#include "ur_modern_driver/ur/robot_mode.h"
#include <gtest/gtest.h>
#include "ur_modern_driver/bin_parser.h"
#include "ur_modern_driver/log.h"
#include "ur_modern_driver/test/random_data.h"
#include "ur_modern_driver/test/utils.h"
#include "ur_modern_driver/types.h"

TEST(RobotModeData_V1_X, testRandomDataParsing)
{
  RandomDataTest rdt(24);
  BinParser bp = rdt.getParser();
  RobotModeData_V1_X state;
  ASSERT_TRUE(state.parseWith(bp)) << "parse() returned false";

  ASSERT_EQ(rdt.getNext<uint64_t>(), state.timestamp);
  ASSERT_EQ(rdt.getNext<bool>(), state.physical_robot_connected);
  ASSERT_EQ(rdt.getNext<bool>(), state.real_robot_enabled);
  ASSERT_EQ(rdt.getNext<bool>(), state.robot_power_on);
  ASSERT_EQ(rdt.getNext<bool>(), state.emergency_stopped);
  ASSERT_EQ(rdt.getNext<bool>(), state.security_stopped);
  ASSERT_EQ(rdt.getNext<bool>(), state.program_running);
  ASSERT_EQ(rdt.getNext<bool>(), state.program_paused);
  ASSERT_EQ(rdt.getNext<robot_mode_V1_X>(), state.robot_mode);
  ASSERT_EQ(rdt.getNext<double>(), state.speed_fraction);

  ASSERT_TRUE(bp.empty()) << "Did not consume all data";
}

TEST(RobotModeData_V3_0__1, testRandomDataParsing)
{
  RandomDataTest rdt(33);
  BinParser bp = rdt.getParser();
  RobotModeData_V3_0__1 state;
  ASSERT_TRUE(state.parseWith(bp)) << "parse() returned false";

  ASSERT_EQ(rdt.getNext<uint64_t>(), state.timestamp);
  ASSERT_EQ(rdt.getNext<bool>(), state.physical_robot_connected);
  ASSERT_EQ(rdt.getNext<bool>(), state.real_robot_enabled);
  ASSERT_EQ(rdt.getNext<bool>(), state.robot_power_on);
  ASSERT_EQ(rdt.getNext<bool>(), state.emergency_stopped);
  ASSERT_EQ(rdt.getNext<bool>(), state.protective_stopped);
  ASSERT_EQ(rdt.getNext<bool>(), state.program_running);
  ASSERT_EQ(rdt.getNext<bool>(), state.program_paused);
  ASSERT_EQ(rdt.getNext<robot_mode_V3_X>(), state.robot_mode);
  ASSERT_EQ(rdt.getNext<robot_control_mode_V3_X>(), state.control_mode);
  ASSERT_EQ(rdt.getNext<double>(), state.target_speed_fraction);
  ASSERT_EQ(rdt.getNext<double>(), state.speed_scaling);

  ASSERT_TRUE(bp.empty()) << "Did not consume all data";
}

TEST(RobotModeData_V3_2, testRandomDataParsing)
{
  RandomDataTest rdt(41);
  BinParser bp = rdt.getParser();
  RobotModeData_V3_2 state;
  ASSERT_TRUE(state.parseWith(bp)) << "parse() returned false";

  ASSERT_EQ(rdt.getNext<uint64_t>(), state.timestamp);
  ASSERT_EQ(rdt.getNext<bool>(), state.physical_robot_connected);
  ASSERT_EQ(rdt.getNext<bool>(), state.real_robot_enabled);
  ASSERT_EQ(rdt.getNext<bool>(), state.robot_power_on);
  ASSERT_EQ(rdt.getNext<bool>(), state.emergency_stopped);
  ASSERT_EQ(rdt.getNext<bool>(), state.protective_stopped);
  ASSERT_EQ(rdt.getNext<bool>(), state.program_running);
  ASSERT_EQ(rdt.getNext<bool>(), state.program_paused);
  ASSERT_EQ(rdt.getNext<robot_mode_V3_X>(), state.robot_mode);
  ASSERT_EQ(rdt.getNext<robot_control_mode_V3_X>(), state.control_mode);
  ASSERT_EQ(rdt.getNext<double>(), state.target_speed_fraction);
  ASSERT_EQ(rdt.getNext<double>(), state.speed_scaling);
  ASSERT_EQ(rdt.getNext<double>(), state.target_speed_fraction_limit);

  ASSERT_TRUE(bp.empty()) << "Did not consume all data";
}

TEST(RobotModeData_V1_X, testTooSmallBuffer)
{
  RandomDataTest rdt(10);
  BinParser bp = rdt.getParser();
  RobotModeData_V1_X state;
  EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
}

TEST(RobotModeData_V3_0__1, testTooSmallBuffer)
{
  RandomDataTest rdt(10);
  BinParser bp = rdt.getParser();
  RobotModeData_V3_0__1 state;
  EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
}

TEST(RobotModeData_V3_2, testTooSmallBuffer)
{
  RandomDataTest rdt(10);
  BinParser bp = rdt.getParser();
  RobotModeData_V3_2 state;
  EXPECT_FALSE(state.parseWith(bp)) << "parse() should fail when buffer not big enough";
}