import copy
import os
from hypothesis import given, HealthCheck, Phase, settings
import hypothesis.strategies as st
from parameterized import parameterized
import pytest

from iqpilot.cereal import log
from iqdbc.car.toyota.values import CAR as TOYOTA
from iqpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
import iqpilot.selfdrive.test.process_replay.process_replay as pr

pytestmark = [pytest.mark.linux, pytest.mark.slow]

# These processes currently fail because of unrealistic data breaking assumptions
# that openpilot makes causing error with NaN, inf, int size, array indexing ...
# TODO: Make each one testable
NOT_TESTED = ['selfdrived', 'controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'estimatord', 'dmonitoringmodeld', 'modeld']

TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "10"))

class TestFuzzProcesses:

  # TODO: make this faster and increase examples
  @parameterized.expand(TEST_CASES)
  @given(st.data())
  @settings(phases=[Phase.generate, Phase.target], max_examples=MAX_EXAMPLES, deadline=1000,
            suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
  def test_fuzz_process(self, proc_name, cfg, data):
    msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
    lr = [log.Event.new_message(**m).as_reader() for m in msgs]
    cfg.timeout = 5
    pr.replay_process(cfg, lr, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2, disable_progress=True)