"""Tests for motion detection."""

import numpy as np

from vigilar.camera.motion import MotionDetector


def test_no_motion_on_static_scene():
    detector = MotionDetector(sensitivity=0.7, min_area_px=100, resolution=(160, 90))

    # Feed identical frames to build background model
    static_frame = np.full((360, 640, 3), 128, dtype=np.uint8)
    for _ in range(80):  # exceed warmup
        detected, rects, conf = detector.detect(static_frame)

    # After warmup, static scene should have no motion
    detected, rects, conf = detector.detect(static_frame)
    assert not detected
    assert len(rects) == 0


def test_motion_detected_on_scene_change():
    detector = MotionDetector(sensitivity=0.9, min_area_px=50, resolution=(160, 90))

    # Build background with static scene
    static = np.full((360, 640, 3), 128, dtype=np.uint8)
    for _ in range(80):
        detector.detect(static)

    # Introduce a large change
    changed = static.copy()
    changed[50:200, 100:300] = 255  # large white rectangle

    detected, rects, conf = detector.detect(changed)
    assert detected
    assert len(rects) > 0
    assert conf > 0


def test_sensitivity_update():
    detector = MotionDetector(sensitivity=0.5)
    assert detector._sensitivity == 0.5

    detector.update_sensitivity(0.9)
    assert detector._sensitivity == 0.9

    # Clamps to valid range
    detector.update_sensitivity(1.5)
    assert detector._sensitivity == 1.0
    detector.update_sensitivity(-0.1)
    assert detector._sensitivity == 0.0


def test_reset_clears_background():
    detector = MotionDetector(resolution=(80, 45))
    frame = np.zeros((360, 640, 3), dtype=np.uint8)

    for _ in range(80):
        detector.detect(frame)

    assert detector._frame_count >= 80
    detector.reset()
    assert detector._frame_count == 0