#include "test_common.h"


// ### Tilt Functionality Tests (Conditional)

// This section will only be compiled if **`CONFIG_RELAY_CHN_ENABLE_TILTING`** is defined as **`1`** in `sdkconfig`.

#ifndef CONFIG_RELAY_CHN_ENABLE_TILTING
#error "This test requires CONFIG_RELAY_CHN_ENABLE_TILTING"
#endif

#define RELAY_CHN_CMD_FORWARD 1
#define RELAY_CHN_CMD_REVERSE 2

// Helper function to prepare channel for tilt tests
void prepare_channel_for_tilt(uint8_t chn_id, int initial_cmd) {
    // Ensure the channel reset tilt control
    relay_chn_tilt_stop(chn_id);
    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
    
    // Ensure the channel has had a 'last_run_cmd'
    if (initial_cmd == RELAY_CHN_CMD_FORWARD) {
        relay_chn_run_forward(chn_id);
    } else { // Assuming initial_cmd is RELAY_CHN_CMD_REVERSE
        relay_chn_run_reverse(chn_id);
    }
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS)); // Allow command to process
    relay_chn_stop(chn_id); // Stop it to set last_run_cmd but return to FREE for next test
    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(chn_id));
}

// TEST_CASE: Test transition from running forward to tilt forward
// Scenario: RELAY_CHN_STATE_FORWARD -> (relay_chn_tilt_forward) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_TILT_FORWARD
TEST_CASE("Run Forward to Tilt Forward transition with inertia", "[relay_chn][tilt][inertia]") {
    uint8_t ch = 0;

    // Prepare channel by running forward first to set last_run_cmd
    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);

    // 1. Start in forward direction
    relay_chn_run_forward(ch); 
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));

    // 2. Issue tilt forward command
    relay_chn_tilt_forward(ch); 
    // After tilt command, it should immediately stop and then trigger inertia.
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS)); 
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(ch)); 

    // Wait for the inertia period (after which the tilt command will be dispatched)
    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
}

// TEST_CASE: Test transition from running reverse to tilt reverse
// Scenario: RELAY_CHN_STATE_REVERSE -> (relay_chn_tilt_reverse) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_TILT_REVERSE
TEST_CASE("Run Reverse to Tilt Reverse transition with inertia", "[relay_chn][tilt][inertia]") {
    uint8_t ch = 0;

    // Prepare channel by running reverse first to set last_run_cmd
    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_REVERSE);

    // 1. Start in reverse direction
    relay_chn_run_reverse(ch); 
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(ch));

    // 2. Issue tilt reverse command
    relay_chn_tilt_reverse(ch); 
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(ch));

    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(ch));
}

// TEST_CASE: Test transition from FREE state to tilt forward (now with preparation)
// Scenario: RELAY_CHN_STATE_IDLE -> (prepare) -> RELAY_CHN_STATE_IDLE -> (relay_chn_tilt_forward) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_TILT_FORWARD
TEST_CASE("FREE to Tilt Forward transition with inertia (prepared)", "[relay_chn][tilt][inertia]") {
    uint8_t ch = 0;

    // Prepare channel by running forward first to set last_run_cmd
    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(ch)); // Ensure we are back to FREE

    // Issue tilt forward command
    relay_chn_tilt_forward(ch); 
    // From FREE state, tilt command should still incur the inertia due to the internal timer logic
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS)); 
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
}

// TEST_CASE: Test transition from FREE state to tilt reverse (now with preparation)
// Scenario: RELAY_CHN_STATE_IDLE -> (prepare) -> RELAY_CHN_STATE_IDLE -> (relay_chn_tilt_reverse) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_TILT_REVERSE
TEST_CASE("FREE to Tilt Reverse transition with inertia (prepared)", "[relay_chn][tilt][inertia]") {
    uint8_t ch = 0;

    // Prepare channel by running reverse first to set last_run_cmd
    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_REVERSE);
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(ch)); // Ensure we are back to FREE

    // Issue tilt reverse command
    relay_chn_tilt_reverse(ch); 
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(ch));
}

// TEST_CASE: Test transition from tilt forward to run forward (inertia expected for run)
// Scenario: RELAY_CHN_STATE_TILT_FORWARD -> (relay_chn_run_forward) -> RELAY_CHN_STATE_FORWARD
TEST_CASE("Tilt Forward to Run Forward transition with inertia", "[relay_chn][tilt][inertia]") {
    uint8_t ch = 0;

    // Prepare channel by running forward first to set last_run_cmd, then tilt
    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
    relay_chn_tilt_forward(ch); // Go to tilt state
    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));

