// test/unit/obstacle_analyzer_test.dart
// ignore_for_file: prefer_const_declarations
//
// Unit test untuk ObstacleAnalyzer — logika AI direction & distance.
// Jalankan: flutter test test/unit/obstacle_analyzer_test.dart
//
// Tidak ada dependency eksternal — murni logika pure Dart.

import 'package:flutter_test/flutter_test.dart';

// ---------- Stubs (mirror dari project asli) ----------

enum ObstacleDirection { left, center, right }

class BoundingBox {
  final double left;
  final double top;
  final double right;
  final double bottom;

  const BoundingBox({
    required this.left,
    required this.top,
    required this.right,
    required this.bottom,
  });

  double get width => right - left;
  double get height => bottom - top;
  double get centerX => left + width / 2;
  double get centerY => top + height / 2;
}

class DetectionResult {
  final String label;
  final double confidence;
  final ObstacleDirection direction;
  final String estimatedDistance;

  const DetectionResult({
    required this.label,
    required this.confidence,
    required this.direction,
    required this.estimatedDistance,
  });

  String get spokenId {
    final area = switch (direction) {
      ObstacleDirection.left => 'kiri',
      ObstacleDirection.center => 'tengah',
      ObstacleDirection.right => 'kanan',
    };
    return 'Hati-hati, $label di $area. Jarak $estimatedDistance.';
  }
}

// ---------- ObstacleAnalyzer yang di-test ----------

class ObstacleAnalyzer {
  static const double _frameWidth = 640.0;
  static const double _frameHeight = 480.0;

  /// Tentukan arah berdasarkan posisi horizontal tengah bounding box.
  /// - centerX < 33% frame → LEFT
  /// - centerX > 67% frame → RIGHT
  /// - otherwise → CENTER
  ObstacleDirection analyzeDirection(BoundingBox box) {
    final cx = box.centerX;
    if (cx < _frameWidth * 0.33) return ObstacleDirection.left;
    if (cx > _frameWidth * 0.67) return ObstacleDirection.right;
    return ObstacleDirection.center;
  }

  /// Estimasi jarak dari rasio tinggi bounding box terhadap frame.
  /// - ratio > 0.60 → "Very Close (< 1m)"
  /// - ratio > 0.35 → "Close (1-2m)"
  /// - ratio > 0.15 → "Medium (2-4m)"
  /// - else         → "Far (> 4m)"
  String estimateDistance(BoundingBox box) {
    final ratio = box.height / _frameHeight;
    if (ratio > 0.60) return 'Very Close (< 1m)';
    if (ratio > 0.35) return 'Close (1-2m)';
    if (ratio > 0.15) return 'Medium (2-4m)';
    return 'Far (> 4m)';
  }

  /// Buat pesan TTS dari hasil deteksi.
  String buildTtsMessage(DetectionResult result) {
    return 'Hati-hati, ${result.label} di '
        '${_directionLabel(result.direction)}. '
        'Jarak ${result.estimatedDistance}.';
  }

  String _directionLabel(ObstacleDirection dir) => switch (dir) {
        ObstacleDirection.left => 'kiri',
        ObstacleDirection.center => 'depan',
        ObstacleDirection.right => 'kanan',
      };

  /// Pilih obstacle paling prioritas (Very Close > Close > Medium > Far).
  DetectionResult? prioritize(List<DetectionResult> detections) {
    if (detections.isEmpty) return null;
    const order = [
      'Very Close (< 1m)',
      'Close (1-2m)',
      'Medium (2-4m)',
      'Far (> 4m)',
    ];
    final sorted = List<DetectionResult>.of(detections);
    sorted.sort((a, b) => order
        .indexOf(a.estimatedDistance)
        .compareTo(order.indexOf(b.estimatedDistance)));
    return sorted.first;
  }

  /// Filter deteksi berdasarkan confidence threshold.
  List<DetectionResult> filterByConfidence(
      List<DetectionResult> detections, double threshold) {
    return detections.where((d) => d.confidence >= threshold).toList();
  }

