#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <thread>
#include "sensor_fusion/sensor_aggregator.hpp"
#include "sensor_fusion/frame_notifier.hpp"

namespace neuronav {
namespace {

using ::testing::StrictMock;
using ::testing::Exactly;

// ── Mock del notificador de frames ─────────────────────────
class MockFrameNotifier : public FrameNotifier {
public:
  MOCK_METHOD(void, OnFrameReady,  (const FusedFrame&), (override));
  MOCK_METHOD(void, OnSensorError, (const std::string&), (override));
};

// ── Fake de fuente de sensor (estado fijo) ─────────────────
class FakeIMUSource : public SensorSource {
public:
  SensorReading Read() override {
    return {.accel={0.0f,0.0f,-9.81f}, .ts=1000};
  }
};

// ── Test: mock notificador llamado en OnFrameReady ─────────
TEST(SensorAggregatorTest, Mock_NotifierCalledOnFrameReady) {
  StrictMock<MockFrameNotifier> notifier;
  SensorAggregator agg(notifier);
  agg.Register(std::make_unique<FakeIMUSource>(), SensorType::kIMU);

  EXPECT_CALL(notifier, OnFrameReady(::testing::_))
      .Times(Exactly(1));

  agg.Aggregate();
}

// ── Test concurrencia (detecta race con TSan) ──────────────
TEST(SensorAggregatorTest, ConcurrentAggregate_DataConsistency) {
  MockFrameNotifier notifier;
  ON_CALL(notifier, OnFrameReady(::testing::_)).WillByDefault(::testing::Return());
  SensorAggregator agg(notifier);
  agg.Register(std::make_unique<FakeIMUSource>(), SensorType::kIMU);

  std::atomic<bool> stop{false};
  std::thread reader([&]{
    while(!stop) {
      auto f = agg.GetLatestFrame(); // READ sin lock → data race
      (void)f;
    }
  });
  for(int i=0; i<100; ++i) agg.Aggregate();
  stop = true;
  reader.join();
  // TSan detectará el data race → FIX: lock m_frameMutex en Aggregate()
}

} // namespace
} // namespace neuronav

## CMakeLists.txt — sensor_fusion tests
cmake_minimum_required(VERSION 3.20)
project(neuronav_sensor_fusion LANGUAGES CXX)

set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

## ─── GoogleTest (pinned) ────────────────────────────────────
include(FetchContent)
FetchContent_Declare(googletest
  URL https://github.com/google/googletest/archive/refs/tags/v1.17.0.zip
)
FetchContent_MakeAvailable(googletest)

## ─── Librería de producción ─────────────────────────────────
add_library(sensor_fusion
  src/kalman_filter.cpp
  src/sensor_aggregator.cpp
  src/collision_detector.cpp
  src/imu_parser.cpp
  src/gps_parser.cpp
)
target_include_directories(sensor_fusion PUBLIC include/)
target_compile_options(sensor_fusion PRIVATE -Wall -Wextra -Wpedantic)

## ─── Ejecutable de tests ────────────────────────────────────
add_executable(neuronav_tests
  tests/unit/kalman_filter_test.cpp
  tests/unit/sensor_aggregator_test.cpp
  tests/unit/collision_detector_test.cpp
  tests/integration/full_pipeline_test.cpp
)
target_link_libraries(neuronav_tests
  sensor_fusion
  GTest::gtest GTest::gmock GTest::gtest_main
)

enable_testing()
include(GoogleTest)
gtest_discover_tests(neuronav_tests
  PROPERTIES LABELS "unit"
  DISCOVERY_TIMEOUT 30
)

## ─── Sanitizers (opcionales) ────────────────────────────────
option(ENABLE_ASAN  "AddressSanitizer"          OFF)
option(ENABLE_TSAN  "ThreadSanitizer"           OFF)
option(ENABLE_UBSAN "UndefinedBehaviorSanitizer" OFF)
option(ENABLE_COVERAGE "gcov coverage flags"    OFF)

if(ENABLE_ASAN)
  target_compile_options(neuronav_tests PRIVATE -fsanitize=address -fno-omit-frame-pointer)
  target_link_options(neuronav_tests    PRIVATE -fsanitize=address)
endif()
if(ENABLE_TSAN)
  target_compile_options(neuronav_tests PRIVATE -fsanitize=thread)
  target_link_options(neuronav_tests    PRIVATE -fsanitize=thread)
endif()
if(ENABLE_COVERAGE)
  target_compile_options(neuronav_tests PRIVATE --coverage)
  target_link_options(neuronav_tests    PRIVATE --coverage)
endif()

# .github/workflows/ci.yml
name: C++ CI — sensor_fusion

on:
  push: { branches: [main, develop, "feat/*"] }
  pull_request: { branches: [main] }

jobs:
  build-and-test:
    runs-on: ubuntu-24.04
    strategy:
      matrix:
        build_type: [Debug, Release]

    steps:
      - uses: actions/checkout@v4

      - name: Configure
        run: |
          cmake -S . -B build \
            -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
            -DENABLE_ASAN=ON -DENABLE_UBSAN=ON

      - name: Build
        run: cmake --build build -j$(nproc)

      - name: Run subset first (fast feedback)
        run: |
          ctest --test-dir build \
            -L unit --output-on-failure -j4

      - name: Run full suite
        run: |
          ctest --test-dir build \
            --output-on-failure -j4

  tsan:
    runs-on: ubuntu-24.04
    steps:
      - uses: actions/checkout@v4
      - name: Build with TSan
        run: |
          cmake -S . -B build-tsan \
            -DENABLE_TSAN=ON -DCMAKE_BUILD_TYPE=Debug
          cmake --build build-tsan -j$(nproc)
      - name: Run TSan (race detector)
        run: |
          ctest --test-dir build-tsan \
            -R "Concurrent" --output-on-failure

  coverage:
    runs-on: ubuntu-24.04
    steps:
      - uses: actions/checkout@v4
      - name: Build with coverage
        run: |
          cmake -S . -B build-cov \
            -DENABLE_COVERAGE=ON -DCMAKE_BUILD_TYPE=Debug
          cmake --build build-cov -j$(nproc)
          ctest --test-dir build-cov
          lcov --capture --directory build-cov -o cov.info
          lcov --remove cov.info '/usr/*' '*/_deps/*' -o cov.info
          genhtml cov.info -o coverage-report
      - uses: actions/upload-artifact@v4
        with: { name: coverage-report, path: coverage-report/ }
      - name: Coverage gate (≥85%)
        run: |
          PCT=$(lcov --summary cov.info 2>&1 | grep lines | grep -oP '\d+\.\d+')
          python3 -c "assert float('$PCT') >= 85, f'Coverage {PCT}% < 85%'"