import importlib.util
from pathlib import Path

import pytest
from launch import LaunchContext
from launch.actions import DeclareLaunchArgument, Shutdown
from launch.utilities import perform_substitutions


MODULE_PATH = Path(__file__).parents[1] / "launch" / "arm_debug.launch.py"
SPEC = importlib.util.spec_from_file_location("arm_debug_launch", MODULE_PATH)
arm_debug_launch = importlib.util.module_from_spec(SPEC)
assert SPEC.loader is not None
SPEC.loader.exec_module(arm_debug_launch)


def test_launch_declares_mujoco_disabled_by_default() -> None:
    description = arm_debug_launch.generate_launch_description()
    arguments = {
        entity.name: entity
        for entity in description.entities
        if isinstance(entity, DeclareLaunchArgument)
    }

    assert "use_mujoco" in arguments
    assert perform_substitutions(
        LaunchContext(),
        arguments["use_mujoco"].default_value,
    ) == "false"


def test_mujoco_mode_requires_both_arms() -> None:
    arm_debug_launch._validate_mujoco_mode("both", True)
    arm_debug_launch._validate_mujoco_mode("left", False)

    with pytest.raises(ValueError, match="arm:=both"):
        arm_debug_launch._validate_mujoco_mode("left", True)


def test_udp_receiver_exit_shuts_down_launch() -> None:
    receiver = arm_debug_launch._udp_receiver_node()

    assert isinstance(receiver._ExecuteLocal__on_exit, Shutdown)