  /// Fallback detection (dipakai jika YOLO tidak jalan).
  DetectionResult analyzeFallback(
      {String label = 'person', double confidence = 0.86}) {
    return DetectionResult(
      label: label,
      confidence: confidence,
      direction: ObstacleDirection.center,
      estimatedDistance: 'Close (1-2m)',
    );
  }
}

// ---------- Tests ----------

void main() {
  late ObstacleAnalyzer analyzer;

  setUp(() {
    analyzer = ObstacleAnalyzer();
  });

  // ── DIRECTION TESTS ──────────────────────────────────────────────

  group('analyzeDirection — zone kiri (< 33% lebar frame = < 211px)', () {
    test('obstacle di ujung kiri (cx=10) → LEFT', () {
      final box = const BoundingBox(left: 0, top: 100, right: 20, bottom: 300);
      expect(analyzer.analyzeDirection(box), ObstacleDirection.left);
    });

    test('obstacle di kiri batas (cx=200) → LEFT', () {
      final box =
          const BoundingBox(left: 150, top: 100, right: 250, bottom: 300);
      expect(analyzer.analyzeDirection(box), ObstacleDirection.left);
    });

    test('obstacle dengan cx tepat di batas kiri (cx=210) → LEFT', () {
      // 640 * 0.33 = 211.2, jadi cx=210 masih LEFT
      final box =
          const BoundingBox(left: 160, top: 100, right: 260, bottom: 300);
      expect(analyzer.analyzeDirection(box), ObstacleDirection.left);
    });
  });

  group('analyzeDirection — zone kanan (> 67% lebar frame = > 428px)', () {
    test('obstacle di ujung kanan (cx=620) → RIGHT', () {
      final box =
          const BoundingBox(left: 600, top: 100, right: 640, bottom: 300);
      expect(analyzer.analyzeDirection(box), ObstacleDirection.right);
    });

    test('obstacle di kanan batas (cx=450) → RIGHT', () {
      final box =
          const BoundingBox(left: 400, top: 100, right: 500, bottom: 300);
      expect(analyzer.analyzeDirection(box), ObstacleDirection.right);
    });
  });

  group('analyzeDirection — zone tengah (33%-67%)', () {
    test('obstacle tepat di tengah (cx=320) → CENTER', () {
      final box =
          const BoundingBox(left: 280, top: 100, right: 360, bottom: 300);
      expect(analyzer.analyzeDirection(box), ObstacleDirection.center);
    });

    test('obstacle di antara kiri dan tengah (cx=300) → CENTER', () {
      final box =
          const BoundingBox(left: 250, top: 50, right: 350, bottom: 250);
      expect(analyzer.analyzeDirection(box), ObstacleDirection.center);
    });
  });

  // ── DISTANCE ESTIMATION TESTS ────────────────────────────────────

  group('estimateDistance — Very Close (> 60% tinggi frame = > 288px)', () {
    test('box setinggi hampir full frame → Very Close', () {
      // height = 450 / 480 = 0.9375 → Very Close
      final box =
          const BoundingBox(left: 100, top: 10, right: 400, bottom: 460);
      expect(analyzer.estimateDistance(box), contains('Very Close'));
    });

    test('height ratio tepat 61% → Very Close', () {
      // 480 * 0.61 = 292.8 → height 293
      final box =
          const BoundingBox(left: 100, top: 50, right: 400, bottom: 343);
      expect(analyzer.estimateDistance(box), contains('Very Close'));
    });
  });

  group('estimateDistance — Close (35%-60%)', () {
    test('height ratio 50% → Close', () {
      // 480 * 0.5 = 240
      final box =
          const BoundingBox(left: 100, top: 120, right: 400, bottom: 360);
      expect(analyzer.estimateDistance(box), contains('Close'));
    });

    test('height ratio 36% → Close', () {
      // 480 * 0.36 = 172.8
      final box =
          const BoundingBox(left: 100, top: 150, right: 400, bottom: 323);
      expect(analyzer.estimateDistance(box), contains('Close'));
    });
  });

