#!/usr/bin/env python3
# import os
import unittest
from unittest.mock import patch, MagicMock

# import rclpy
# from rclpy.executors import SingleThreadedExecutor
from rbs_utils.recording_demo import recording_demo, CommandType

import launch
import launch_ros
import launch_testing
import launch_testing.actions
# import launch_testing.asserts
import pytest

@pytest.mark.rostest
def generate_test_description():
    test_node = launch_ros.actions.Node(
        package="rbs_bt_executor",
        executable="rbs_interface.py",
        output="screen"
        # parameters = [{"bt_path": skills_cfg_file},{"mode": mode},{"use_sim_time": True}]
    )

    return launch.LaunchDescription([
        test_node,
        launch_testing.actions.ReadyToTest(),
    ]), { 'test_node': test_node }

class TestRecordingDemo(unittest.TestCase):

    def setUp(self):
        # Предполагается, что ROS 2 окружение запущено
        pass

    def test_run_command_returns_bool(self):
        with patch("rbs_utils.recording_demo.RbsActionClient") as MockClient:
            mock_client_instance = MockClient.return_value
            mock_client_instance.res_ok = True
            mock_client_instance.send_goal = MagicMock()

            result = recording_demo(CommandType.RUN)
            self.assertTrue(result)
            mock_client_instance.send_goal.assert_called_with(
                sid=unittest.mock.ANY, action="RecordingDemo", command="rdConfigure")

    def test_stop_and_cancel_triggers_stop(self):
        with patch("rbs_utils.recording_demo.RbsActionClient") as MockClient:
            mock_client_instance = MockClient.return_value
            mock_client_instance.res_ok = True
            mock_client_instance.send_goal = MagicMock()

            result = recording_demo(CommandType.STOP_AND_CANCEL)
            self.assertTrue(result)
            mock_client_instance.send_goal.assert_called_with(
                sid=unittest.mock.ANY, action="RecordingDemo", command="rdStop")

    def test_invalid_command_returns_false(self):
        result = recording_demo("nonexistent_command")
        self.assertFalse(result)