"""Pose broadcast frame encode/decode roundtrip."""

from __future__ import annotations

import pytest

from virtual_drone.broadcast import FRAME, decode_state, encode_state
from virtual_drone.flight import Pose


def test_frame_size_matches_wire_spec() -> None:
    # Keep docs/04, the journey, and prototype/src/sim.ts POSE_BYTES in lockstep.
    assert FRAME.size == 45


def test_encode_decode_roundtrip() -> None:
    pose = Pose(
        ts_ns=1_700_000_000_000_000_000,
        x=123.456,
        y=78.9,
        z=60.0,
        roll=1.5,
        pitch=-2.0,
        yaw=45.0,
        vx=3.2,
        vy=-1.1,
        vz=0.05,
    )
    payload = encode_state("dr-01", pose, flags=0)
    assert len(payload) == FRAME.size

    decoded = decode_state(payload)
    assert decoded is not None
    assert decoded["peer_id"] == "dr-01"
    assert decoded["ts_ns"] == pose.ts_ns
    assert decoded["pos_x"] == pytest.approx(pose.x, abs=0.001)
    assert decoded["pos_y"] == pytest.approx(pose.y, abs=0.001)
    assert decoded["pos_z"] == pytest.approx(pose.z, abs=0.001)
    assert decoded["roll"] == pytest.approx(pose.roll, abs=0.01)
    assert decoded["pitch"] == pytest.approx(pose.pitch, abs=0.01)
    assert decoded["yaw"] == pytest.approx(pose.yaw, abs=0.01)


def test_rejects_invalid_payload() -> None:
    assert decode_state(b"short") is None
    assert decode_state(b"XX" + b"\0" * (FRAME.size - 2)) is None