import sys
import unittest
from pathlib import Path

import numpy as np

PROJECT_ROOT = Path(__file__).resolve().parents[1]
sys.path.insert(0, str(PROJECT_ROOT))

from bytetrack_min_aggressive import BYTETracker, hungarian


class ByteTrackAssignmentTests(unittest.TestCase):
    def test_hungarian_matches_single_pair(self):
        self.assertEqual(hungarian(np.array([[0.0]], dtype=np.float32)), [(0, 0)])

    def test_bytetrack_keeps_id_for_same_box(self):
        tracker = BYTETracker(
            track_high_thresh=0.02,
            track_low_thresh=0.01,
            new_track_thresh=0.02,
            match_thresh=0.10,
            min_hits=1,
        )
        det = np.array([[10.0, 10.0, 40.0, 40.0, 0.05]], dtype=np.float32)

        first = tracker.update(det, dt=0.04)
        second = tracker.update(det, dt=0.04)

        self.assertEqual(len(first), 1)
        self.assertEqual(len(second), 1)
        self.assertEqual(second[0].track_id, first[0].track_id)
        self.assertEqual(second[0].hits, 2)


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