//=======================================================================
// DriverTest: Driver 类的设备表生成（覆盖全部 10 个工况）、设备状态读写、
// JSON 序列化/反序列化。
// 不改动生产代码；仅链接 src/pPowerManger/driver.cpp。
//
// 测试目的：
//   1. 验证每种工况模式下，驱动表生成是否符合预期的设备开关状态
//   2. 验证设备状态的读写操作（setDeviceState / getDeviceState）
//   3. 验证驱动表的 JSON 序列化/反序列化是否能正确往返
//   4. 验证 JSON 解析为设备命令的逻辑
//   5. 验证安全读取无符号整数的边界处理
//=======================================================================
#include <gtest/gtest.h>
#include <cstring>
#include "driver.h"
#include "pmSysvariable.h"

// ----------------------------------------------------------------------
// 全字段比较宏（62 个设备字段）
// 用于比较两个 DriverTable 结构体的所有字段是否完全相等
// ----------------------------------------------------------------------
#define EXPECT_TABLE_EQ(a, b) do {                                             \
    EXPECT_EQ((a).depth1,(b).depth1); EXPECT_EQ((a).depth2,(b).depth2);         \
    EXPECT_EQ((a).depth3,(b).depth3); EXPECT_EQ((a).overDeep1,(b).overDeep1);   \
    EXPECT_EQ((a).overDeep2,(b).overDeep2); EXPECT_EQ((a).ctd1,(b).ctd1);       \
    EXPECT_EQ((a).ctd2,(b).ctd2); EXPECT_EQ((a).soundVeloc,(b).soundVeloc);     \
    EXPECT_EQ((a).commMast,(b).commMast); EXPECT_EQ((a).ins,(b).ins);           \
    EXPECT_EQ((a).ntp,(b).ntp);                                                 \
    EXPECT_EQ((a).inputWaterSensor1,(b).inputWaterSensor1);                     \
    EXPECT_EQ((a).inputWaterSensor2,(b).inputWaterSensor2);                     \
    EXPECT_EQ((a).inputWaterSensor3,(b).inputWaterSensor3);                     \
    EXPECT_EQ((a).singleBeamSonar1,(b).singleBeamSonar1);                       \
    EXPECT_EQ((a).singleBeamSonar2,(b).singleBeamSonar2);                       \
    EXPECT_EQ((a).singleBeamSonar3,(b).singleBeamSonar3);                       \
    EXPECT_EQ((a).singleBeamSonar4,(b).singleBeamSonar4);                       \
    EXPECT_EQ((a).singleBeamSonar5,(b).singleBeamSonar5);                       \
    EXPECT_EQ((a).singleBeamSonar6,(b).singleBeamSonar6);                       \
    EXPECT_EQ((a).singleBeamSonar7,(b).singleBeamSonar7);                       \
    EXPECT_EQ((a).singleBeamSonar8,(b).singleBeamSonar8);                       \
    EXPECT_EQ((a).forwardSonar,(b).forwardSonar); EXPECT_EQ((a).DVL,(b).DVL);   \
    EXPECT_EQ((a).lowFreqSonar,(b).lowFreqSonar); EXPECT_EQ((a).USBL,(b).USBL); \
    EXPECT_EQ((a).bowWaterInet1,(b).bowWaterInet1);                             \
    EXPECT_EQ((a).bowWaterInet2,(b).bowWaterInet2);                             \
    EXPECT_EQ((a).bowWaterInet3,(b).bowWaterInet3);                             \
    EXPECT_EQ((a).bowWaterInet4,(b).bowWaterInet4);                             \
    EXPECT_EQ((a).bowWaterInet5,(b).bowWaterInet5);                             \
    EXPECT_EQ((a).bowWaterInet6,(b).bowWaterInet6);                             \
    EXPECT_EQ((a).bowWaterInet7,(b).bowWaterInet7);                             \
    EXPECT_EQ((a).bowWaterInet8,(b).bowWaterInet8);                             \
    EXPECT_EQ((a).bowRudderDeploy,(b).bowRudderDeploy);                         \
    EXPECT_EQ((a).bowRudderServo1,(b).bowRudderServo1);                         \
    EXPECT_EQ((a).bowRudderServo2,(b).bowRudderServo2);                         \
    EXPECT_EQ((a).bowCover1,(b).bowCover1); EXPECT_EQ((a).bowCover2,(b).bowCover2); \
    EXPECT_EQ((a).bowCover3,(b).bowCover3); EXPECT_EQ((a).bowCover4,(b).bowCover4); \
    EXPECT_EQ((a).bowCover5,(b).bowCover5); EXPECT_EQ((a).bowCover6,(b).bowCover6); \
    EXPECT_EQ((a).waterInject,(b).waterInject);                                 \
    EXPECT_EQ((a).mastLiftingServo,(b).mastLiftingServo);                       \
    EXPECT_EQ((a).buoyancyAdjust1,(b).buoyancyAdjust1);                         \
    EXPECT_EQ((a).buoyancyAdjust2,(b).buoyancyAdjust2);                         \
    EXPECT_EQ((a).buoyancyAdjust3,(b).buoyancyAdjust3);                         \
    EXPECT_EQ((a).buoyancyAdjust4,(b).buoyancyAdjust4);                         \
    EXPECT_EQ((a).buoyancyAdjust5,(b).buoyancyAdjust5);                         \
    EXPECT_EQ((a).sternRudderServo1,(b).sternRudderServo1);                     \
    EXPECT_EQ((a).sternRudderServo2,(b).sternRudderServo2);                     \
    EXPECT_EQ((a).sternRudderServo3,(b).sternRudderServo3);                     \
    EXPECT_EQ((a).sternRudderServo4,(b).sternRudderServo4);                     \
    EXPECT_EQ((a).thruster,(b).thruster); EXPECT_EQ((a).bowThrow,(b).bowThrow); \
    EXPECT_EQ((a).sternThrow,(b).sternThrow);                                   \
    EXPECT_EQ((a).photoSensor,(b).photoSensor);                                 \
    EXPECT_EQ((a).electSensor,(b).electSensor);                                 \
    EXPECT_EQ((a).launchControler,(b).launchControler);                         \
    EXPECT_EQ((a).sideSonar,(b).sideSonar); EXPECT_EQ((a).buoyage,(b).buoyage); \
} while (0)