    // 2. Issue run forward command
    relay_chn_run_forward(ch); 
    // From Tilt to Run in the same logical name but in the opposite direction, inertia is expected.
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD_PENDING, relay_chn_get_state(ch));
    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
}

// TEST_CASE: Test transition from tilt reverse to run reverse (no inertia expected for run)
// Scenario: RELAY_CHN_STATE_TILT_REVERSE -> (relay_chn_run_reverse) -> RELAY_CHN_STATE_REVERSE
TEST_CASE("Tilt Reverse to Run Reverse transition with inertia", "[relay_chn][tilt][inertia]") {
    uint8_t ch = 0;

    // Prepare channel by running reverse first to set last_run_cmd, then tilt
    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_REVERSE);
    relay_chn_tilt_reverse(ch); // Go to tilt state
    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(ch));

    // 2. Issue run reverse command
    relay_chn_run_reverse(ch); 
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE_PENDING, relay_chn_get_state(ch));
    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(ch));
}

// TEST_CASE: Test transition from tilt forward to run reverse (without inertia)
// Scenario: RELAY_CHN_STATE_TILT_FORWARD -> (relay_chn_run_reverse) -> RELAY_CHN_STATE_REVERSE
TEST_CASE("Tilt Forward to Run Reverse transition without inertia", "[relay_chn][tilt][inertia]") {
    uint8_t ch = 0;

    // Prepare channel by running forward first to set last_run_cmd, then tilt
    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
    relay_chn_tilt_forward(ch); // Go to tilt state
    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));

    // 2. Issue run reverse command (opposite direction)
    relay_chn_run_reverse(ch); 
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(ch));
}

// TEST_CASE: Test stopping from a tilt state (no inertia for stop command itself)
// Scenario: RELAY_CHN_STATE_TILT_FORWARD -> (relay_chn_tilt_stop) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_IDLE
TEST_CASE("Tilt to Stop transition without immediate inertia for stop", "[relay_chn][tilt][inertia]") {
    uint8_t ch = 0;

    // Prepare channel by running forward first to set last_run_cmd, then tilt
    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
    relay_chn_tilt_forward(ch); // Go to tilt state
    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));

    // 2. Issue stop command
    relay_chn_tilt_stop(ch);
    // Stop command should apply immediately, setting state to FREE since last state was tilt.
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(ch));
}

// ### Batch Tilt Control Tests

TEST_CASE("tilt_forward_all sets all channels to TILT_FORWARD", "[relay_chn][tilt][batch]")
{
    // 1. Prepare all channels.
    for (uint8_t i = 0; i < CONFIG_RELAY_CHN_COUNT; i++) {
        prepare_channel_for_tilt(i, RELAY_CHN_CMD_FORWARD);
    }

    // 2. Issue tilt forward to all channels
    relay_chn_tilt_forward_all();
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS)); // Tilt from FREE doesn't have stop-inertia

    // 3. Verify all channels are tilting forward
    for (uint8_t i = 0; i < CONFIG_RELAY_CHN_COUNT; i++) {
        ESP_LOGI(TEST_TAG, "Checking channel %d", i);
        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(i));
    }
}

TEST_CASE("tilt_reverse_all sets all channels to TILT_REVERSE", "[relay_chn][tilt][batch]")
{
    // 1. Prepare all channels.
    for (uint8_t i = 0; i < CONFIG_RELAY_CHN_COUNT; i++) {
        prepare_channel_for_tilt(i, RELAY_CHN_CMD_REVERSE);
    }

    // 2. Issue tilt reverse to all channels
    relay_chn_tilt_reverse_all();
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));

    // 3. Verify all channels are tilting reverse
    for (uint8_t i = 0; i < CONFIG_RELAY_CHN_COUNT; i++) {
        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(i));
    }
}

TEST_CASE("tilt_stop_all stops all tilting channels", "[relay_chn][tilt][batch]")
{
    // 1. Prepare and start all channels tilting forward
    for (uint8_t i = 0; i < CONFIG_RELAY_CHN_COUNT; i++) {
        prepare_channel_for_tilt(i, RELAY_CHN_CMD_REVERSE);
    }
    relay_chn_tilt_forward_all();
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));

    // 2. Stop tilting on all channels
    relay_chn_tilt_stop_all();
    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));

    // 3. Verify all channels are free
    for (uint8_t i = 0; i < CONFIG_RELAY_CHN_COUNT; i++) {
        ESP_LOGI(TEST_TAG, "Checking channel %d", i);
        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(i));
    }
}

