import pytest
from robot_control.src.vision.datamatrix import DataMatrixReader
from robot_control.src.utils.config import VisionConfig

@pytest.fixture
def vision_config_mock():
    return VisionConfig(
        camera_id=-1,
        resolution=(640, 480),
        frame_rate=30,
        exposure=100,
        gain=1.0,
        bbox=(0, 0, 640, 480)
    )

@pytest.fixture
def vision_config_real():
    return VisionConfig(
        camera_id=0,
        resolution=(640, 480),
        frame_rate=30,
        exposure=100,
        gain=1.0,
        bbox=(0, 0, 640, 480)
    )

@pytest.fixture
def datamatrix_reader(vision_config_mock):
    return DataMatrixReader(vision_config_mock)

@pytest.fixture
def datamatrix_reader_realcam(vision_config_real):
    return DataMatrixReader(vision_config_real)

class TestDataMatrixReader:
    def test_init_reader(self, datamatrix_reader_realcam: DataMatrixReader):
        assert datamatrix_reader_realcam is not None

    def test_read_success(self, datamatrix_reader: DataMatrixReader):
        datamatrix_reader.initialize()
        result = datamatrix_reader.read_datamatrix()
        assert result == "60"

    def test_read_failure(self, datamatrix_reader: DataMatrixReader):
        datamatrix_reader.initialize()
        result = datamatrix_reader.read_datamatrix() # first is success
        result = datamatrix_reader.read_datamatrix() # second is failure
        assert result is None

    def test_cleanup(self, datamatrix_reader: DataMatrixReader):
        datamatrix_reader.initialize()
        datamatrix_reader.cleanup()
        assert datamatrix_reader.camera is not None
        
    def test_cleanup_real_camera(self, datamatrix_reader_realcam: DataMatrixReader):
        try:
            datamatrix_reader_realcam.initialize()
            datamatrix_reader_realcam.cleanup()
            assert datamatrix_reader_realcam.camera is not None
        except Exception:
            pytest.skip("No real camera available for testing")