#include <target_exposure_control/exposure_control.hpp>
#include <algorithm>
#include <cmath>
#include <functional>
#include <iostream>
#include <limits>
#include <stdexcept>
#include <string>
#include <vector>

using namespace target_exposure;
namespace {
struct Case { std::string group, name; std::function<void()> run; };
std::vector<Case>& cases() { static std::vector<Case> value; return value; }
bool registerCase(const char* group, const char* name, std::function<void()> run) {
    cases().push_back({group, name, std::move(run)}); return true;
}
void check(bool value, const char* expression, int line) {
    if (!value) throw std::runtime_error("line " + std::to_string(line) + ": " + expression);
}
void near(double actual, double expected, double tolerance, int line) {
    if (!std::isfinite(actual) || std::abs(actual - expected) > tolerance)
        throw std::runtime_error("line " + std::to_string(line) + ": actual=" + std::to_string(actual) + ", expected=" + std::to_string(expected));
}
#define CHECK(expression) check(static_cast<bool>(expression), #expression, __LINE__)
#define NEAR(actual, expected, tolerance) near((actual), (expected), (tolerance), __LINE__)
#define TEST(group, name) void group##_##name(); const bool reg_##group##_##name = registerCase(#group, #name, group##_##name); void group##_##name()

FrameInput imageFrame(TimestampUs time, int gray = 100, bool target = true, double exposure = 1000) {
    FrameInput f;
    f.image = cv::Mat(10, 10, CV_8UC1, cv::Scalar(gray));
    f.roi.rectangles.emplace_back(0, 0, 10, 10);
    f.timestamp_us = time; f.actual_exposure_us = exposure; f.has_usable_target = target;
    return f;
}
struct Fixture {
    Config c;
    ExposureControl module;
    TimestampUs time = 0;
    PreCaptureResult last_pre;
    Fixture() {
        c.min_exposure_us = 100; c.max_exposure_us = 10000; c.empirical_exposure_us = 1000;
        c.metering.min_target_pixels = 1; c.metering.min_retained_pixels = 1;
        c.metering.trim_fraction_each_side = 0;
        c.detect_confirm_frames = 1;
        c.prediction.enabled = false;
        c.prediction.photometric_model_confirmed = true;
        c.prediction.nominal_interval_us = 1'000'000;
    }
    FrameResult send(FrameInput f) {
        time = f.timestamp_us;
        last_pre = module.preCapture(time, c);
        CHECK(last_pre.accepted);
        auto result = module.processFrame(f);
        CHECK(result.accepted);
        return result;
    }
    FrameResult at(TimestampUs t, int gray = 100, bool target = true, double exposure = 1000) {
        return send(imageFrame(t, gray, target, exposure));
    }
    FrameResult next(int gray = 100, bool target = true, double exposure = 1000) {
        return at(time + 1'000'000, gray, target, exposure);
    }
    void track(int gray = 118) {
        for (int i = 0; i < c.detect_confirm_frames; ++i) next(gray);
        CHECK(module.state() == State::TRACK);
    }
};

TEST(metering, rectangle_union_deduplicates_pixels) {
    Fixture x;
    auto f = imageFrame(0);
    f.image = (cv::Mat_<unsigned char>(1,4) << 10,100,30,200);
    f.roi.rectangles = {{0,0,2,1},{1,0,2,1}};
    const auto r = x.send(f);
    CHECK(r.metering.target.pixels == 3);
    NEAR(*r.metering.target.gray, 140.0/3, 1e-10);
    NEAR(*r.metering.global.gray, 85, 1e-10);
    CHECK(f.image.at<unsigned char>(0,1) == 100);
}
TEST(metering, disjoint_regions_do_not_use_enclosing_box) {
    Fixture x;
    auto f = imageFrame(0);
    f.image = (cv::Mat_<unsigned char>(1,4) << 10,100,30,200);
    f.roi.rectangles = {{0,0,1,1},{3,0,1,1}};
    const auto r = x.send(f);
    CHECK(r.metering.target.pixels == 2);
    NEAR(*r.metering.target.gray, 105, 1e-10);
}
TEST(metering, rotated_mask_and_rectangle_union) {
    Fixture x;
    auto f = imageFrame(0);
    f.image = cv::Mat(4,4,CV_8UC1,cv::Scalar(255));
    f.image.at<unsigned char>(1,1)=20; f.image.at<unsigned char>(2,2)=60; f.image.at<unsigned char>(0,3)=100;
    f.roi.rectangles = {{1,1,1,1}};
    f.roi.rotated_rectangles.emplace_back(cv::Point2f{2,2},cv::Size2f{3,1},45.0f);
    cv::Mat mask(4,4,CV_8UC1,cv::Scalar(0));
    mask.at<unsigned char>(2,2)=1; mask.at<unsigned char>(0,3)=128;
    f.roi.masks = {mask,mask};
    const auto r=x.send(f);
    CHECK(r.metering.target.pixels==3);
    NEAR(*r.metering.target.gray,60,1e-10);
}
TEST(metering, trim_removes_both_five_percent_tails) {
    Fixture x; x.c.metering.trim_fraction_each_side=.05;