// 传感器统一全开
static void setSensors(DriverTable& t) {
    t.depth1 = t.depth2 = t.depth3 = 1;
    t.overDeep1 = t.overDeep2 = 1;
    t.ctd1 = t.ctd2 = 1;
    t.soundVeloc = 1;
    t.commMast = 1;
    t.ins = 1;
    t.ntp = 1;
    t.inputWaterSensor1 = t.inputWaterSensor2 = t.inputWaterSensor3 = 1;
}

// 执行机构（舵/浮调/推进/抛载）全开
static void setActuatorsOn(DriverTable& t) {
    t.bowRudderDeploy = t.bowRudderServo1 = t.bowRudderServo2 = 1;
    t.buoyancyAdjust1 = t.buoyancyAdjust2 = t.buoyancyAdjust3 = 1;
    t.buoyancyAdjust4 = t.buoyancyAdjust5 = 1;
    t.sternRudderServo1 = t.sternRudderServo2 = t.sternRudderServo3 = t.sternRudderServo4 = 1;
    t.thruster = 1;
    t.bowThrow = t.sternThrow = 1;
}

static DriverTable makeSTANDBY() {
    DriverTable t{}; setSensors(t); /* 其余全 0 */ return t;
}
static DriverTable makeSHORE_WATER() {
    DriverTable t{}; setSensors(t); setActuatorsOn(t);
    t.mastLiftingServo = 1;
    t.bowCover1 = t.bowCover2 = t.bowCover3 = 1;
    t.bowCover4 = t.bowCover5 = t.bowCover6 = 1;
    t.bowWaterInet1 = t.bowWaterInet2 = t.bowWaterInet3 = t.bowWaterInet4 = 1;
    t.bowWaterInet5 = t.bowWaterInet6 = t.bowWaterInet7 = t.bowWaterInet8 = 1;
    t.waterInject = 1;
    return t;
}
static DriverTable makeCRUISE() {
    DriverTable t{}; setSensors(t); setActuatorsOn(t);
    t.mastLiftingServo = 1;
    return t; // 水声设备不设置（保持 0）
}
static DriverTable makeHIGH_SPEED() {
    DriverTable t{}; setSensors(t);
    t.bowRudderDeploy = t.bowRudderServo1 = t.bowRudderServo2 = 1;
    t.sternRudderServo1 = t.sternRudderServo2 = t.sternRudderServo3 = t.sternRudderServo4 = 1;
    t.thruster = 1; t.bowThrow = t.sternThrow = 1;
    /* mastLiftingServo / buoyancyAdjust 全 0 */
    return t;
}
static DriverTable makeASCEND_BUOYANCY() {
    DriverTable t{}; setSensors(t); setActuatorsOn(t);
    t.mastLiftingServo = 1;
    return t;
}
static DriverTable makeUNDERWATER() {
    DriverTable t{}; setSensors(t); setActuatorsOn(t);
    t.sideSonar = DRIVER_STANDBY; /* mastLiftingServo = 0 */
    return t;
}
static DriverTable makeSURFACE() {
    DriverTable t{}; setSensors(t); setActuatorsOn(t);
    t.mastLiftingServo = 1;
