from openpilot.selfdrive.controls.lib.lead_behavior import (
  get_tracked_lead_catchup_bias,
  should_track_lead,
  should_disable_far_lead_throttle,
)


def test_tracked_lead_catchup_bias_for_hanging_gap():
  bias = get_tracked_lead_catchup_bias(31.4, 78.7, 38.0, 0.1)
  assert bias > 10.0


def test_tracked_lead_catchup_bias_ignores_near_desired_gap():
  bias = get_tracked_lead_catchup_bias(31.4, 50.0, 38.0, 0.1)
  assert bias == 0.0


def test_tracked_lead_catchup_bias_ignores_very_far_gap():
  bias = get_tracked_lead_catchup_bias(31.4, 110.0, 38.0, 0.1)
  assert bias == 0.0


def test_tracked_lead_catchup_bias_applies_to_two_second_highway_gap():
  bias = get_tracked_lead_catchup_bias(30.4, 63.0, 40.0, 0.4)
  assert bias > 14.0


def test_tracked_lead_catchup_bias_stays_off_once_at_set_speed():
  bias = get_tracked_lead_catchup_bias(31.4, 78.7, 38.0, 0.1, v_cruise=31.4)
  assert bias == 0.0


def test_disable_far_lead_throttle_rejects_two_second_plus_gap():
  should_disable = should_disable_far_lead_throttle(31.4, 78.7, 38.0, 0.1, False)
  assert not should_disable


def test_disable_far_lead_throttle_keeps_mild_coast_near_target_gap():
  should_disable = should_disable_far_lead_throttle(31.4, 52.0, 38.0, 0.5, False)
  assert should_disable


def test_disable_far_lead_throttle_rejects_fast_closing():
  should_disable = should_disable_far_lead_throttle(31.4, 52.0, 38.0, 3.5, False)
  assert not should_disable


def test_should_track_lead_keeps_radar_leads_on_model_horizon():
  assert should_track_lead(True, 95.0, 100.0, 6.0, 30.0, v_lead=25.0, radar=True)


def test_should_track_lead_rejects_far_vision_only_highway_lead():
  assert not should_track_lead(True, 82.0, 140.0, 6.0, 29.0, v_lead=25.0, radar=False)


def test_should_track_lead_accepts_closer_vision_only_highway_lead():
  assert should_track_lead(True, 56.0, 140.0, 6.0, 29.0, v_lead=25.0, radar=False)


def test_should_track_lead_accepts_fast_closing_vision_lead_early():
  assert should_track_lead(True, 90.0, 140.0, 6.0, 20.0, v_lead=0.0, radar=False)