"""Tests that the polygon classes in :mod:`pyrate.plan.geometry.polygon` work correctly."""

# Python standard math
from math import sqrt

# Typing
from typing import cast

# Generic testing
from unittest import TestCase

# Geometry
from shapely.geometry import Polygon

# Scientific
from numpy import array

# Scientific testing
from numpy.testing import assert_array_less

# Hypothesis testing
from hypothesis import given
import hypothesis.strategies as st

# Package under test
from pyrate.plan.geometry import CartesianPolygon
from pyrate.plan.geometry import LocationType
from pyrate.plan.geometry import PolarLocation
from pyrate.plan.geometry import PolarPolygon

# Test helpers
from pyrate.common.testing.strategies.geometry import cartesian_polygons
from pyrate.common.testing.strategies.geometry import geo_bearings
from pyrate.common.testing.strategies.geometry import polar_locations
from pyrate.common.testing.strategies.geometry import polar_polygons

# Local test helpers
from . import is_any_near_special_point
from . import simple_property_only_few_examples
from . import slow_route_max_examples


class TestPolarPolygons(TestCase):
    """Asserts general properties of the polar polygons."""

    @given(polar_polygons())
    @slow_route_max_examples
    def test_area_is_non_negative(self, polar_polygon: PolarPolygon) -> None:
        """Tests that all areas are non-negative."""
        self.assertGreaterEqual(polar_polygon.area, 0, "areas must be non-negative")

    @given(polar_polygons())
    @slow_route_max_examples
    def test_is_valid(self, polygon: PolarPolygon) -> None:
        """Test that the generated polygons are valid."""

        self.assertTrue(polygon.is_valid)

    def test_is_not_valid(self) -> None:
        """Test that a known invalid polygon is detected as such."""

        location = PolarLocation(12, 23.999)
        polygon = PolarPolygon([location, location, location])
        self.assertFalse(polygon.is_valid)

    @given(polar_polygons(), polar_locations(), st.booleans())
    @slow_route_max_examples
    def test_distance_to_vertices_is_non_negative(
        self, polar_polygon: PolarPolygon, polar_location: PolarLocation, approximate: bool
    ) -> None:
        """Tests that all distances to vertices are non-negative."""
        distance = polar_polygon.distance_to_vertices(polar_location, approximate)
        self.assertGreaterEqual(distance, 0, "distances must be non-negative")

    @given(polar_polygons(max_vertices=50))
    @slow_route_max_examples
    def test_simplification(self, original: PolarPolygon) -> None:
        """Checks the the area change is valid and the rough position is preserved."""

        simplified = original.simplify(tolerance=sqrt(original.area) / 10)

        self.assertLessEqual(len(simplified.locations), len(original.locations))
        self.assertTrue(original.almost_congruent(simplified, rel_tolerance=0.3))

    @given(polar_polygons())
    @slow_route_max_examples
    def test_simplification_artificial(self, original: PolarPolygon) -> None:
        """This duplicates the first point and looks whether it is removed."""

        locations = original.locations
        original.locations = [locations[0]] + locations

        simplified = original.simplify(tolerance=sqrt(original.area) / 1000)

        # strictly less, as opposed to test_simplification()
        self.assertLess(len(simplified.locations), len(original.locations))
        self.assertTrue(original.almost_congruent(simplified, rel_tolerance=0.05))

    @given(polar_polygons())
    @simple_property_only_few_examples  # this only checks the call signatures so no need for many examples
    def test_numpy_conversion_invertible(self, polar_polygon: PolarPolygon) -> None:
        """Tests that the polygon conversion can be inverted."""
        recreated = PolarPolygon.from_numpy(
            polar_polygon.to_numpy(),
            name=polar_polygon.name,
            location_type=polar_polygon.location_type,
            identifier=polar_polygon.identifier,
        )
        self.assertEqual(polar_polygon, recreated)

    @given(
        st.sampled_from(
            [
                PolarPolygon(
                    locations=[
                        PolarLocation(latitude=-76.40057132099628, longitude=-171.92454675519284),
                        PolarLocation(latitude=-76.40057132099628, longitude=-171.92454675519284),
                        PolarLocation(latitude=-76.40057132099628, longitude=-171.92454675519284),
                    ],
                    name="K",
                ),
                PolarPolygon(
                    locations=[
                        PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
                        PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
                        PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
                        PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
                        PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
                        PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
                        PolarLocation(latitude=-33.68964326163993, longitude=89.95053943144632),
                    ],
                    location_type=LocationType.TESTING,
                    name="_1",
                ),
                PolarPolygon(
                    locations=[
                        PolarLocation(latitude=0.0, longitude=0.029771743643124182),
                        PolarLocation(latitude=0.0, longitude=0.029771743643124182),
                        PolarLocation(latitude=0.0, longitude=0.029771743643124182),
                        PolarLocation(latitude=0.0, longitude=0.029771743643124182),
                    ],
                    name="",
                ),
            ]
        ),
        geo_bearings(),
        st.floats(min_value=1.0, max_value=100_000.0, allow_nan=False, allow_infinity=False),
    )
    def test_translation_is_invertible(
        self, original: PolarPolygon, direction: float, distance: float
    ) -> None:
        """Tests that translation is invertible and a valid bearing is returned.

