#!/usr/bin/env python

# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from unittest.mock import patch

from lerobot.calibrate import CalibrateConfig, calibrate
from lerobot.record import DatasetRecordConfig, RecordConfig, record
from lerobot.replay import DatasetReplayConfig, ReplayConfig, replay
from lerobot.teleoperate import TeleoperateConfig, teleoperate
from tests.fixtures.constants import DUMMY_REPO_ID
from tests.mocks.mock_robot import MockRobotConfig
from tests.mocks.mock_teleop import MockTeleopConfig


def test_calibrate():
    robot_cfg = MockRobotConfig()
    cfg = CalibrateConfig(robot=robot_cfg)
    calibrate(cfg)


def test_teleoperate():
    robot_cfg = MockRobotConfig()
    teleop_cfg = MockTeleopConfig()
    cfg = TeleoperateConfig(
        robot=robot_cfg,
        teleop=teleop_cfg,
        teleop_time_s=0.1,
    )
    teleoperate(cfg)


def test_record_and_resume(tmp_path):
    robot_cfg = MockRobotConfig()
    teleop_cfg = MockTeleopConfig()
    dataset_cfg = DatasetRecordConfig(
        repo_id=DUMMY_REPO_ID,
        single_task="Dummy task",
        root=tmp_path / "record",
        num_episodes=1,
        episode_time_s=0.1,
        reset_time_s=0,
        push_to_hub=False,
    )
    cfg = RecordConfig(
        robot=robot_cfg,
        dataset=dataset_cfg,
        teleop=teleop_cfg,
        play_sounds=False,
    )

    dataset = record(cfg)

    assert dataset.fps == 30
    assert dataset.meta.total_episodes == dataset.num_episodes == 1
    assert dataset.meta.total_frames == dataset.num_frames == 3
    assert dataset.meta.total_tasks == 1

    cfg.resume = True
    # Mock the revision to prevent Hub calls during resume
    with (
        patch("lerobot.datasets.lerobot_dataset.get_safe_version") as mock_get_safe_version,
        patch("lerobot.datasets.lerobot_dataset.snapshot_download") as mock_snapshot_download,
    ):
        mock_get_safe_version.return_value = "v3.0"
        mock_snapshot_download.return_value = str(tmp_path / "record")
        dataset = record(cfg)

    assert dataset.meta.total_episodes == dataset.num_episodes == 2
    assert dataset.meta.total_frames == dataset.num_frames == 6
    assert dataset.meta.total_tasks == 1


def test_record_and_replay(tmp_path):
    robot_cfg = MockRobotConfig()
    teleop_cfg = MockTeleopConfig()
    record_dataset_cfg = DatasetRecordConfig(
        repo_id=DUMMY_REPO_ID,
        single_task="Dummy task",
        root=tmp_path / "record_and_replay",
        num_episodes=1,
        episode_time_s=0.1,
        push_to_hub=False,
    )
    record_cfg = RecordConfig(
        robot=robot_cfg,
        dataset=record_dataset_cfg,
        teleop=teleop_cfg,
        play_sounds=False,
    )
    replay_dataset_cfg = DatasetReplayConfig(
        repo_id=DUMMY_REPO_ID,
        episode=0,
        root=tmp_path / "record_and_replay",
    )
    replay_cfg = ReplayConfig(
        robot=robot_cfg,
        dataset=replay_dataset_cfg,
        play_sounds=False,
    )

    record(record_cfg)

    # Mock the revision to prevent Hub calls during replay
    with (
        patch("lerobot.datasets.lerobot_dataset.get_safe_version") as mock_get_safe_version,
        patch("lerobot.datasets.lerobot_dataset.snapshot_download") as mock_snapshot_download,
    ):
        mock_get_safe_version.return_value = "v3.0"
        mock_snapshot_download.return_value = str(tmp_path / "record_and_replay")
        replay(replay_cfg)