    auto f=imageFrame(0); f.image=cv::Mat(1,20,CV_8UC1,cv::Scalar(100));
    f.image.at<unsigned char>(0,0)=0; f.image.at<unsigned char>(0,19)=255;
    f.roi.rectangles={{0,0,20,1}};
    const auto r=x.send(f);
    CHECK(r.metering.target.pixels==20 && r.metering.target.retained_pixels==18);
    NEAR(*r.metering.target.gray,100,1e-10);
    NEAR(*r.metering.global.gray,102.75,1e-10);
}
TEST(metering, clipping_empty_invalid_and_insufficient) {
    Fixture x; auto f=imageFrame(0); f.roi.rectangles={{-1,-1,2,2}};
    auto r=x.send(f); CHECK(r.metering.target.pixels==1);
    f.timestamp_us++; f.roi.rectangles={{50,50,1,1}};
    r=x.send(f); CHECK(r.metering.target.status==MeterStatus::EmptyRoi && !r.metering.target.gray);
    f.timestamp_us++; f.roi.rectangles.clear();
    r=x.send(f); CHECK(r.metering.target.status==MeterStatus::EmptyRoi);
    f.timestamp_us++; f.roi.rectangles={{0,0,-1,1}};
    r=x.send(f); CHECK(r.metering.target.status==MeterStatus::InvalidRoi);
    f.timestamp_us++; f.roi.rectangles={{0,0,10,10}}; f.roi.masks={cv::Mat(1,1,CV_8UC1)};
    r=x.send(f); CHECK(r.metering.target.status==MeterStatus::InvalidRoi);
    x.c.metering.min_target_pixels=101; f.timestamp_us++; f.roi.masks.clear();
    r=x.send(f); CHECK(r.metering.target.status==MeterStatus::InsufficientPixels);
    CHECK(!r.adjustment_suggested && !r.metering.target.gray);
}
TEST(metering, target_flag_and_real_zero_are_distinct) {
    Fixture x;
    auto r=x.next(0,false); CHECK(r.metering.target.status==MeterStatus::NoTarget && !r.metering.target.gray);
    CHECK(r.valid_history_count==0 && r.metering.global.valid());
    r=x.next(0,true); CHECK(r.metering.target.valid()); NEAR(*r.metering.target.gray,0,0);
    CHECK(r.valid_history_count==1);
}
TEST(metering, bgr_strides_and_fixed_central_global_region) {
    Fixture x;
    auto f=imageFrame(0); cv::Mat padded(6,6,CV_8UC3,cv::Scalar(255,0,0));
    f.image=padded(cv::Rect{1,1,4,4}); f.roi.rectangles={{0,0,4,4}};
    auto r=x.send(f); NEAR(*r.metering.target.gray,29,0);
    x.c.metering.global_center_fraction=.5;
    f=imageFrame(1); f.image.setTo(200); f.image(cv::Rect{2,2,5,5}).setTo(80);
    r=x.send(f); NEAR(*r.metering.global.gray,80,0); CHECK(r.metering.global.pixels==25);
}
TEST(metering, explicit_inset_and_unsupported_image) {
    const auto shrunk=inset(cv::Rect{0,0,10,10},.1); CHECK(shrunk==cv::Rect(1,1,8,8));
    Fixture x; auto f=imageFrame(0); f.roi.rectangles={{0,0,10,10}};
    CHECK(x.send(f).metering.target.pixels==100);
    f.timestamp_us++; f.image=cv::Mat(10,10,CV_16UC1,cv::Scalar(100));
    auto r=x.send(f); CHECK(r.metering.target.status==MeterStatus::UnsupportedImage && !r.adjustment_suggested);
    f.timestamp_us++; f.image.release(); r=x.send(f); CHECK(r.metering.global.status==MeterStatus::EmptyImage);
}
TEST(metering, retained_sample_limit_and_extreme_coordinates) {
    Fixture x; x.c.metering.trim_fraction_each_side=.05; x.c.metering.min_retained_pixels=100;
    auto f=imageFrame(0); auto r=x.send(f);
    CHECK(r.metering.target.retained_pixels==90 && r.metering.target.status==MeterStatus::InsufficientPixels);
    f.timestamp_us++; f.roi.rectangles={{std::numeric_limits<int>::max(),0,std::numeric_limits<int>::max(),1}};
    r=x.send(f); CHECK(r.metering.target.status==MeterStatus::EmptyRoi);
    f.timestamp_us++; f.roi.rectangles.clear();
    f.roi.rotated_rectangles.emplace_back(cv::Point2f{2,2},cv::Size2f{3,1},std::numeric_limits<float>::quiet_NaN());
    r=x.send(f); CHECK(r.metering.target.status==MeterStatus::InvalidRoi);
}

TEST(stateless, ordinary_and_trimmed_means_share_known_samples) {
    cv::Mat image(1,20,CV_8UC1,cv::Scalar(100));
    image.at<unsigned char>(0,0)=0; image.at<unsigned char>(0,19)=255;
    Roi roi; roi.rectangles={{0,0,20,1}};
    const auto r=measureImage(image,roi,true);
    CHECK(r.target.valid() && r.global.valid());
    CHECK(r.target.pixels==20 && r.target.retained_pixels==18);
    NEAR(*r.target.arithmetic_gray,102.75,0);
    NEAR(*r.target.gray,100,0);
    NEAR(*r.global.arithmetic_gray,102.75,0);
    NEAR(*r.global.gray,102.75,0);
    NEAR(r.target.near_black_fraction,.05,0);
    NEAR(r.target.saturated_fraction,.05,0);
    CHECK(image.at<unsigned char>(0,0)==0 && image.at<unsigned char>(0,19)==255);
}
TEST(stateless, roi_union_mixed_shapes_and_masks) {
    MeteringConfig c; c.min_target_pixels=1; c.min_retained_pixels=1;
    cv::Mat image(4,4,CV_8UC1,cv::Scalar(255));
