import pytest
from robot.movement import RobotMovement
from robot.controller import RobotController, Cell, CellStatus
from robot.config import ConfigParser

@pytest.fixture
def robot_movement():
    return RobotMovement()

@pytest.fixture
def robot_controller():
    return RobotController(ConfigParser())

class TestRobotMovement:
    def test_init_position(self, robot_movement: RobotMovement):
        assert robot_movement.get_position() == (0.0, 0.0, 0.0)
        assert not robot_movement.is_moving

    def test_set_speed(self, robot_movement: RobotMovement):
        robot_movement.set_speed(200.0)
        assert robot_movement.speed == 200.0

        with pytest.raises(ValueError):
            robot_movement.set_speed(-100.0)

    def test_move_to_position(self, robot_movement: RobotMovement):
        result = robot_movement.move_to_position(100.0, 200.0, 300.0)
        assert result is True
        assert robot_movement.get_position() == (100.0, 200.0, 300.0)

    def test_move_relative(self, robot_movement: RobotMovement):
        robot_movement.move_to_position(100.0, 100.0, 100.0)
        result = robot_movement.move_relative(50.0, -50.0, 25.0)
        assert result is True
        assert robot_movement.get_position() == (150.0, 50.0, 125.0)

class TestRobotController:
    def test_init_controller(self, robot_controller: RobotController):
        assert len(robot_controller.devices) > 0
        assert robot_controller.feeder is not None
        assert not robot_controller.gripper_occupied

    @pytest.mark.asyncio
    async def test_get_next_free_slot(self, robot_controller: RobotController):
        slot = robot_controller.get_next_free_slot()
        assert slot is not None
        assert not slot.occupied

    @pytest.mark.asyncio
    async def test_insert_and_collect_cell(self, robot_controller: RobotController):
        # Test cell insertion
        cell = Cell(id="test_cell", status=CellStatus.WAITING)
        slot = robot_controller.get_next_free_slot()
        robot_controller.gripper_occupied = True
        
        await robot_controller.insert_cell_to_slot(cell, slot)
        assert slot.occupied
        assert slot.cell_id == cell.id

        # Test cell collection
        collected_cell = await robot_controller.collect_cell_from_slot(slot)
        assert not slot.occupied
        assert slot.cell_id is None
        assert collected_cell == cell.id