dmc/app/test/transport/msp/msp_waypoint_codec_test.dart

import 'dart:typed_data';

import 'package:flutter_test/flutter_test.dart';

import 'package:dmc_app/domain/waypoint/flat_waypoint_list.dart';
import 'package:dmc_app/transport/msp/msp_waypoint_codec.dart';

Waypoint _wp({
  double lat = 52.5,
  double lon = 13.4,
  double alt = 120,
  double speed = 15,
  WaypointAction action = WaypointAction.none,
  int? jumpTargetIndex,
  int? jumpRepeatCount,
}) =>
    Waypoint(
      lat: lat,
      lon: lon,
      altitudeM: alt,
      speedMs: speed,
      catchRadiusM: 60,
      action: action,
      jumpTargetIndex: jumpTargetIndex,
      jumpRepeatCount: jumpRepeatCount,
    );

/// Liest die 21-Byte MSP_SET_WP-Payload wie der echte FC (`fc_msp.c`,
/// `case MSP_SET_WP`) - dient nur der Testverifikation, dupliziert bewusst
/// nicht encodeMspSetWaypoint().
({
  int wpNo,
  int action,
  int lat,
  int lon,
  int alt,
  int p1,
  int p2,
  int p3,
  int flag,
}) _decode(Uint8List payload) {
  final d = ByteData.sublistView(payload);
  return (
    wpNo: d.getUint8(0),
    action: d.getUint8(1),
    lat: d.getInt32(2, Endian.little),
    lon: d.getInt32(6, Endian.little),
    alt: d.getInt32(10, Endian.little),
    p1: d.getInt16(14, Endian.little),
    p2: d.getInt16(16, Endian.little),
    p3: d.getInt16(18, Endian.little),
    flag: d.getUint8(20),
  );
}

void main() {
  group('encodeMspSetWaypoint', () {
    test('Payload ist immer genau 21 Byte lang (dataSize-Check des FC)', () {
      final payload = encodeMspSetWaypoint(_wp(), wireIndex: 1, isLast: true);
      expect(payload.length, 21);
    });

    test('wp_no, lat/lon (1e7), Hoehe (cm) und flag werden korrekt kodiert', () {
      final payload = encodeMspSetWaypoint(
        _wp(lat: 52.5, lon: 13.4, alt: 120),
        wireIndex: 3,
        isLast: false,
      );
      final d = _decode(payload);

      expect(d.wpNo, 3);
      expect(d.lat, 525000000);
      expect(d.lon, 134000000);
      expect(d.alt, 12000);
      expect(d.flag, 0);
    });

    test('isLast setzt NAV_WP_FLAG_LAST (0xA5)', () {
      final payload = encodeMspSetWaypoint(_wp(), wireIndex: 1, isLast: true);
      expect(_decode(payload).flag, 0xA5);
    });

    test('WaypointAction.none -> NAV_WP_ACTION_WAYPOINT, p1 = Speed in cm/s', () {
      final d = _decode(encodeMspSetWaypoint(_wp(speed: 15), wireIndex: 1, isLast: false));
      expect(d.action, 0x01);
      expect(d.p1, 1500);
      expect(d.p2, 0);
      expect(d.p3, 0);
    });

    test('WaypointAction.landing -> NAV_WP_ACTION_LAND, p1 = Speed in cm/s', () {
      final d = _decode(encodeMspSetWaypoint(
        _wp(speed: 12, action: WaypointAction.landing),
        wireIndex: 1,
        isLast: false,
      ));
      expect(d.action, 0x08);
      expect(d.p1, 1200);
      expect(d.p2, 0);
    });

    test(
        'WaypointAction.loiter -> NAV_WP_ACTION_HOLD_TIME mit maximalem p1 '
        '(int16-Max statt 0xFFFF, sonst wuerde der FC das Halten sofort statt '
        'dauerhaft beenden), p2 = Speed in cm/s', () {
      final d = _decode(encodeMspSetWaypoint(
        _wp(speed: 10, action: WaypointAction.loiter),
        wireIndex: 1,
        isLast: false,
      ));
      expect(d.action, 0x03);
      expect(d.p1, 0x7FFF);
      expect(d.p2, 1000);
    });

