import os
import tempfile
import unittest
from pathlib import Path
from unittest import mock

from roboimi.assets.robots.diana_med import BiDianaMed


class _FakeKDL:
    init_calls = []
    reset_calls = []

    def __init__(self, urdf_path):
        self.__class__.init_calls.append(urdf_path)

    def resetChain(self, base, end):
        self.__class__.reset_calls.append((base, end))


class RobotAssetPathResolutionTest(unittest.TestCase):
    def setUp(self):
        _FakeKDL.init_calls = []
        _FakeKDL.reset_calls = []

    def test_bidianamed_resolves_robot_asset_paths_independent_of_cwd(self):
        repo_root = Path(__file__).resolve().parents[1]
        expected_xml = repo_root / 'roboimi/assets/models/manipulators/DianaMed/bi_diana_transfer_ee.xml'
        expected_urdf = repo_root / 'roboimi/assets/models/manipulators/DianaMed/DualDianaMed.urdf'
        xml_calls = []

        def fake_from_xml_path(*, filename, assets=None):
            xml_calls.append((filename, assets))
            return object()

        with tempfile.TemporaryDirectory() as tempdir:
            previous_cwd = os.getcwd()
            try:
                os.chdir(tempdir)
                with mock.patch(
                    'roboimi.assets.robots.arm_base.mujoco.MjModel.from_xml_path',
                    side_effect=fake_from_xml_path,
                ), mock.patch(
                    'roboimi.assets.robots.arm_base.mujoco.MjData',
                    return_value=object(),
                ), mock.patch(
                    'roboimi.assets.robots.arm_base.KDL_utils',
                    _FakeKDL,
                ):
                    BiDianaMed()
            finally:
                os.chdir(previous_cwd)

        self.assertEqual(len(xml_calls), 1)
        self.assertEqual(Path(xml_calls[0][0]), expected_xml)
        self.assertTrue(Path(xml_calls[0][0]).is_absolute())
        self.assertGreaterEqual(len(_FakeKDL.init_calls), 2)
        self.assertEqual({Path(path) for path in _FakeKDL.init_calls}, {expected_urdf})
        self.assertTrue(all(Path(path).is_absolute() for path in _FakeKDL.init_calls))


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