    image.at<unsigned char>(1,1)=20; image.at<unsigned char>(2,2)=60; image.at<unsigned char>(0,3)=100;
    Roi roi; roi.rectangles={{1,1,1,1},{1,1,1,1}};
    roi.rotated_rectangles.emplace_back(cv::Point2f{2,2},cv::Size2f{3,1},45.0f);
    cv::Mat mask(4,4,CV_8UC1,cv::Scalar(0));
    mask.at<unsigned char>(2,2)=1; mask.at<unsigned char>(0,3)=128;
    roi.masks={mask,mask};
    const auto r=measureImage(image,roi,true,c);
    CHECK(r.target.pixels==3 && r.target.valid());
    NEAR(*r.target.arithmetic_gray,60,0); NEAR(*r.target.gray,60,0);
    NEAR(*r.global.arithmetic_gray,(180.0+13*255)/16,0);
    CHECK(cv::countNonZero(mask)==2 && mask.at<unsigned char>(0,3)==128);
}
TEST(stateless, absent_region_is_distinct_from_black_and_saturated) {
    cv::Mat image(8,8,CV_8UC1,cv::Scalar(0)); Roi roi; roi.rectangles={{0,0,8,8}};
    auto r=measureImage(image,roi,false);
    CHECK(r.target.status==MeterStatus::NoTarget && !r.target.arithmetic_gray);
    CHECK(r.global.valid()); NEAR(*r.global.arithmetic_gray,0,0);
    r=measureImage(image,roi,true);
    CHECK(r.target.valid()); NEAR(*r.target.arithmetic_gray,0,0);
    NEAR(r.target.near_black_fraction,1,0);
    image.setTo(255); r=measureImage(image,roi,true);
    CHECK(r.target.valid()); NEAR(*r.target.arithmetic_gray,255,0);
    NEAR(r.target.saturated_fraction,1,0);
}
TEST(stateless, invalid_roi_and_images_keep_explicit_missing_values) {
    const cv::Mat image(8,8,CV_8UC1,cv::Scalar(90)); Roi roi;
    auto r=measureImage(image,roi,true);
    CHECK(r.target.status==MeterStatus::EmptyRoi && !r.target.arithmetic_gray && r.global.valid());
    roi.rectangles={{0,0,1,1}}; r=measureImage(image,roi,true);
    CHECK(r.target.status==MeterStatus::InsufficientPixels && !r.target.arithmetic_gray);
    roi.rectangles={{0,0,-1,1}}; r=measureImage(image,roi,true);
    CHECK(r.target.status==MeterStatus::InvalidRoi && r.global.valid());
    roi.rectangles.clear(); roi.masks={cv::Mat(1,1,CV_8UC1,cv::Scalar(1))};
    r=measureImage(image,roi,true); CHECK(r.target.status==MeterStatus::InvalidRoi && !r.target.arithmetic_gray);
    roi.masks={cv::Mat(8,8,CV_32FC1,cv::Scalar(1))};
    CHECK(measureImage(image,roi,true).target.status==MeterStatus::InvalidRoi);
    roi.masks.clear(); roi.rotated_rectangles.emplace_back(cv::Point2f{2,2},cv::Size2f{2,2},std::numeric_limits<float>::infinity());
    CHECK(measureImage(image,roi,true).target.status==MeterStatus::InvalidRoi);
    r=measureImage({},roi,true);
    CHECK(r.global.status==MeterStatus::EmptyImage && !r.global.arithmetic_gray);
    r=measureImage(cv::Mat(8,8,CV_16UC1),roi,true);
    CHECK(r.global.status==MeterStatus::UnsupportedImage && !r.global.arithmetic_gray);
    const int sizes[]={2,2,2};
    r=measureImage(cv::Mat(3,sizes,CV_8UC1,cv::Scalar(20)),roi,true);
    CHECK(r.global.status==MeterStatus::UnsupportedImage);
}
TEST(stateless, invalid_config_is_rejected_before_image_or_roi_access) {
    const std::vector<std::function<void(MeteringConfig&)>> corrupt={
        [](MeteringConfig& c){c.trim_fraction_each_side=-.1;},
        [](MeteringConfig& c){c.trim_fraction_each_side=.5;},
        [](MeteringConfig& c){c.trim_fraction_each_side=std::numeric_limits<double>::quiet_NaN();},
        [](MeteringConfig& c){c.min_target_pixels=0;},
        [](MeteringConfig& c){c.min_retained_pixels=0;},
        [](MeteringConfig& c){c.global_center_fraction=0;},
        [](MeteringConfig& c){c.global_center_fraction=1.1;},
        [](MeteringConfig& c){c.global_center_fraction=std::numeric_limits<double>::infinity();},
        [](MeteringConfig& c){c.near_black_level=-1;},
        [](MeteringConfig& c){c.saturation_level=256;},
        [](MeteringConfig& c){c.saturation_level=c.near_black_level;}
    };
    for(const auto& mutate:corrupt) {
        MeteringConfig c; mutate(c);
        const auto r=measureImage({}, {}, false, c);
        CHECK(r.target.status==MeterStatus::InvalidConfiguration && r.global.status==MeterStatus::InvalidConfiguration);
        CHECK(!r.target.gray && !r.target.arithmetic_gray && !r.global.arithmetic_gray);
        Fixture x; x.c.metering=c; CHECK(!validate(x.c).empty());
    }
    CHECK(std::string(toString(MeterStatus::InvalidConfiguration))=="InvalidConfiguration");
}
TEST(stateless, bgr_strides_and_global_center_are_supported_without_controller) {
    cv::Mat padded(6,6,CV_8UC3,cv::Scalar(255,0,0));
    const cv::Mat image=padded(cv::Rect{1,1,4,4}); Roi roi; roi.rectangles={{0,0,4,4}};
    auto r=measureImage(image,roi,true);
