// 本文件测试上位机/主站侧封装。验证 HostClient 是否能构造文档要求的请求，
// 并且只接受从站地址、寄存器数量、地址和 Modbus CRC 都符合预期的响应。

#include "line_laser_modbus/host.hpp"
#include "test_support.hpp"

#include <iostream>

using namespace line_laser_modbus;

namespace {

void test_status_response_parse() {
  const HostClient host;
  const ByteVector response =
      build_read_response(kDefaultSlaveId,
                          RegisterVector{static_cast<std::uint16_t>(
                                             WorkMode::OnlineTracking),
                                         static_cast<std::uint16_t>(
                                             DeviceState::OnlineTrackingNormal)});

  const auto status = host.parse_status_response(response);
  test_support::require_true(status.has_value(),
                             "host must parse valid mode/state response");
  test_support::require_true(status->mode == WorkMode::OnlineTracking,
                             "host must parse work mode");
  test_support::require_true(status->state == DeviceState::OnlineTrackingNormal,
                             "host must parse device state");
}

void test_status_response_rejects_invalid_state() {
  const HostClient host;
  const ByteVector response = build_read_response(kDefaultSlaveId,
                                                  RegisterVector{0U, 99U});

  test_support::require_true(!host.parse_status_response(response).has_value(),
                             "host must reject invalid state value");
}

void test_pose_response_parse() {
  const HostClient host;
  const Pose6D source{55U, -1.5F, 2.25F, 3.5F, 4.0F, 5.0F, 6.0F};
  const ByteVector response =
      build_read_response(kDefaultSlaveId, pose_to_register_vector(source));

  const auto pose = host.parse_current_pose_response(response);
  test_support::require_true(pose.has_value(), "host must parse current pose");
  test_support::require_equal(pose->timestamp_ms, 55U,
                              "host must parse pose timestamp");
  test_support::require_float_close(pose->x, -1.5F, "host must parse pose x");
  test_support::require_float_close(pose->y, 2.25F, "host must parse pose y");
  test_support::require_float_close(pose->z, 3.5F, "host must parse pose z");
}

void test_write_ack_parse() {
  const HostClient host;
  const ByteVector ack =
      build_write_response(kDefaultSlaveId, kTargetPoseAddress, kPoseRegisterCount);

  test_support::require_true(
      host.parse_write_ack(ack, kTargetPoseAddress, kPoseRegisterCount),
      "host must accept matching write ack");
  test_support::require_true(
      !host.parse_write_ack(ack, kCorrectionAddress, kPoseRegisterCount),
      "host must reject ack for unexpected address");
}

}  // 匿名命名空间

int main() {
  test_status_response_parse();
  test_status_response_rejects_invalid_state();
  test_pose_response_parse();
  test_write_ack_parse();

  std::cout << "host_tests passed\n";
  return 0;
}