":"D8", "GPS_RX_PIN":"D9", "GPS_TX_PIN":"D10"}
    for name, pin in expected.items(): assert re.search(rf"#define\s+{name}\s+{pin}\b", config)

def test_transport_contract():
    text = source("rs485_transport.cpp")
    for token in ['doc["type"] = "sensor_status"', 'doc["schema_version"]', 'createNestedObject("imu")', 'createNestedObject("gps")', "serial.write('\\n')", "serial.flush()"]:
        assert token in text
    assert "USB_TELEMETRY_ENABLED" in text
    assert "serializeJson(doc, Serial)" in text
    assert 'createNestedObject("nmea")' in text
    assert 'nmea["sentences_passed"]' in text

def test_loop_is_non_blocking():
    loop = source("xiao-esp32c6-sensor-node.ino").split("void loop()", 1)[1]
    assert "updateGps" in loop and "updateImu" in loop and "TELEMETRY_INTERVAL_MS" in loop
    assert not re.search(r"delay\((?:[2-9]|[1-9]\d+)\)", loop)

def test_imu_does_not_redeclare_arduino_degrees_macro():
    imu = source("imu.cpp")
    assert "float degrees(" not in imu
    assert "radiansToDegrees" in imu

def test_imu_uses_verified_i2c_address():
    config = source("sensor_node_config.h")
    imu = source("imu.cpp")
    assert "BNO086_I2C_ADDRESS 0x4B" in config
    assert "findBnoAddress" not in imu
    assert "BNO086_INIT_ATTEMPTS" in imu
    assert "BNO086_RUNTIME_RETRY_MS" in imu
    assert "bno086.wasReset()" in imu

def test_gps_uses_verified_uart_baud():
    config = source("sensor_node_config.h")
    gps = source("gps.cpp")
    assert "GPS_BAUD 38400" in config
    assert "baudHasValidNmea" not in gps

def test_level_calibration_is_persistent_and_non_blocking():
    calibration = source("calibration.cpp")
    transport = source("rs485_transport.cpp")
    loop = source("xiao-esp32c6-sensor-node.ino").split("void loop()", 1)[1]
    assert 'preferences.begin("sensor_cal"' in calibration
    assert 'putFloat("pitch_zero"' in calibration
    assert 'putFloat("roll_zero"' in calibration
    assert 'type == "calibrate_level"' in transport
    assert 'type == "clear_level_calibration"' in transport
    assert "updateLevelCalibration" in loop
    assert "delay(5000)" not in calibration

def test_rs485_echo_cannot_starve_sensor_loop():
    transport = source("rs485_transport.cpp")
    assert "bytesRemaining" in transport
    assert "discardCommandUntilNewline" in transport
    assert 'type == "sensor_status"' in transport
    assert 'publishCalibrationResult(serial, "invalid_json")' not in transport

def test_node_does_not_take_cargo_or_ble_authority():
    combined = "\n".join(p.read_text() for p in NODE.glob("*.*"))
    assert "NimBLE" not in combined and "JBD" not in combined and "server.on(" not in combined