const Robot = require('../robot/Robot')
const MockCmdReceiver = require('./helpers/mockCmdReceiver')

describe('Robot.createMotorPosition - Changed Flags', () => {

  let robot

  beforeEach(() => {
    robot = new Robot(10, 10, 5)

    // Set initial motor values
    robot.xMotor = 1
    robot.alpha = 2
    robot.beta = 3
    robot.a = 4
    robot.b = 5
    robot.c = 6
    robot.eMotor = 7
  })

  test('sets all Changed flags to true on first sendCommand call', () => {
    const receiver = new MockCmdReceiver()
    robot.cmdReceivers.push(receiver)

    robot.sendCommand()

    const call = receiver.lastCall()
    const newPos = call.newPos

    expect(newPos.xMotorChanged).toBe(true)
    expect(newPos.yMotorChanged).toBe(true)
    expect(newPos.zMotorChanged).toBe(true)
    expect(newPos.aMotorChanged).toBe(true)
    expect(newPos.bMotorChanged).toBe(true)
    expect(newPos.cMotorChanged).toBe(true)
    expect(newPos.eMotorChanged).toBe(true)
  })

  test('sets Changed flags to false when values do not change', () => {
    const receiver = new MockCmdReceiver()
    robot.cmdReceivers.push(receiver)

    // First call
    robot.sendCommand()

    // Second call without changing values
    robot.sendCommand()

    const call = receiver.lastCall()
    const newPos = call.newPos

    expect(newPos.xMotorChanged).toBe(false)
    expect(newPos.yMotorChanged).toBe(false)
    expect(newPos.zMotorChanged).toBe(false)
    expect(newPos.aMotorChanged).toBe(false)
    expect(newPos.bMotorChanged).toBe(false)
    expect(newPos.cMotorChanged).toBe(false)
    expect(newPos.eMotorChanged).toBe(false)
  })

  test('sets Changed flags to true when specific values change', () => {
    const receiver = new MockCmdReceiver()
    robot.cmdReceivers.push(receiver)

    // First call
    robot.sendCommand()

    // Change alpha (yMotor)
    robot.alpha = 2.1

    // Second call
    robot.sendCommand()

    const call = receiver.lastCall()
    const newPos = call.newPos

    expect(newPos.xMotorChanged).toBe(false)
    expect(newPos.yMotorChanged).toBe(true)  // alpha changed
    expect(newPos.zMotorChanged).toBe(false)
    expect(newPos.aMotorChanged).toBe(false)
    expect(newPos.bMotorChanged).toBe(false)
    expect(newPos.cMotorChanged).toBe(false)
    expect(newPos.eMotorChanged).toBe(false)
  })

  test('sets Changed flags correctly for multiple changes', () => {
    const receiver = new MockCmdReceiver()
    robot.cmdReceivers.push(receiver)

    // First call
    robot.sendCommand()

    // Change beta (zMotor) and b
    robot.beta = 3.5
    robot.b = 5.2

    // Second call
    robot.sendCommand()

    const call = receiver.lastCall()
    const newPos = call.newPos

    expect(newPos.xMotorChanged).toBe(false)
    expect(newPos.yMotorChanged).toBe(false)
    expect(newPos.zMotorChanged).toBe(true)  // beta changed
    expect(newPos.aMotorChanged).toBe(false)
    expect(newPos.bMotorChanged).toBe(true)  // b changed
    expect(newPos.cMotorChanged).toBe(false)
    expect(newPos.eMotorChanged).toBe(false)
  })

})