TEST_CASE("tilt_auto_all tilts channels based on last run direction", "[relay_chn][tilt][batch]")
{
    // This test requires at least 2 channels to demonstrate different behaviors
    TEST_ASSERT_GREATER_OR_EQUAL_MESSAGE(2, CONFIG_RELAY_CHN_COUNT, "Test requires at least 2 channels");

    // 1. Prepare channel 0 with last run FORWARD and channel 1 with last run REVERSE
    prepare_channel_for_tilt(0, RELAY_CHN_CMD_FORWARD);
    prepare_channel_for_tilt(1, RELAY_CHN_CMD_REVERSE);

    // 2. Issue auto tilt command to all channels
    relay_chn_tilt_auto_all();
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS)); // Tilt from FREE state is dispatched immediately

    // 3. Verify channel 0 tilts forward (last run was forward) and channel 1 tilts reverse (last run was reverse)
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(0));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(1));
}

// Test relay_chn_tilt_auto() chooses correct tilt direction
TEST_CASE("relay_chn_tilt_auto chooses correct direction", "[relay_chn][tilt][auto]") {
    uint8_t ch = 0;
    // Prepare FORWARD
    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
    relay_chn_tilt_auto(ch);
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
    relay_chn_tilt_stop(ch);
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));

    // Prepare REVERSE
    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_REVERSE);
    relay_chn_tilt_auto(ch);
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(ch));
}

// Test sensitivity set/get
TEST_CASE("relay_chn_tilt_set_sensitivity and get", "[relay_chn][tilt][sensitivity]") {
    uint8_t ch = 0;
    relay_chn_tilt_set_sensitivity(ch, 0);
    TEST_ASSERT_EQUAL_UINT8(0, relay_chn_tilt_get_sensitivity(ch));

    relay_chn_tilt_set_sensitivity(ch, 50);
    TEST_ASSERT_EQUAL_UINT8(50, relay_chn_tilt_get_sensitivity(ch));

    relay_chn_tilt_set_sensitivity(ch, 100);
    TEST_ASSERT_EQUAL_UINT8(100, relay_chn_tilt_get_sensitivity(ch));
    // Set all channels
    relay_chn_tilt_set_sensitivity_all_with(42);
    
    uint8_t vals[CONFIG_RELAY_CHN_COUNT] = {0};
    uint8_t expect[CONFIG_RELAY_CHN_COUNT];
    memset(expect, 42, CONFIG_RELAY_CHN_COUNT);
    
    TEST_ESP_OK(relay_chn_tilt_get_sensitivity_all(vals));
    TEST_ASSERT_EQUAL_UINT8_ARRAY(expect, vals, CONFIG_RELAY_CHN_COUNT);
}

// Test tilt counter logic: forward x3, reverse x3, extra reverse fails
TEST_CASE("tilt counter logic: forward and reverse consumption", "[relay_chn][tilt][counter]") {
    uint8_t ch = 0;
    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);

    // Tilt forward 3 times
    for (int i = 0; i < 3; ++i) {
        relay_chn_tilt_forward(ch);
        vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
        relay_chn_tilt_stop(ch);
        vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
    }

    // Now tilt reverse 3 times (should succeed)
    for (int i = 0; i < 3; ++i) {
        relay_chn_tilt_reverse(ch);
        vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
        if (i < 3) {
            TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(ch));
            relay_chn_tilt_stop(ch);
            vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
        }
    }

    // Extra reverse tilt should fail (counter exhausted)
    relay_chn_tilt_reverse(ch);
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
    // Should not enter TILT_REVERSE, should remain FREE or STOPPED
    relay_chn_state_t state = relay_chn_get_state(ch);
    TEST_ASSERT(state != RELAY_CHN_STATE_TILT_REVERSE);
}

// Test run command during TILT state
TEST_CASE("run command during TILT state transitions correctly", "[relay_chn][tilt][run-during-tilt]") {
    uint8_t ch = 0;
    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
    relay_chn_tilt_forward(ch);
    vTaskDelay(pdMS_TO_TICKS(CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS + TEST_DELAY_MARGIN_MS));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));

    // Issue run reverse while in TILT_FORWARD
    relay_chn_run_reverse(ch);
    vTaskDelay(pdMS_TO_TICKS(TEST_DELAY_MARGIN_MS));
    // Should transition to REVERSE or REVERSE_PENDING depending on inertia logic
    relay_chn_state_t state = relay_chn_get_state(ch);
    TEST_ASSERT(state == RELAY_CHN_STATE_REVERSE || state == RELAY_CHN_STATE_REVERSE_PENDING);
}