  group('estimateDistance — Medium (15%-35%)', () {
    test('height ratio 25% → Medium', () {
      // 480 * 0.25 = 120
      final box =
          const BoundingBox(left: 100, top: 180, right: 400, bottom: 300);
      expect(analyzer.estimateDistance(box), contains('Medium'));
    });

    test('height ratio 16% → Medium', () {
      // 480 * 0.16 = 76.8
      final box =
          const BoundingBox(left: 100, top: 200, right: 400, bottom: 277);
      expect(analyzer.estimateDistance(box), contains('Medium'));
    });
  });

  group('estimateDistance — Far (≤ 15%)', () {
    test('height ratio 10% → Far', () {
      // 480 * 0.10 = 48
      final box =
          const BoundingBox(left: 100, top: 200, right: 400, bottom: 248);
      expect(analyzer.estimateDistance(box), contains('Far'));
    });

    test('height ratio sangat kecil → Far', () {
      final box =
          const BoundingBox(left: 200, top: 230, right: 400, bottom: 250);
      expect(analyzer.estimateDistance(box), contains('Far'));
    });
  });

  // ── TTS MESSAGE TESTS ────────────────────────────────────────────

  group('buildTtsMessage', () {
    test('pesan harus mengandung label obstacle', () {
      const result = DetectionResult(
        label: 'motor',
        confidence: 0.9,
        direction: ObstacleDirection.right,
        estimatedDistance: 'Close (1-2m)',
      );
      final msg = analyzer.buildTtsMessage(result);
      expect(msg, contains('motor'));
    });

    test('pesan harus mengandung arah dalam bahasa Indonesia', () {
      const result = DetectionResult(
        label: 'person',
        confidence: 0.8,
        direction: ObstacleDirection.left,
        estimatedDistance: 'Very Close (< 1m)',
      );
      final msg = analyzer.buildTtsMessage(result);
      expect(msg, contains('kiri'));
    });

    test('pesan CENTER harus bilang "depan"', () {
      const result = DetectionResult(
        label: 'car',
        confidence: 0.95,
        direction: ObstacleDirection.center,
        estimatedDistance: 'Medium (2-4m)',
      );
      final msg = analyzer.buildTtsMessage(result);
      expect(msg, contains('depan'));
    });

    test('pesan harus mengandung estimasi jarak', () {
      const result = DetectionResult(
        label: 'bicycle',
        confidence: 0.75,
        direction: ObstacleDirection.center,
        estimatedDistance: 'Far (> 4m)',
      );
      final msg = analyzer.buildTtsMessage(result);
      expect(msg, contains('Far'));
    });
  });

  // ── PRIORITIZE TESTS ─────────────────────────────────────────────

  group('prioritize', () {
    test('list kosong → return null', () {
      expect(analyzer.prioritize([]), isNull);
    });

    test('Very Close harus menang atas Close', () {
      const detections = [
        DetectionResult(
            label: 'car',
            confidence: 0.7,
            direction: ObstacleDirection.center,
            estimatedDistance: 'Close (1-2m)'),
        DetectionResult(
            label: 'person',
            confidence: 0.9,
            direction: ObstacleDirection.left,
            estimatedDistance: 'Very Close (< 1m)'),
      ];
      final result = analyzer.prioritize(detections);
      expect(result?.estimatedDistance, contains('Very Close'));
    });

    test('Close harus menang atas Medium', () {
      const detections = [
        DetectionResult(
            label: 'dog',
            confidence: 0.6,
            direction: ObstacleDirection.right,
            estimatedDistance: 'Medium (2-4m)'),
        DetectionResult(
            label: 'truck',
            confidence: 0.85,
            direction: ObstacleDirection.center,
            estimatedDistance: 'Close (1-2m)'),
      ];
      final result = analyzer.prioritize(detections);
      expect(result?.estimatedDistance, contains('Close'));
    });

    test('list dengan 1 item → return item tersebut', () {
      const detections = [
        DetectionResult(
            label: 'pole',
            confidence: 0.5,
            direction: ObstacleDirection.center,
            estimatedDistance: 'Far (> 4m)'),
      ];
      final result = analyzer.prioritize(detections);
      expect(result?.label, 'pole');
    });
  });

