import time
import unittest
from unittest.mock import patch

import cv2
import numpy as np
import rclpy
from rclpy.qos import qos_profile_sensor_data
from sensor_msgs.msg import CompressedImage
from camera_test_pkg import gstreamer_camera as camera


class CameraTest(unittest.TestCase):
    def test_pipeline_formats_and_validation(self):
        camera.Gst.init(None)
        for fmt in ['auto', 'UYVY', 'YUY2', 'MJPEG']:
            pipeline = camera.Gst.parse_launch(camera.capture_pipeline('/dev/video0', 640, 480, 30, fmt))
            pipeline.set_state(camera.Gst.State.NULL)
        for args in [('/tmp/other', 640, 480, 30, 'auto'),
                     ('/dev/video0', 0, 480, 30, 'auto'),
                     ('/dev/video0', 640, 480, 30, 'bad')]:
            with self.assertRaises(ValueError):
                camera.capture_pipeline(*args)

    def test_synthetic_frame_to_ros_jpeg(self):
        # Odd width exercises RGB row padding without accessing physical hardware.
        pipeline = ('videotestsrc is-live=true ! video/x-raw,format=RGB,width=641,height=480,framerate=30/1 ! '
                    'appsink name=camera_sink max-buffers=1 drop=true sync=false')
        rclpy.init()
        node = None
        try:
            with patch.object(camera, 'capture_pipeline', return_value=pipeline):
                node = camera.GstreamerCameraTest()
            frames = []
            subscription = node.create_subscription(CompressedImage, '/camera_test/image_jpeg', frames.append,
                                                     qos_profile_sensor_data)
            end = time.monotonic() + 8
            while not frames and time.monotonic() < end:
                rclpy.spin_once(node, timeout_sec=0.1)
            self.assertTrue(frames, 'No ROS JPEG received')
            decoded = cv2.imdecode(np.frombuffer(frames[0].data, dtype=np.uint8), cv2.IMREAD_COLOR)
            self.assertEqual(decoded.shape[1], 640)
            self.assertEqual(frames[0].format, 'jpeg')
            node.destroy_subscription(subscription)
        finally:
            if node:
                node.destroy_node()
            rclpy.shutdown()


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