    CHECK(r.target.valid()); NEAR(*r.target.arithmetic_gray,29,0);
    cv::Mat gray(10,10,CV_8UC1,cv::Scalar(200)); gray(cv::Rect{2,2,5,5}).setTo(80);
    MeteringConfig c; c.global_center_fraction=.5;
    r=measureImage(gray,{},false,c);
    CHECK(r.global.pixels==25); NEAR(*r.global.arithmetic_gray,80,0);
}
TEST(stateless, repeats_are_deterministic_and_leave_controller_trajectory_unchanged) {
    Fixture a,b; a.track(); b.track();
    const auto frame=imageFrame(a.time+1'000'000,80);
    const auto first=measureImage(frame.image,frame.roi,true,a.c.metering);
    const auto history=a.module.history(); const auto state=a.module.state();
    for(int i=0;i<8;++i) {
        const auto r=measureImage(frame.image,frame.roi,true,a.c.metering);
        CHECK(r.target.pixels==first.target.pixels && r.target.gray==first.target.gray &&
              r.target.arithmetic_gray==first.target.arithmetic_gray && r.global.gray==first.global.gray);
        measureImage(frame.image,{},false);
    }
    CHECK(a.module.state()==state && a.module.history().size()==history.size());
    CHECK(a.module.history().back().timestamp_us==history.back().timestamp_us);
    for(int i=0;i<3;++i) {
        const auto actual=a.next(80), control=b.next(80);
        CHECK(actual.state==control.state && actual.reason==control.reason &&
              actual.suggested_exposure_us==control.suggested_exposure_us &&
              actual.control.integral==control.control.integral &&
              actual.control.same_direction_count==control.control.same_direction_count &&
              actual.valid_history_count==control.valid_history_count);
        CHECK(actual.metering.target.gray==first.target.gray &&
              actual.metering.target.arithmetic_gray==first.target.arithmetic_gray);
    }
}

TEST(history, window_inclusive_boundary_and_filtering) {
    Fixture x; x.c.history_window_us=3'000'000; x.c.idle_timeout_us=100'000'000;
    x.at(0); x.at(1'000'000); x.at(3'000'000);
    auto r=x.at(4'000'000); CHECK(r.valid_history_count==3);
    CHECK(x.module.history().front().timestamp_us==1'000'000);
    r=x.at(4'000'001,0); // zero gray is still a real valid target
    CHECK(x.module.history().front().timestamp_us==3'000'000);
}
TEST(history, five_points_are_not_silently_replaced_by_three) {
    Fixture x; x.c.prediction.enabled=true; x.c.prediction.points=5;
    for(int i=0;i<4;++i) CHECK(!x.next(90+5*i).prediction.available);
    const auto r=x.next(110); CHECK(r.prediction.available && r.prediction.points_used==5);
    NEAR(*r.prediction.predicted_gray,115,1e-9);
}
TEST(history, invalid_frames_do_not_evict_recent_valid_targets) {
    Fixture x; x.c.prediction.enabled=true; x.c.history_capacity=3;
    x.next(); x.next(); x.next();
    for(int i=0;i<10;++i) x.next(30,false);
    const auto r=x.next(100,true);
    CHECK(r.valid_history_count==3 && r.prediction.available);
    CHECK(x.module.history().size()==3);
    NEAR(*r.prediction.predicted_gray,100,1e-9);
}
TEST(history, actual_exposure_normalization_with_black_offset) {
    Fixture x; x.c.prediction.enabled=true; x.c.prediction.black_level=10;
    x.at(0,50,true,400); x.at(1'000'000,90,true,800);
    const auto r=x.at(4'000'000,170,true,1600);
    CHECK(r.prediction.available);
    NEAR(*r.prediction.normalized_slope_per_second,0,1e-12);
    NEAR(*r.prediction.predicted_gray,170,1e-9);
    NEAR(x.module.history().back().actual_exposure_us,1600,0);
}

TEST(prediction, unequal_time_intervals_and_explicit_horizon) {
    Fixture x; x.c.prediction.enabled=true;
    x.at(0,100); x.at(1'000'000,110);
    auto f=imageFrame(4'000'000,140); f.next_capture_timestamp_us=6'000'000;
    const auto r=x.send(f); CHECK(r.prediction.available && r.prediction.adopted);
    NEAR(*r.prediction.normalized_slope_per_second,.01,1e-12);
    NEAR(*r.prediction.predicted_gray,160,1e-9);
}
TEST(prediction, large_timestamp_epoch_does_not_change_fit) {
    Fixture x; x.c.prediction.enabled=true;
    const TimestampUs epoch=1'800'000'000'000'000;
    x.at(epoch,100); x.at(epoch+1'000'000,110);
    auto f=imageFrame(epoch+4'000'000,140); f.next_capture_timestamp_us=epoch+6'000'000;
    const auto r=x.send(f); CHECK(r.prediction.available);
    NEAR(*r.prediction.predicted_gray,160,1e-9);
}
FrameResult trendResult(bool rising, bool enabled) {
    Fixture x; x.c.prediction.enabled=enabled; x.c.controller.ki=0; x.c.controller.same_direction_frames=1;
    x.at(0,rising?80:120); x.at(1'000'000,rising?90:110);
