import sys
import unittest
from pathlib import Path
from types import SimpleNamespace

import numpy as np

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

import config
from helpers import filter_drone_candidates, verified_drone_track_box


class LowConfidenceTrackingProfileTests(unittest.TestCase):
    def test_best_pt_profile_requires_temporal_confirmation(self):
        self.assertGreaterEqual(config.YOLO_CONF_EFFECTIVE, 0.03)
        self.assertLessEqual(config.BT_LOW, config.YOLO_CONF_EFFECTIVE)
        self.assertGreaterEqual(config.BT_NEW, 0.05)
        self.assertGreaterEqual(config.TRACK_SCORE_MIN_ACQUIRE, config.BT_NEW)
        self.assertEqual(config.CONFIRM_HITS, 3)
        self.assertEqual(config.UNVERIFIED_TARGET_SWITCH_CONFIRM_HITS, 3)
        self.assertGreaterEqual(config.TARGET_SWITCH_CONFIRM_HITS, 8)
        self.assertFalse(config.FAST_HANDOFF_ENABLE)

    def test_weak_candidate_needs_motion(self):
        weak = np.array([10, 10, 20, 20, 0.05], dtype=np.float32)
        still = np.zeros((100, 100), dtype=np.uint8)
        moving = still.copy()
        moving[12:16, 12:16] = 255

        self.assertEqual(filter_drone_candidates([weak], still, 100, 100), [])
        self.assertEqual(len(filter_drone_candidates([weak], moving, 100, 100)), 1)

    def test_strong_candidate_does_not_require_motion(self):
        strong = np.array([10, 10, 20, 20, 0.13], dtype=np.float32)
        self.assertEqual(
            len(filter_drone_candidates([strong], None, 100, 100)),
            1,
        )

    def test_red_box_requires_fresh_verified_track(self):
        track = SimpleNamespace(
            tlbr=np.array([10, 10, 20, 20], dtype=np.float32),
            score=0.11,
            hits=1,
            time_since_update=0,
        )
        self.assertIsNotNone(verified_drone_track_box(track, None, 100, 100))

        track.time_since_update = 1
        self.assertIsNone(verified_drone_track_box(track, None, 100, 100))

        track.time_since_update = 0
        track.hits = 0
        self.assertIsNone(verified_drone_track_box(track, None, 100, 100))


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