    t.photoSensor = t.electSensor = DRIVER_STANDBY;
    return t;
}
static DriverTable makeDJ() {
    DriverTable t{}; setSensors(t); setActuatorsOn(t);
    t.mastLiftingServo = 1;
    t.launchControler = 1;
    t.buoyage = DRIVER_STANDBY;
    t.bowCover1 = t.bowCover2 = t.bowCover3 = 1;
    t.bowCover4 = t.bowCover5 = t.bowCover6 = 1;
    t.bowWaterInet1 = t.bowWaterInet2 = t.bowWaterInet3 = t.bowWaterInet4 = 1;
    t.bowWaterInet5 = t.bowWaterInet6 = t.bowWaterInet7 = t.bowWaterInet8 = 1;
    return t;
}

using TableFn = void (Driver::*)(DriverTable*);

TEST(DriverTest, StandbyTable) {
    DriverTable e = makeSTANDBY(); DriverTable a{}; Driver d; d.getSTANDBYTable(&a);
    EXPECT_TABLE_EQ(a, e);
}
TEST(DriverTest, ShoreBasedReadyTable) {
    DriverTable e = makeSHORE_WATER(); DriverTable a{}; Driver d; d.getSHORE_BASED_READYable(&a);
    EXPECT_TABLE_EQ(a, e);
}
TEST(DriverTest, WaterBasedReadyTable) {
    DriverTable e = makeSHORE_WATER(); DriverTable a{}; Driver d; d.getWATER_BASED_READYable(&a);
    EXPECT_TABLE_EQ(a, e);
}
TEST(DriverTest, CruiseModeTable) {
    DriverTable e = makeCRUISE(); DriverTable a{}; Driver d; d.getCRUISE_MODEable(&a);
    EXPECT_TABLE_EQ(a, e);
}
TEST(DriverTest, HighSpeedModeTable) {
    DriverTable e = makeHIGH_SPEED(); DriverTable a{}; Driver d; d.getHIGH_SPEED_MODEable(&a);
    EXPECT_TABLE_EQ(a, e);
}
TEST(DriverTest, AscendDescendTable) {
    DriverTable e = makeASCEND_BUOYANCY(); DriverTable a{}; Driver d; d.getASCEND_DESCENDable(&a);
    EXPECT_TABLE_EQ(a, e);
}
TEST(DriverTest, BuoyancyAdjustTable) {
    DriverTable e = makeASCEND_BUOYANCY(); DriverTable a{}; Driver d; d.getBUOYANCY_ADJUSTable(&a);
    EXPECT_TABLE_EQ(a, e);
}
TEST(DriverTest, UnderwaterReconTable) {
    DriverTable e = makeUNDERWATER(); DriverTable a{}; Driver d; d.getUNDERWATER_RECONable(&a);
    EXPECT_TABLE_EQ(a, e);
}
TEST(DriverTest, SurfaceReconTable) {
    DriverTable e = makeSURFACE(); DriverTable a{}; Driver d; d.getSURFACE_RECONable(&a);
    EXPECT_TABLE_EQ(a, e);
}
TEST(DriverTest, DjModeTable) {
    DriverTable e = makeDJ(); DriverTable a{}; Driver d; d.getDJ_MODEable(&a);
    EXPECT_TABLE_EQ(a, e);
}

