#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 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(opposite_inertia_ms + test_delay_margin_ms));
    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, 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;

    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
    g_is_component_initialized = true;

    // 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(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;

    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
    g_is_component_initialized = true;

    // 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(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_FREE -> (prepare) -> RELAY_CHN_STATE_FREE -> (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;

    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
    g_is_component_initialized = true;

    // 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_FREE, 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_FREE -> (prepare) -> RELAY_CHN_STATE_FREE -> (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;

    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
    g_is_component_initialized = true;

    // 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_FREE, 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;

    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
    g_is_component_initialized = true;

    // 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(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(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;

    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
    g_is_component_initialized = true;

    // 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(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(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;

    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
    g_is_component_initialized = true;

    // 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(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_stop) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_FREE
TEST_CASE("Tilt to Stop transition without immediate inertia for stop", "[relay_chn][tilt][inertia]") {
    uint8_t ch = 0;

    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
    g_is_component_initialized = true;

    // 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(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_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_FREE, relay_chn_get_state(ch));
}

// ### Tilt Broadcast Command (RELAY_CHN_ID_ALL) Tests

TEST_CASE("tilt_forward with ID_ALL sets all channels to TILT_FORWARD", "[relay_chn][tilt][id_all]")
{
    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
    g_is_component_initialized = true;

    // 1. Prepare all channels.
    for (uint8_t i = 0; i < relay_chn_count; i++) {
        prepare_channel_for_tilt(i, RELAY_CHN_CMD_FORWARD);
    }

    // 2. Issue tilt forward to all channels
    relay_chn_tilt_forward(RELAY_CHN_ID_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 < relay_chn_count; i++) {
        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(i));
    }
}

TEST_CASE("tilt_reverse with ID_ALL sets all channels to TILT_REVERSE", "[relay_chn][tilt][id_all]")
{
    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
    g_is_component_initialized = true;

    // 1. Prepare all channels.
    for (uint8_t i = 0; i < relay_chn_count; i++) {
        prepare_channel_for_tilt(i, RELAY_CHN_CMD_REVERSE);
    }

    // 2. Issue tilt reverse to all channels
    relay_chn_tilt_reverse(RELAY_CHN_ID_ALL);
    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));

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

TEST_CASE("tilt_stop with ID_ALL stops all tilting channels", "[relay_chn][tilt][id_all]")
{
    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
    g_is_component_initialized = true;

    // 1. Prepare and start all channels tilting forward
    for (uint8_t i = 0; i < relay_chn_count; i++) {
        prepare_channel_for_tilt(i, RELAY_CHN_CMD_REVERSE);
    }
    relay_chn_tilt_forward(RELAY_CHN_ID_ALL);
    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));

    // 2. Stop tilting on all channels
    relay_chn_tilt_stop(RELAY_CHN_ID_ALL);
    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));

    // 3. Verify all channels are free
    for (uint8_t i = 0; i < relay_chn_count; i++) {
        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(i));
    }
}

TEST_CASE("tilt_auto with ID_ALL tilts channels based on last run direction", "[relay_chn][tilt][id_all]")
{
    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
    g_is_component_initialized = true;

    // This test requires at least 2 channels to demonstrate different behaviors
    TEST_ASSERT_GREATER_OR_EQUAL_MESSAGE(2, 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(RELAY_CHN_ID_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));
}