/*
 * Copyright (C) 2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#include <gz/msgs/statistic.pb.h>
#include <gz/msgs/vector3d.pb.h>

#include <chrono>
#include <string>

#include "gz/transport/Node.hh"

#include <gz/utils/Environment.hh>

#include "gtest/gtest.h"
#include "test_config.hh"

using namespace gz;

static bool cbExecuted;
static bool cbStatsExecuted;
static bool cbRawExecuted;
static bool cb2Executed;
static std::string g_topic = "/foo"; // NOLINT(*)
static std::string data = "bar"; // NOLINT(*)

//////////////////////////////////////////////////
/// \brief Function is called everytime a topic update is received.
void cb(const msgs::Vector3d &_msg)
{
  EXPECT_DOUBLE_EQ(_msg.x(), 1.0);
  EXPECT_DOUBLE_EQ(_msg.y(), 2.0);
  EXPECT_DOUBLE_EQ(_msg.z(), 3.0);
  cbExecuted = true;
}

//////////////////////////////////////////////////
void cbRaw(const char *_msgData, const size_t _size,
           const transport::MessageInfo &_info)
{
  msgs::Vector3d v;

  EXPECT_TRUE(v.GetTypeName() == _info.Type());

  EXPECT_TRUE(v.ParseFromArray(_msgData, _size));

  EXPECT_DOUBLE_EQ(v.x(), 1.0);
  EXPECT_DOUBLE_EQ(v.y(), 2.0);
  EXPECT_DOUBLE_EQ(v.z(), 3.0);

  cbRawExecuted = true;
}

//////////////////////////////////////////////////
/// \brief Function is called everytime a topic update is received.
void cb2(const msgs::Vector3d &_msg)
{
  EXPECT_DOUBLE_EQ(_msg.x(), 1.0);
  EXPECT_DOUBLE_EQ(_msg.y(), 2.0);
  EXPECT_DOUBLE_EQ(_msg.z(), 3.0);
  cb2Executed = true;
}

//////////////////////////////////////////////////
void statsCb(const msgs::Metric & /*_msg*/)
{
  cbStatsExecuted = true;
}

//////////////////////////////////////////////////
void runSubscriber()
{
  cbExecuted = false;
  cbStatsExecuted = false;
  cbRawExecuted = false;
  cb2Executed = false;

  transport::Node node;
  transport::Node node2;

  // Add some normal subscriptions to `node` and `node2`
  EXPECT_TRUE(node.Subscribe(g_topic, cb));
  EXPECT_TRUE(node2.Subscribe(g_topic, cb2));

  // Turn on statistics for the first node.
  EXPECT_TRUE(node.EnableStats(g_topic, true, "/statistics", 1000));
  EXPECT_TRUE(node.Subscribe("/statistics", statsCb));

  // Add a raw subscription to `node`
  EXPECT_TRUE(node.SubscribeRaw(g_topic, cbRaw,
                                msgs::Vector3d().GetTypeName()));

  int interval = 100;

  // Wait until we've received at least one message.
  while (!cbExecuted || !cb2Executed || !cbRawExecuted)
  {
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    interval--;

    if (interval == 0)
      break;
  }

  // Check that the message was received.
  EXPECT_TRUE(cbExecuted);
  EXPECT_TRUE(cbRawExecuted);
  EXPECT_TRUE(cb2Executed);
  EXPECT_TRUE(cbStatsExecuted);

  // Reset the test flags
  cbExecuted = false;
  cbRawExecuted = false;
  cb2Executed = false;

  // Only unsubscribe `node`, leaving `node2` subscribed. Note that the
  // SubscribeRaw is attached to `node`, so that will also be removed.
  EXPECT_TRUE(node.Unsubscribe(g_topic));

  // Wait a small amount of time so that the master process can send some new
  // messages.
  std::this_thread::sleep_for(std::chrono::milliseconds(2000));

  // Check that the message was only received in node2
  EXPECT_FALSE(cbExecuted);
  EXPECT_FALSE(cbRawExecuted);
  EXPECT_TRUE(cb2Executed);

  // Reset flags
  cbExecuted = false;
  cbRawExecuted = false;
  cb2Executed = false;
}

//////////////////////////////////////////////////
TEST(twoProcPubSub, PubSubTwoProcsTwoNodesSubscriber)
{
  runSubscriber();
}

//////////////////////////////////////////////////
int main(int argc, char **argv)
{
  if (argc != 2)
  {
    std::cerr << "Partition name has not be passed as argument" << std::endl;
    return -1;
  }

  // Set the partition name for this test.
  gz::utils::setenv("GZ_PARTITION", argv[1]);
  gz::utils::setenv("GZ_TRANSPORT_TOPIC_STATISTICS", "1");

  ::testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}