// ----------------------------------------------------------------------
// setDeviceState / getDeviceState
// ----------------------------------------------------------------------
TEST(DriverTest, SetGetDeviceState)
{
    Driver d;
    DriverTable t{};
    d.setDeviceState(t, DeviceId::thruster, DRIVER_FULL_POWER_ON);
    EXPECT_EQ(d.getDeviceState(t, DeviceId::thruster), 1u);
    d.setDeviceState(t, DeviceId::thruster, DRIVER_POWER_OFF);
    EXPECT_EQ(d.getDeviceState(t, DeviceId::thruster), 0u);
    d.setDeviceState(t, DeviceId::sideSonar, DRIVER_STANDBY);
    EXPECT_EQ(d.getDeviceState(t, DeviceId::sideSonar), 4u);
    d.setDeviceState(t, DeviceId::bowCover1, DRIVER_FULL_POWER_ON);
    EXPECT_EQ(d.getDeviceState(t, DeviceId::bowCover1), 1u);
}

// ----------------------------------------------------------------------
// JSON 序列化/反序列化往返
// ----------------------------------------------------------------------
TEST(DriverTest, JsonRoundTrip)
{
    Driver d;
    DriverTable t{};
    d.setDeviceState(t, DeviceId::thruster, DRIVER_FULL_POWER_ON);
    d.setDeviceState(t, DeviceId::sideSonar, DRIVER_STANDBY);
    d.setDeviceState(t, DeviceId::bowCover3, DRIVER_FULL_POWER_ON);
    std::string json = d.saveDriverTableToJson(&t);
    ASSERT_FALSE(json.empty());

    DriverTable out{};
    EXPECT_EQ(d.loadDriverTableFromJson(json, out), 0);
    EXPECT_EQ(out.thruster, 1u);
    EXPECT_EQ(out.sideSonar, 4u);
    EXPECT_EQ(out.bowCover3, 1u);
    EXPECT_EQ(out.depth1, 0u); // 未设置字段为 0
}

TEST(DriverTest, LoadDriverIdFromJson)
{
    Driver d;
    std::string json = R"({"thruster_uint8":1,"sideSonar_uint8":4})";
    auto cmds = d.loadDriverIdFromJson(json);
    ASSERT_EQ(cmds.size(), 2u);
    bool hasThruster = false, hasSide = false;
    for (auto& c : cmds) {
        if (c.id == DeviceId::thruster) { EXPECT_EQ(c.cmd, 1); hasThruster = true; }
        if (c.id == DeviceId::sideSonar) { EXPECT_EQ(c.cmd, 4); hasSide = true; }
    }
    EXPECT_TRUE(hasThruster);
    EXPECT_TRUE(hasSide);
}

TEST(DriverTest, SafeReadUInt)
{
    Driver d;
    Json::Value root;
    root["a"] = 5u;
    root["b"] = -3;
    unsigned char v = 0;
    EXPECT_EQ(d.SafeReadUInt(root, "a", v), 0);
    EXPECT_EQ(v, 5u);
    // 缺字段
    EXPECT_EQ(d.SafeReadUInt(root, "missing", v), -1);
    // 类型错误（有符号负数）
    EXPECT_EQ(d.SafeReadUInt(root, "b", v), -2);
}