    return x.at(2'000'000,100);
}
TEST(prediction, history_changes_exposure_and_is_not_double_compensated) {
    const auto rise=trendResult(true,true), fall=trendResult(false,true);
    CHECK(rise.prediction.adopted && fall.prediction.adopted);
    NEAR(*rise.prediction.predicted_gray,110,1e-9);
    NEAR(*fall.prediction.predicted_gray,90,1e-9);
    CHECK(!rise.adjustment_suggested && fall.adjustment_suggested);
    NEAR(*rise.suggested_exposure_us,1000,1e-9);
    NEAR(*fall.suggested_exposure_us,1000*(1+.4*(118-90)/118.0),1e-9);
    const auto no_rise=trendResult(true,false), no_fall=trendResult(false,false);
    NEAR(*no_rise.suggested_exposure_us,*no_fall.suggested_exposure_us,1e-9);
    NEAR(*no_fall.suggested_exposure_us,1000*(1+.4*(118-100)/118.0),1e-9);
}
TEST(prediction, insufficient_missing_horizon_and_model_fallback) {
    Fixture x; x.c.prediction.enabled=true; x.c.prediction.nominal_interval_us=0;
    CHECK(x.next(100).prediction.reason==PredictionReason::InsufficientHistory);
    x.next(100); auto r=x.next(100); CHECK(r.prediction.reason==PredictionReason::MissingHorizon);
    CHECK(!r.prediction.adopted && r.control.control_error_ratio.has_value());
    x.c.prediction.photometric_model_confirmed=false;
    r=x.next(100); CHECK(r.prediction.reason==PredictionReason::ModelNotConfirmed);
}
TEST(prediction, reject_clipping_bad_fit_and_excessive_horizon) {
    Fixture x; x.c.prediction.enabled=true;
    x.next(100); x.next(100); auto r=x.next(255);
    CHECK(r.prediction.reason==PredictionReason::DarkOrSaturated && !r.prediction.adopted);
    Fixture y; y.c.prediction.enabled=true; y.c.prediction.max_relative_fit_rmse=.01;
    y.next(100); y.next(200); r=y.next(100);
    CHECK(r.prediction.reason==PredictionReason::ResidualTooLarge && !r.prediction.adopted);
    auto f=imageFrame(y.time+1'000'000,100); f.next_capture_timestamp_us=f.timestamp_us+61'000'000;
    r=y.send(f); CHECK(r.prediction.reason==PredictionReason::InvalidHorizon);
    Fixture z; z.c.prediction.enabled=true;
    z.next(10); z.next(100); r=z.next(190);
    CHECK(r.prediction.reason==PredictionReason::OutOfRange && !r.prediction.adopted);
}

TEST(controller, large_error_is_immediate_but_step_limited) {
    Fixture x; x.track(); const auto r=x.next(40);
    CHECK(r.reason==Reason::ProportionalAdjustment && r.adjustment_suggested);
    NEAR(*r.suggested_exposure_us,1250,1e-9);
    CHECK(r.control.step_limited && r.control.same_direction_count==1);
    NEAR(r.control.integral,0,0);
}
TEST(controller, small_error_confirmation_pi_and_integral_limit) {
    Fixture x; x.c.controller.target_gray=100; x.c.controller.integral_abs_limit=.3; x.track(100);
    auto r=x.next(80); CHECK(r.reason==Reason::ConfirmingError); NEAR(r.control.integral,0,0);
    r=x.next(80); NEAR(r.control.integral,.2,1e-12); NEAR(*r.suggested_exposure_us,1100,1e-9);
    r=x.next(80); NEAR(r.control.integral,.3,1e-12); NEAR(*r.suggested_exposure_us,1110,1e-9);
    r=x.next(80); NEAR(r.control.integral,.3,1e-12);
    r=x.next(100); CHECK(r.reason==Reason::Deadband); NEAR(r.control.integral,.3,1e-12);
    r=x.next(100,false); NEAR(r.control.integral,0,0);
}
TEST(controller, hysteresis_boundary_and_active_band) {
    Fixture x; x.c.controller.target_gray=100; x.c.controller.same_direction_frames=1; x.track(100);
    CHECK(x.next(89).reason==Reason::Hysteresis);
    CHECK(x.next(88).adjustment_suggested);
    CHECK(x.next(89).adjustment_suggested);
    CHECK(x.next(91).reason==Reason::Deadband);
    CHECK(x.next(89).reason==Reason::Hysteresis);
}
TEST(controller, opposite_direction_requires_new_confirmation) {
    Fixture x; x.c.controller.target_gray=100; x.track(100);
    CHECK(!x.next(80).adjustment_suggested);
    auto r=x.next(120); CHECK(!r.adjustment_suggested && r.control.same_direction_count==1);
    r=x.next(120); CHECK(r.adjustment_suggested && *r.suggested_exposure_us<1000);
}
TEST(controller, exposure_limits_and_step_limits_block_windup) {
    Fixture x; x.c.controller.target_gray=100; x.c.controller.same_direction_frames=1;
    x.c.max_exposure_us=1100; x.track(100);
    auto r=x.next(80,true,1090); NEAR(*r.suggested_exposure_us,1100,1e-9);
    CHECK(r.control.integral_blocked_by_limit && r.control.exposure_limited); NEAR(r.control.integral,0,0);
    r=x.next(80,true,1100); CHECK(!r.adjustment_suggested && r.reason==Reason::ExposureLimit);
    NEAR(r.control.integral,0,0);
