#!/usr/bin/env python3
from hypothesis import given, HealthCheck, Phase, settings
import hypothesis.strategies as st
from parameterized import parameterized
import unittest

from cereal import log
from selfdrive.car.toyota.values import CAR as TOYOTA
from selfdrive.test.fuzzy_generation import FuzzyGenerator
import selfdrive.test.process_replay.process_replay as pr

# These processes currently fail because of unrealistic data breaking assumptions
# that openpilot makes causing error with NaN, inf, int size, array indexing ...
# TODO: Make each one testable
NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'laikad']
TEST_CASES = [(cfg.proc_name, cfg) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]

class TestFuzzProcesses(unittest.TestCase):

  @parameterized.expand(TEST_CASES)
  @given(st.data())
  @settings(phases=[Phase.generate, Phase.target], max_examples=50, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
  def test_fuzz_process(self, proc_name, cfg, data):
    msgs = data.draw(FuzzyGenerator.get_random_event_msg(required=cfg.pubs, real_floats=True))
    lr = [log.Event.new_message(**m).as_reader() for m in msgs]
    cfg.timeout = 5
    pr.replay_process(cfg, lr, TOYOTA.COROLLA_TSS2, disable_progress=True)

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