import time
from datetime import datetime

from robotproof_studio.contracts import LocalProblem, SharedSignals, PlanDelta, DualVariables
from robotproof_studio.admm import AdmmCoordinator
from robotproof_studio.go_registry import GraphOfContractsRegistry


def test_contracts_basic():
    lp = LocalProblem(robot_id="robot-1", problem_type="path/planning", payload={"energy_budget": 10.0, "time_window": [0, 100]})
    sv = SharedSignals(version=1, signals={"obs": []})
    pd = PlanDelta(delta_id="d1", timestamp=datetime.utcnow().isoformat() + "Z", data={"step": 1})
    pd.sign("tester")
    div = DualVariables(coupling={"energy": 1.0, "time": 1.0})

    assert lp.robot_id == "robot-1"
    assert lp.version == 1
    assert sv.version == 1
    assert pd.proof.startswith("signed-by:")
    assert div.coupling["energy"] == 1.0


def test_admm_coordinator_basic():
    lps = [
        LocalProblem(robot_id="r1", problem_type="path", payload={"energy_budget": 5.0}),
        LocalProblem(robot_id="r2", problem_type="path", payload={"energy_budget": 7.0}),
    ]
    dual = DualVariables(coupling={"energy": 0.5, "time": 0.5})
    coord = AdmmCoordinator(lps, dual)
    delta, sigs = coord.iterate()
    assert isinstance(delta, PlanDelta)
    assert delta.proof.startswith("signed-by:")
    assert isinstance(sigs, type(SharedSignals(version=1, signals={}) ))
    # dual should have updated at least once
    assert dual.version >= 1


def test_registry_basic():
    reg = GraphOfContractsRegistry()
    reg.register("ros2-navigator", kind="adapter", metadata={"binds_to": "ROS2"})
    reg.register("local-problem-contract", kind="contract")
    entries = reg.list()
    assert len(entries) == 2