    Fixture y; y.c.controller.target_gray=100; y.c.controller.same_direction_frames=1;
    y.c.controller.kp=1; y.c.controller.ki=1; y.track(100);
    r=y.next(70); CHECK(r.control.integral_blocked_by_limit && r.control.step_limited); NEAR(r.control.integral,0,0);
    NEAR(*r.suggested_exposure_us,1250,1e-9);
    Fixture z; z.c.min_exposure_us=900; z.c.controller.target_gray=100; z.c.controller.same_direction_frames=1; z.track(100);
    r=z.next(130,true,900); CHECK(!r.adjustment_suggested && r.control.integral_blocked_by_limit);
}
TEST(controller, track_ignores_global_background) {
    const auto calculate=[](int background) {
        Fixture x; x.c.controller.same_direction_frames=1; x.track();
        auto f=imageFrame(x.time+1'000'000,background); f.roi.rectangles={{4,4,2,2}};
        f.image(cv::Rect{4,4,2,2}).setTo(80); return x.send(f);
    };
    const auto a=calculate(0), b=calculate(240);
    CHECK(*a.metering.global.gray!=*b.metering.global.gray);
    NEAR(*a.suggested_exposure_us,*b.suggested_exposure_us,0);
}

TEST(states, capture_track_lost_freeze_and_capture) {
    Fixture x; x.c.detect_confirm_frames=3;
    CHECK(x.next().state==State::CAPTURE); CHECK(x.next().state==State::CAPTURE);
    auto r=x.next(); CHECK(r.state==State::TRACK && !r.adjustment_suggested);
    CHECK(x.next(30,false).state==State::TRACK); CHECK(x.next(30,false).state==State::TRACK);
    r=x.next(30,false); CHECK(r.state==State::LOST && r.freeze_remaining==2);
    r=x.next(30,false); CHECK(r.state==State::LOST && r.freeze_remaining==1);
    r=x.next(30,false); CHECK(r.state==State::CAPTURE && r.freeze_remaining==0 && !r.adjustment_suggested);
}
TEST(states, short_loss_and_reacquisition_keep_exposure_and_history) {
    Fixture x; x.c.detect_confirm_frames=3; x.track();
    auto r=x.next(50,false,2345); CHECK(r.state==State::TRACK && !x.last_pre.initialization_required);
    NEAR(*r.suggested_exposure_us,2345,0); CHECK(r.valid_history_count==3);
    x.next(50,false); x.next(50,false); CHECK(x.module.state()==State::LOST);
    CHECK(x.next(100).state==State::LOST); CHECK(x.next(100).state==State::LOST);
    r=x.next(100); CHECK(r.state==State::TRACK && r.reason==Reason::TrackingActivated);
    CHECK(!x.last_pre.initialization_required && r.valid_history_count==6);
}
TEST(states, bad_roi_is_not_a_detection_failure) {
    Fixture x; x.track(); auto f=imageFrame(x.time+1'000'000); f.roi.rectangles.clear();
    const auto r=x.send(f); CHECK(r.state==State::TRACK && r.loss_count==0);
    CHECK(r.reason==Reason::InvalidMetering && !r.adjustment_suggested);
}
TEST(states, freeze_counts_new_frames_even_with_intermittent_detections) {
    Fixture x; x.c.detect_confirm_frames=3; x.track();
    x.next(20,false); x.next(20,false); x.next(20,false);
    const auto r=x.next(100,true); CHECK(r.state==State::LOST && r.freeze_remaining==1);
    CHECK(x.next(20,false).state==State::CAPTURE);
}

FrameResult missingWithPermission(Fixture& x,int gray=20) {
    auto f=imageFrame(x.time+1'000'000,gray,false); f.allow_no_target_recovery=true; return x.send(f);
}
TEST(recovery, default_denial_and_single_recovery_per_episode) {
    Fixture x; x.c.detect_confirm_frames=3; x.c.recovery.global_reference_gray=100;
    auto r=x.next(20,false); CHECK(r.reason==Reason::RecoveryNotAllowed && !r.recovery_used);
    r=missingWithPermission(x); CHECK(r.reason==Reason::RecoverySuggested && r.recovery_used);
    NEAR(*r.suggested_exposure_us,1100,1e-9);
    for(int i=0;i<10;++i) { r=missingWithPermission(x); CHECK(!r.adjustment_suggested && r.reason==Reason::NotRecovered); }
    x.next(100,true); x.next(100,true); r=missingWithPermission(x);
    CHECK(r.recovery_used && !r.adjustment_suggested);
    x.next(100,true); x.next(100,true); r=x.next(100,true); CHECK(!r.recovery_used && !r.loss_episode_active);
}
TEST(recovery, freeze_finishes_before_recovery_and_no_scanning) {
    Fixture x; x.c.recovery.global_reference_gray=100; x.track();
    for(int i=0;i<3;++i) CHECK(!missingWithPermission(x).adjustment_suggested);
    CHECK(x.module.state()==State::LOST);
    for(int i=0;i<2;++i) CHECK(!missingWithPermission(x).adjustment_suggested);
    CHECK(x.module.state()==State::CAPTURE);
    CHECK(missingWithPermission(x).reason==Reason::RecoverySuggested);
    CHECK(missingWithPermission(x).reason==Reason::NotRecovered);
}
TEST(recovery, automatic_initialization_and_manual_reset_do_not_rearm) {
    Fixture x; x.c.detect_confirm_frames=3; x.c.recovery.global_reference_gray=100;