        Warning:
            Only tests in-depth in the case where latitudes and longitudes are not near the poles.
            Since the tests are quite flaky due to the underling library, we only test specific polygons.
        """
        # translate
        translated, back_direction = original.translate(direction, distance)
        assert_array_less(0.0 - 1e-12, back_direction)
        assert_array_less(back_direction, 360.0 + 1e-12)

        # translate back
        translated_translated, back_back_direction = translated.translate(back_direction[0], distance)
        assert_array_less(0.0 - 1e-12, back_back_direction)
        assert_array_less(back_back_direction, 360.0 + 1e-12)

        # the method seems to have problems at poles
        if not is_any_near_special_point(original) and not is_any_near_special_point(translated):
            # the method is rather rough, so we want to add larger tolerances than usual while checking
            self.assertAlmostEqual(direction, back_back_direction[0], delta=0.1)
            self.assertTrue(original.equals_exact(translated_translated, tolerance=0.1))

    def test_non_finite_from_numpy_raises(self) -> None:
        """Tests that invalid parameter to :meth:`~PolarPolygon.from_numpy` warn about it."""

        with self.assertRaises(AssertionError):
            PolarPolygon.from_numpy(array([(1, 2), (2, 4), (4, float("NaN"))]))
        with self.assertRaises(AssertionError):
            PolarPolygon.from_numpy(array([(float("Inf"), 2), (2, 4), (4, 1)]))
        with self.assertRaises(AssertionError):
            PolarPolygon.from_numpy(array([(1, 2), (2, float("-Inf")), (4, 4)]))


class TestCartesianPolygons(TestCase):
    """Asserts general properties of the cartesian polygons."""

    @given(cartesian_polygons())
    @simple_property_only_few_examples  # this only checks the call signatures so no need for many examples
    def test_numpy_conversion_invertible(self, cartesian_polygon: CartesianPolygon) -> None:
        """Tests that the polygon conversion can be inverted."""
        recreated = CartesianPolygon.from_numpy(
            cartesian_polygon.to_numpy(),
            origin=cartesian_polygon.origin,
            name=cartesian_polygon.name,
            location_type=cartesian_polygon.location_type,
            identifier=cartesian_polygon.identifier,
        )

        self.assertEqual(cartesian_polygon, recreated)

    @given(cartesian_polygons(origin=polar_locations()))
    @slow_route_max_examples
    def test_projection_and_back_projection_origin_in_route(
        self, cartesian_polygon: CartesianPolygon
    ) -> None:
        """Test the projection with an origin already being present in the geometry."""
        recreated = cartesian_polygon.to_polar().to_cartesian(cast(PolarLocation, cartesian_polygon.origin))
        self.assertTrue(recreated.equals_exact(recreated, tolerance=1e-6))

    @given(cartesian_polygons(origin=st.none()), polar_locations())
    @simple_property_only_few_examples  # this only checks very simple additional logic
    def test_projection_and_back_projection_origin_given_extra(
        self, cartesian_polygon: CartesianPolygon, origin: PolarLocation
    ) -> None:
        """Test the projection with an origin being provided."""
        recreated = cartesian_polygon.to_polar(origin).to_cartesian(origin)
        self.assertTrue(recreated.equals_exact(recreated, tolerance=1e-6))

    @given(cartesian_polygons(origin=st.none()))
    @simple_property_only_few_examples  # this only checks very simple additional logic
    def test_projection_and_back_projection_origin_not_given(
        self, cartesian_polygon: CartesianPolygon
    ) -> None:
        """Test the projection with no origin being given."""
        with self.assertRaises(ValueError):
            cartesian_polygon.to_polar()

    @given(cartesian_polygons(origin=polar_locations()), polar_locations())
    @simple_property_only_few_examples  # this only checks very simple additional logic
    def test_projection_and_back_projection_origin_given_twice(
        self, cartesian_polygon: CartesianPolygon, origin: PolarLocation
    ) -> None:
        """Test the projection with ambiguous origin being provided."""
        with self.assertRaises(ValueError):
            cartesian_polygon.to_polar(origin)

    @given(cartesian_polygons())
    @slow_route_max_examples
    def test_locations_property_attributes(self, cartesian_polygon: CartesianPolygon) -> None:
        """Test that all contained locations share the same attributes."""
        for location in cartesian_polygon.locations:
            self.assertEqual(location.location_type, cartesian_polygon.location_type)
            self.assertEqual(location.name, cartesian_polygon.name)
            self.assertEqual(location.identifier, cartesian_polygon.identifier)
            self.assertEqual(location.origin, cartesian_polygon.origin)

    @given(cartesian_polygons())
    @slow_route_max_examples
    def test_from_shapely_conversion(self, cartesian_polygon: CartesianPolygon) -> None:
        """Test that :meth:`pyrate.plan.geometry.polygon.CartesianPolygon.from_shapely` works."""
        # we only want to compare the coordinates, so create a new instance without the identifier, name, etc.
        bare = CartesianPolygon.from_numpy(cartesian_polygon.to_numpy())
        bare_shapely = Polygon(cartesian_polygon.to_numpy())
        recreated = CartesianPolygon.from_shapely(bare_shapely)
        self.assertEqual(recreated, bare)

    def test_non_finite_from_numpy_raises(self) -> None:
        """Tests that invalid parameter to :meth:`~CartesianPolygon.from_numpy` warn about it."""

        with self.assertRaises(AssertionError):
            CartesianPolygon.from_numpy(array([(1, 2), (2, 4), (4, float("NaN"))]))
        with self.assertRaises(AssertionError):
            CartesianPolygon.from_numpy(array([(float("Inf"), 2), (2, 4), (4, 1)]))
        with self.assertRaises(AssertionError):
            CartesianPolygon.from_numpy(array([(1, 2), (2, float("-Inf")), (4, 4)]))