"""
Basic tests for lane detection functionality
"""
import numpy as np
import cv2
import sys
import os

# Add parent directory to path
sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))

from lane_detection import region_of_interest, process_frame, process_video


def test_region_of_interest():
    """Test region of interest masking"""
    print("Testing region_of_interest function...")
    
    # Create a test image
    img = np.ones((100, 100), dtype=np.uint8) * 255
    
    # Define vertices
    vertices = np.array([[(20, 100), (40, 50), (60, 50), (80, 100)]], dtype=np.int32)
    
    # Apply ROI
    result = region_of_interest(img, vertices)
    
    # Check that result has correct shape
    assert result.shape == img.shape, f"Expected shape {img.shape}, got {result.shape}"
    
    # Check that areas outside ROI are masked (zero)
    assert result[10, 10] == 0, "Pixels outside ROI should be 0"
    
    print("✓ region_of_interest test passed")


def test_process_frame():
    """Test frame processing for lane detection"""
    print("Testing process_frame function...")
    
    # Create a test frame with simulated road
    height, width = 480, 640
    frame = np.zeros((height, width, 3), dtype=np.uint8)
    
    # Draw white lines to simulate lanes
    cv2.line(frame, (200, height), (280, int(height*0.6)), (255, 255, 255), 5)
    cv2.line(frame, (440, height), (360, int(height*0.6)), (255, 255, 255), 5)
    
    # Process the frame
    result = process_frame(frame)
    
    # Check that result has correct shape
    assert result.shape == frame.shape, f"Expected shape {frame.shape}, got {result.shape}"
    
    # Check that result is a valid image (not None and correct dtype)
    assert result is not None, "Result should not be None"
    assert result.dtype == np.uint8, "Result should be uint8 type"
    
    print("✓ process_frame test passed")


def test_imports():
    """Test that all required modules can be imported"""
    print("Testing imports...")
    
    try:
        import cv2
        print("✓ opencv-python imported successfully")
    except ImportError as e:
        print(f"✗ Failed to import cv2: {e}")
        return False
    
    try:
        import numpy
        print("✓ numpy imported successfully")
    except ImportError as e:
        print(f"✗ Failed to import numpy: {e}")
        return False
    
    return True


def test_video_processing():
    """Test complete video processing"""
    print("Testing video processing...")
    
    from create_test_video import create_test_video
    
    # Create test video
    input_path = "/tmp/test_input.mp4"
    output_path = "/tmp/test_output.mp4"
    
    create_test_video(input_path, duration_sec=1, fps=10)
    
    # Process video
    success = process_video(input_path, output_path)
    
    assert success, "Video processing should succeed"
    assert os.path.exists(output_path), "Output file should exist"
    assert os.path.getsize(output_path) > 0, "Output file should not be empty"
    
    print("✓ video processing test passed")


if __name__ == "__main__":
    print("Running lane detection tests...\n")
    
    # Test imports
    if not test_imports():
        print("\nImport tests failed!")
        sys.exit(1)
    
    print()
    
    # Test functions
    try:
        test_region_of_interest()
        test_process_frame()
        test_video_processing()
        print("\n✅ All tests passed!")
    except Exception as e:
        print(f"\n❌ Test failed: {e}")
        import traceback
        traceback.print_exc()
        sys.exit(1)