    CHECK(missingWithPermission(x).recovery_used);
    x.c.revision++; auto r=missingWithPermission(x);
    CHECK(x.last_pre.initialization_required && r.recovery_used && !r.adjustment_suggested);
    x.module.reset(ResetReason::Manual); r=missingWithPermission(x);
    CHECK(r.recovery_used && !r.adjustment_suggested);
    auto pre=x.module.preCapture(x.time+86'400'000'000LL,x.c);
    CHECK(pre.initialization_required);
    x.time+=86'400'000'000LL; r=missingWithPermission(x); CHECK(r.recovery_used && !r.adjustment_suggested);
    x.module.reset(ResetReason::NewBusinessCycle); r=missingWithPermission(x);
    CHECK(r.reason==Reason::RecoverySuggested);
}
TEST(recovery, missing_reference_normal_global_invalid_frame_and_limit) {
    Fixture x; auto r=missingWithPermission(x); CHECK(r.reason==Reason::RecoveryReferenceMissing && !r.recovery_used);
    x.c.recovery.global_reference_gray=100;
    r=missingWithPermission(x,100); CHECK(r.reason==Reason::RecoveryNotNeeded && !r.recovery_used);
    auto f=imageFrame(x.time+1'000'000,20,false); f.allow_no_target_recovery=true; f.image.release();
    r=x.send(f); CHECK(r.reason==Reason::InvalidMetering && !r.recovery_used);
    f=imageFrame(x.time+1'000'000,20,false,x.c.max_exposure_us); f.allow_no_target_recovery=true;
    r=x.send(f); CHECK(r.reason==Reason::ExposureLimit && r.recovery_used && !r.adjustment_suggested);
    CHECK(missingWithPermission(x).reason==Reason::NotRecovered);
}
TEST(recovery, history_expiry_cannot_refresh_consumed_opportunity) {
    Fixture x; x.c.recovery.global_reference_gray=100; x.c.history_window_us=10'000'000;
    x.c.idle_timeout_us=100'000'000; x.track();
    for(int i=0;i<5;++i) missingWithPermission(x);
    CHECK(missingWithPermission(x).reason==Reason::RecoverySuggested);
    int initializations=0;
    for(int i=0;i<20;++i) {
        const auto r=missingWithPermission(x);
        if(x.last_pre.initialization_required) {
            ++initializations; CHECK(x.last_pre.initialization_reason==ResetReason::HistoryExpired);
        }
        CHECK(r.recovery_used && !r.adjustment_suggested);
    }
    CHECK(initializations==1);
}

TEST(lifecycle, first_start_and_repeated_prechecks_initialize_once) {
    Fixture x;
    auto p=x.module.preCapture(0,x.c); CHECK(p.accepted && p.initialization_required && p.initialization_reason==ResetReason::Startup);
    NEAR(*p.suggested_exposure_us,1000,0);
    CHECK(!x.module.preCapture(0,x.c).initialization_required);
    CHECK(!x.module.preCapture(900'000'000,x.c).initialization_required);
}
TEST(lifecycle, overnight_checks_before_capture_once) {
    Fixture x; x.track();
    const auto overnight=x.time+86'400'000'000LL;
    auto p=x.module.preCapture(overnight,x.c);
    CHECK(p.initialization_required && p.initialization_reason==ResetReason::IdleTimeout && p.state==State::CAPTURE);
    CHECK(x.module.history().empty());
    CHECK(!x.module.preCapture(overnight,x.c).initialization_required);
    CHECK(!x.module.preCapture(overnight+1,x.c).initialization_required);
}
TEST(lifecycle, history_expiry_during_active_missing_frames_is_one_shot) {
    Fixture x; x.c.history_window_us=5'000'000; x.c.idle_timeout_us=100'000'000;
    x.at(0); x.at(2'000'000,20,false); x.at(4'000'000,20,false);
    auto p=x.module.preCapture(6'000'000,x.c);
    CHECK(p.initialization_required && p.initialization_reason==ResetReason::HistoryExpired);
    CHECK(!x.module.preCapture(6'000'000,x.c).initialization_required);
    CHECK(x.module.processFrame(imageFrame(6'000'000,20,false)).accepted);
    for(TimestampUs t=8'000'000;t<30'000'000;t+=2'000'000) {
        x.at(t,20,false); CHECK(!x.last_pre.initialization_required);
    }
}
TEST(lifecycle, continuous_no_target_does_not_repeat_initialization) {
    Fixture x;
    for(int i=0;i<610;++i) {
        x.at(static_cast<TimestampUs>(i)*1'000'000,20,false);
        CHECK(x.last_pre.initialization_required==(i==0));
    }
}
TEST(lifecycle, changed_values_or_revision_initialize_once) {
    Fixture x; x.track(); x.c.controller.kp=.3;
    auto p=x.module.preCapture(x.time+1,x.c); CHECK(p.initialization_reason==ResetReason::ConfigurationChanged);
    CHECK(!x.module.preCapture(x.time+1,x.c).initialization_required);
    x.c.revision++; p=x.module.preCapture(x.time+1,x.c); CHECK(p.initialization_required);
    CHECK(!x.module.preCapture(x.time+1,x.c).initialization_required);
}
TEST(lifecycle, missing_or_stale_precheck_is_rejected) {
    Fixture x;
