import sys
import os
sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "src")))

from idea15_edgemind_verifiable_onboard.planner import Action, PlanRequest, PlanResult, EdgeMindPlanner
from idea15_edgemind_verifiable_onboard.contracts import SafetyContract


def test_basic_planning_cheapest_provider():  # simple test ensuring cheapest action per goal is chosen within budget
    a1 = Action(name="move_forward", energy_cost=1.0, provides={"reach_goalA"})
    a2 = Action(name="lift", energy_cost=0.3, provides={"reach_goalA"})
    actions = [a1, a2]
    safety = SafetyContract()
    req = PlanRequest(goals=["reach_goalA"], actions=actions, energy_budget=2.0, safety_contract=safety)
    planner = EdgeMindPlanner()
    res: PlanResult = planner.plan(req)
    assert res.ok
    assert len(res.planned_actions) == 1
    assert res.planned_actions[0].name == "lift"
    assert res.total_energy == 0.3


def test_planning_budget_exceeded():
    a1 = Action(name="move_forward", energy_cost=1.5, provides={"reach_goalA"})
    actions = [a1]
    req = PlanRequest(goals=["reach_goalA"], actions=actions, energy_budget=1.0)
    planner = EdgeMindPlanner()
    res = planner.plan(req)
    assert not res.ok