    test(
        'WaypointAction.jump -> NAV_WP_ACTION_JUMP, p1 = 1-basierte Ziel-WP#, '
        'p2/p3 = Wiederholzahl', () {
      final d = _decode(encodeMspSetWaypoint(
        _wp(action: WaypointAction.jump, jumpTargetIndex: 2, jumpRepeatCount: 5),
        wireIndex: 4,
        isLast: false,
      ));
      expect(d.action, 0x06);
      // 0-basierter App-Index 2 -> 1-basierte FC-WP# 3.
      expect(d.p1, 3);
      expect(d.p2, 5);
      expect(d.p3, 5);
    });

    test('WaypointAction.jump ohne jumpRepeatCount kodiert -1 (endlos)', () {
      final d = _decode(encodeMspSetWaypoint(
        _wp(action: WaypointAction.jump, jumpTargetIndex: 0),
        wireIndex: 2,
        isLast: false,
      ));
      expect(d.p2, -1);
      expect(d.p3, -1);
    });
  });

  group('parseMspWpGetInfo', () {
    test('dekodiert maxWaypoints/isValid/waypointCount', () {
      final info = parseMspWpGetInfo(Uint8List.fromList([0, 15, 1, 5]));
      expect(info.maxWaypoints, 15);
      expect(info.isValid, isTrue);
      expect(info.waypointCount, 5);
    });

    test('isValid == false bei 0', () {
      final info = parseMspWpGetInfo(Uint8List.fromList([0, 15, 0, 0]));
      expect(info.isValid, isFalse);
    });
  });

  group('encodeMspGetWaypointRequest', () {
    test('kodiert wp_no als einzelnes Byte', () {
      expect(encodeMspGetWaypointRequest(0), Uint8List.fromList([0]));
      expect(encodeMspGetWaypointRequest(255), Uint8List.fromList([255]));
    });

    test('mspWpNumberHome ist 0 (WP#0 = Homepoint laut getWaypoint())', () {
      expect(mspWpNumberHome, 0);
    });
  });

  group('parseMspHomePoint', () {
    /// Baut die 21-Byte MSP_WP-Antwort wie der echte FC (`fc_msp.c`,
    /// `mspFcWaypointOutCommand()`) - dient nur der Testverifikation.
    Uint8List encodeFakeWpResponse({
      int wpNo = 0,
      int action = 0,
      required int lat,
      required int lon,
      required int altCm,
    }) {
      final d = ByteData(21);
      d.setUint8(0, wpNo);
      d.setUint8(1, action);
      d.setInt32(2, lat, Endian.little);
      d.setInt32(6, lon, Endian.little);
      d.setInt32(10, altCm, Endian.little);
      return d.buffer.asUint8List();
    }

    test('dekodiert lat/lon (1e-7 deg) und Hoehe (cm -> m)', () {
      final home = parseMspHomePoint(encodeFakeWpResponse(
        lat: 525000000,
        lon: 134000000,
        altCm: 6050,
      ));
      expect(home, isNotNull);
      expect(home!.lat, closeTo(52.5, 1e-9));
      expect(home.lon, closeTo(13.4, 1e-9));
      expect(home.altitudeM, closeTo(60.5, 1e-9));
    });

    test('liefert null bei (0,0) - FCs eigener "kein Homepoint gesetzt"-Wert '
        '(STATE(GPS_FIX_HOME) noch nicht erreicht)', () {
      final home = parseMspHomePoint(encodeFakeWpResponse(
        lat: 0,
        lon: 0,
        altCm: 0,
      ));
      expect(home, isNull);
    });

    test('lat == 0 alleine (echter Punkt auf dem Aequator) zaehlt NICHT als '
        'unset - nur (0,0) gemeinsam ist der Sonderfall', () {
      final home = parseMspHomePoint(encodeFakeWpResponse(
        lat: 0,
        lon: 134000000,
        altCm: 0,
      ));
      expect(home, isNotNull);
      expect(home!.lon, closeTo(13.4, 1e-9));
    });
  });
}