    CHECK(x.module.processFrame(imageFrame(0)).reason==Reason::PreCaptureRequired);
    x.track();
    auto r=x.module.processFrame(imageFrame(x.time+1'000'000)); CHECK(!r.accepted && r.reason==Reason::PreCaptureRequired);
    CHECK(x.module.preCapture(x.time+1,x.c).accepted);
    r=x.module.processFrame(imageFrame(x.time+301'000'000)); CHECK(!r.accepted && r.reason==Reason::PreCaptureRequired);
}

TEST(feedback, duplicates_and_out_of_order_do_not_mutate) {
    Fixture x; x.c.controller.target_gray=100; x.track(100);
    auto r=x.next(80); CHECK(r.control.same_direction_count==1);
    const auto count=x.module.history().size();
    r=x.module.processFrame(imageFrame(x.time,80)); CHECK(!r.accepted && r.reason==Reason::DuplicateFrame);
    CHECK(r.control.same_direction_count==1 && !r.suggested_exposure_us);
    r=x.module.processFrame(imageFrame(x.time-1,80)); CHECK(!r.accepted && r.reason==Reason::OutOfOrderFrame);
    CHECK(x.module.history().size()==count && r.control.integral==0);
    r=x.next(80); CHECK(r.adjustment_suggested && r.control.same_direction_count==2);
}
TEST(feedback, actual_exposure_not_previous_advice_is_used) {
    Fixture x; x.track(); auto first=x.next(40,true,1000); auto second=x.next(40,true,1000);
    NEAR(*first.suggested_exposure_us,1250,0); NEAR(*second.suggested_exposure_us,1250,0);
    const auto applied=x.next(40,true,1250); NEAR(*applied.suggested_exposure_us,1562.5,0);
}
TEST(feedback, invalid_roi_holds_integral_and_breaks_confirmation) {
    Fixture x; x.c.controller.target_gray=100; x.track(100); x.next(80); auto r=x.next(80);
    NEAR(r.control.integral,.2,1e-12);
    auto f=imageFrame(x.time+1'000'000,80); f.roi.rectangles.clear(); r=x.send(f);
    CHECK(!r.adjustment_suggested && r.reason==Reason::InvalidMetering);
    NEAR(r.control.integral,.2,1e-12); CHECK(r.control.same_direction_count==0);
    CHECK(x.next(80).reason==Reason::ConfirmingError);
}
TEST(feedback, invalid_exposure_clock_change_and_reset) {
    Fixture x; x.track(); const auto size=x.module.history().size();
    CHECK(x.module.preCapture(x.time+1,x.c).accepted);
    auto f=imageFrame(x.time+1); f.actual_exposure_us=std::numeric_limits<double>::quiet_NaN();
    auto r=x.module.processFrame(f); CHECK(!r.accepted && r.reason==Reason::InvalidActualExposure);
    CHECK(x.module.history().size()==size);
    CHECK(!x.module.preCapture(x.time-1,x.c).accepted);
    x.module.reset(ResetReason::ClockChanged);
    auto p=x.module.preCapture(0,x.c); CHECK(p.accepted && p.initialization_required);
    CHECK(x.module.processFrame(imageFrame(0)).accepted);
}
TEST(feedback, exposure_outside_configured_range_is_reported_not_clipped_as_feedback) {
    Fixture x; x.track(); CHECK(x.module.preCapture(x.time+1,x.c).accepted);
    const auto r=x.module.processFrame(imageFrame(x.time+1,80,true,20000));
    CHECK(!r.accepted && r.reason==Reason::InvalidActualExposure && !r.suggested_exposure_us);
    NEAR(r.actual_exposure_us,20000,0);
    CHECK(x.module.history().size()==1);
}

TEST(config, reject_invalid_contract_without_accepting_frames) {
    Config empty; CHECK(!validate(empty).empty());
    Fixture x; CHECK(validate(x.c).empty());
    auto bad=x.c; bad.metering.trim_fraction_each_side=.5;
    CHECK(!x.module.preCapture(0,bad).accepted);
    CHECK(!x.module.processFrame(imageFrame(0)).accepted);
    bad=x.c; bad.prediction.points=4; CHECK(!validate(bad).empty());
    bad=x.c; bad.controller.target_gray=0; CHECK(!validate(bad).empty());
    bad=x.c; bad.max_exposure_us=500; CHECK(!validate(bad).empty());
    bad=x.c; bad.recovery.max_step_ratio=.5; CHECK(!validate(bad).empty());
    CHECK(x.module.preCapture(0,x.c).accepted);
}
TEST(config, independent_instances_do_not_share_state) {
    Fixture a,b; a.track(); a.next(40);
    CHECK(b.module.state()==State::CAPTURE && b.module.history().empty());
    CHECK(b.module.preCapture(0,b.c).initialization_required);
}
} // namespace

int main(int argc,char** argv) {
    const std::string selected=argc>1?argv[1]:"";
    int total=0, failures=0;
    for(const auto& test:cases()) if(selected.empty()||test.group==selected) {
        ++total;
        try { test.run(); std::cout<<"PASS "<<test.group<<"/"<<test.name<<'\n'; }
        catch(const std::exception& error) { ++failures; std::cerr<<"FAIL "<<test.group<<"/"<<test.name<<": "<<error.what()<<'\n'; }
    }
    std::cout<<"RESULT "<<selected<<": "<<total-failures<<"/"<<total<<" passed\n";
    return failures||total==0?1:0;
}