//=======================================================================
// UpmsgTest: 上位机/外部通信 JSON 消息解析与序列化往返
// 仅链接现有 upmsg/*.h + upmsg_definitions.cpp。
// 注意：部分 upmsg 头文件未包含 json/loguru/pmSysvariable，需先包含。
//=======================================================================
#include <gtest/gtest.h>
#include "json/json.h"
#include "logc/loguru.hpp"
#include "pmSysvariable.h"
#include "upmsg/uPower_sysState.h"
#include "upmsg/uExternComm_setOpMode.h"
#include "upmsg/uExternComm_setOpCondition.h"
#include "upmsg/uExternComm_setPowerSystem.h"
#include "upmsg/uExternComm_setDeviceSwitch.h"
#include "upmsg/uPlan_taskStart.h"
#include "upmsg/uPlan_planStop.h"
#include "upmsg/uDetect_xcVoltage_cmd.h"
#include "upmsg/uDetect_zdpVoltage_cmd.h"
#include "upmsg/uDevice_insData.h"

TEST(UpmsgTest, PowerSysStateParse)
{
    uPower_sysStateMsg msg;
    MSControlCmd cmd;
    EXPECT_TRUE(msg.parseControlCmdFromJson(cmd, R"({"powerCMD":1,"modCMD":2,"workCMD":5})"));
    EXPECT_EQ(cmd.powerCMD, 1u);
    EXPECT_EQ(cmd.modCMD, 2u);
    EXPECT_EQ(cmd.workCMD, 5u);
    // 缺字段 → false
    EXPECT_FALSE(msg.parseControlCmdFromJson(cmd, R"({"powerCMD":1})"));
    // 非法 JSON → false
    EXPECT_FALSE(msg.parseControlCmdFromJson(cmd, "{bad json"));
}

TEST(UpmsgTest, SetOpMode)
{
    uExternComm_setOpModeMsg msg;
    EXPECT_EQ(msg.getSetOpMode("uExternComm_setOpMode_cmd", R"({"state_uint8":1})"), 1);
    EXPECT_EQ(msg.getSetOpMode("uExternComm_setOpMode_cmd", R"({})"), -1);
    EXPECT_EQ(msg.getSetOpMode("wrong_key", R"({"state_uint8":1})"), 0); // key 不匹配 → 0
}

TEST(UpmsgTest, SetOpCondition)
{
    uExternComm_setOpConditionMsg msg;
    EXPECT_EQ(msg.getSetOpCondition("uExternComm_setOpCondition_cmd", R"({"state_uint8":7})"), 7);
    EXPECT_EQ(msg.getSetOpCondition("uExternComm_setOpCondition_cmd", R"({})"), -1);
}

TEST(UpmsgTest, SetPowerSystem)
{
    uExternComm_setPowerSystemMsg msg;
    EXPECT_EQ(msg.getSetPMSys("uExternComm_setPowerSystem_cmd", R"({"powerCmd_uint8":4})"), 4);
    EXPECT_EQ(msg.getSetPMSys("uExternComm_setPowerSystem_cmd", R"({})"), -1);
}

TEST(UpmsgTest, SetDeviceSwitch)
{
    uExternComm_setDeviceSwitchMsg msg;
    DeviceSwitchCmd c = msg.getSetDevSwitch("uExternComm_setDeviceSwitch_cmd",
                                            R"({"id_uint8":53,"cmd_uint8":1})");
    EXPECT_EQ(c.id, 53);
    EXPECT_EQ(c.cmd, 1);
    // 空对象 → id=-1
    DeviceSwitchCmd c2 = msg.getSetDevSwitch("uExternComm_setDeviceSwitch_cmd", R"({})");
    EXPECT_EQ(c2.id, -1);
}

TEST(UpmsgTest, TaskStart)
{
    uPlan_taskStartMsg msg;
    MissionState m = msg.getMission("uPlan_taskStart_st",
        R"({"taskType_str":"sail","balanceEnabled_bool":true,"bowRudderUnfold_bool":false})");
    EXPECT_EQ(m.type, (int)TaskType::SAIL);
    EXPECT_TRUE(m.enableBuoyancyAdjustment);
    EXPECT_FALSE(m.enableBowRudder);
}

TEST(UpmsgTest, TaskStop)
{
    uPlan_planStopMsg msg;
    EXPECT_TRUE(msg.getTaskStop("uPlan_planStop_st", R"({"op_int32":1})"));
    EXPECT_FALSE(msg.getTaskStop("uPlan_planStop_st", R"({"op_int32":0})"));
    EXPECT_FALSE(msg.getTaskStop("uPlan_planStop_st", R"({})"));
}

TEST(UpmsgTest, XcVoltageRoundTrip)
{
    uDetect_xcVoltage_cmd cmd;
    cmd.xcLowVoltageAdd_int32 = 1;
    cmd.xcHighVoltageAdd_int32 = 2;
    std::string json = cmd.toJsonString();
    uDetect_xcVoltage_cmd cmd2;
    EXPECT_TRUE(cmd2.fromJsonString(json));
    EXPECT_EQ(cmd2.xcLowVoltageAdd_int32, 1);
    EXPECT_EQ(cmd2.xcHighVoltageAdd_int32, 2);
    EXPECT_FALSE(cmd2.fromJsonString("{bad json"));
}

TEST(UpmsgTest, ZdpVoltageRoundTrip)
{
    uDetect_zdpVoltage_cmd cmd;
    cmd.zdpVoltageAdd_int32 = 2;
    std::string json = cmd.toJsonString();
    uDetect_zdpVoltage_cmd cmd2;
    EXPECT_TRUE(cmd2.fromJsonString(json));
    EXPECT_EQ(cmd2.zdpVoltageAdd_int32, 2);
}

TEST(UpmsgTest, InsDataParse)
{
    uDevice_insDataMsg msg;
    InsDataState st;
    EXPECT_EQ(msg.parseMsg("uDevice_insData_st",
        R"({"headingAngle_int32":1200,"rollAngle_int32":-50,"pitchAngle_int32":30,"depth_int32":1500,
             "headingAngularVelocity_int32":10,"rollAngularVelocity_int32":-1,"longAngularVelocity_int32":2,
             "lon_int32":113123,"lat_int32":22123,"northSpeed_int16":12,"eastSpeed_int16":-3,"zSpeed_int16":1})",
        st), 1);
    EXPECT_EQ(st.headingAngle_int32, 1200);
    EXPECT_EQ(st.rollAngle_int32, -50);
    EXPECT_EQ(st.pitchAngle_int32, 30);
    EXPECT_EQ(st.depth_int32, 1500);
    EXPECT_EQ(st.headingAngularVelocity_int32, 10);
    EXPECT_EQ(st.northSpeed_int16, 12);
    // key 不匹配 → 0
    EXPECT_EQ(msg.parseMsg("wrong_key", R"({"headingAngle_int32":1})", st), 0);
    // 非法 JSON → -1
    EXPECT_EQ(msg.parseMsg("uDevice_insData_st", "{bad json", st), -1);
    // 缺字段 → 解析成功但保持缺省值
    InsDataState st2;
    EXPECT_EQ(msg.parseMsg("uDevice_insData_st", R"({"headingAngle_int32":99})", st2), 1);
    EXPECT_EQ(st2.headingAngle_int32, 99);
    EXPECT_EQ(st2.depth_int32, 0);
}