  // ── CONFIDENCE FILTER TESTS ───────────────────────────────────────

  group('filterByConfidence', () {
    const allDetections = [
      DetectionResult(
          label: 'person',
          confidence: 0.9,
          direction: ObstacleDirection.center,
          estimatedDistance: 'Close (1-2m)'),
      DetectionResult(
          label: 'car',
          confidence: 0.4,
          direction: ObstacleDirection.left,
          estimatedDistance: 'Far (> 4m)'),
      DetectionResult(
          label: 'motorcycle',
          confidence: 0.6,
          direction: ObstacleDirection.right,
          estimatedDistance: 'Medium (2-4m)'),
    ];

    test('threshold 0.5 → harus lolos 2 item (0.9 dan 0.6)', () {
      final filtered = analyzer.filterByConfidence(allDetections, 0.5);
      expect(filtered.length, 2);
    });

    test('threshold 0.7 → hanya 1 item lolos (0.9)', () {
      final filtered = analyzer.filterByConfidence(allDetections, 0.7);
      expect(filtered.length, 1);
      expect(filtered.first.label, 'person');
    });

    test('threshold 0.0 → semua lolos', () {
      final filtered = analyzer.filterByConfidence(allDetections, 0.0);
      expect(filtered.length, 3);
    });

    test('threshold 1.0 → tidak ada yang lolos', () {
      final filtered = analyzer.filterByConfidence(allDetections, 1.0);
      expect(filtered.isEmpty, true);
    });
  });

  // ── FALLBACK TESTS ───────────────────────────────────────────────

  group('analyzeFallback', () {
    test('harus return DetectionResult dengan default label "person"', () {
      final result = analyzer.analyzeFallback();
      expect(result.label, 'person');
    });

    test('harus return confidence 0.86 by default', () {
      final result = analyzer.analyzeFallback();
      expect(result.confidence, closeTo(0.86, 0.001));
    });

    test('harus return direction CENTER by default', () {
      final result = analyzer.analyzeFallback();
      expect(result.direction, ObstacleDirection.center);
    });

    test('harus bisa override label', () {
      final result = analyzer.analyzeFallback(label: 'car');
      expect(result.label, 'car');
    });

    test('harus bisa override confidence', () {
      final result = analyzer.analyzeFallback(confidence: 0.5);
      expect(result.confidence, closeTo(0.5, 0.001));
    });
  });

  // ── DETECTION RESULT SPOKEN ID TESTS ─────────────────────────────

  group('DetectionResult.spokenId', () {
    test('spokenId LEFT harus mengandung "kiri"', () {
      const r = DetectionResult(
        label: 'person',
        confidence: 0.8,
        direction: ObstacleDirection.left,
        estimatedDistance: 'Close',
      );
      expect(r.spokenId, contains('kiri'));
    });

    test('spokenId RIGHT harus mengandung "kanan"', () {
      const r = DetectionResult(
        label: 'car',
        confidence: 0.8,
        direction: ObstacleDirection.right,
        estimatedDistance: 'Far',
      );
      expect(r.spokenId, contains('kanan'));
    });

    test('spokenId CENTER harus mengandung "tengah"', () {
      const r = DetectionResult(
        label: 'motorcycle',
        confidence: 0.8,
        direction: ObstacleDirection.center,
        estimatedDistance: 'Very Close',
      );
      expect(r.spokenId, contains('tengah'));
    });

    test('spokenId harus mengandung nama label', () {
      const r = DetectionResult(
        label: 'truck',
        confidence: 0.9,
        direction: ObstacleDirection.center,
        estimatedDistance: 'Close',
      );
      expect(r.spokenId, contains('truck'));
    });
  });
}