from __future__ import annotations
import json
import unittest
from pathlib import Path
from asw_component import execute

ROOT = Path(__file__).resolve().parents[1]

class ComponentTest(unittest.TestCase):
    def test_reference_scenario(self):
        payload = json.loads((ROOT / "examples/input.json").read_text(encoding="utf-8"))
        result = execute(payload)
        self.assertTrue(result["accepted"])
        self.assertEqual(result["component"], "metafarmers/visual-servo-manipulation")
        self.assertEqual(result["target"], "acu")
        self.assertEqual(result["status"], "ALIGNING")
        self.assertEqual(result["stepMm"], [6.0, -5.0, 6.0])
        self.assertAlmostEqual(result["residualMm"], 6.325, places=3)

    def test_safety_or_failure_path(self):
        payload = json.loads((ROOT / "examples/failure-input.json").read_text(encoding="utf-8"))
        result = execute(payload)
        self.assertEqual(result["component"], "metafarmers/visual-servo-manipulation")
        self.assertTrue(result["accepted"])
        self.assertTrue(result["converged"])
        self.assertEqual(result["stepMm"], [0.0, 0.0, 0.0])

if __name__ == "__main__":
    unittest.main()